CN109617019A - A kind of flame-proof mine double loop fan protection device - Google Patents
A kind of flame-proof mine double loop fan protection device Download PDFInfo
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- CN109617019A CN109617019A CN201910046647.0A CN201910046647A CN109617019A CN 109617019 A CN109617019 A CN 109617019A CN 201910046647 A CN201910046647 A CN 201910046647A CN 109617019 A CN109617019 A CN 109617019A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/0822—Integrated protection, motor control centres
Abstract
The present invention provides a kind of flame-proof mine double loop fan protection devices, including primary processor, it further include the inverse time-lag protection module being connect with primary processor, fast tripping protection module, passive moods module, open-phase protection module, unbalance protection module, earth leakage search/lockout module, over-voltage protection module), o-volt protection module, selective earth leakage protection module and blower are fallen from power module automatically, it can be started at a distance directly or by communication network, stop, online starting, delayed firing, monitor set, protection, control, it measures in one, it both can be in failure or power-off, realize that main booster switches over automatically to from local fan, it again can be to blower, switch is effectively monitored and is protected.
Description
Technical field
The present invention relates to electrode protecting device technical field more particularly to a kind of flame-proof mine double loop blower protection dresses
It sets.
Background technique
In the prior art, containing in explosion risk mixed gas (such as methane mixture) and the mine of coal dust, do not have also
There is a kind of flame-proof mine double loop fan protection device.
Summary of the invention
The present invention provides a kind of flame-proof mine double loop fan protection devices, can be directly or by communication network long distance
From being started, being stopped, online starting, delayed firing, monitor set, protection, control, metering in failure or can both break in one
When electric, realize that main booster switches over automatically to from local fan, but can to blower, switch effectively be monitored and
Protection.Mature communication interaction technique in terms of Sustainable use comprehensive automation of electric power system, using the MCU of high-performance high reliability
Chip applies multinomial hardware and software interference protection measure, using high speed data processing algorithm, provides and starts the inverse time lag, blocks up
Turn a variety of electric motor protectings such as inverse time lag, overvoltage protection, under-voltage protection, passive moods.Protection can acquire switch cavity temperature in real time
And can provide temperature alarm signal, direct action may be selected in tripping in protection acquisition gas alarm signal.Protection may be implemented pair
The motor control with a distant place on the spot, can also realize online starting, current electric degree information be calculated by Software Integration, by right
The status monitoring of motor and switch provides foundation for switch and electronic machine overhauling and its life cycle management.
In order to solve the above technical problems, the present invention provides a kind of flame-proof mine double loop fan protection devices, including
Primary processor further includes the inverse time-lag protection module connecting with primary processor, fast tripping protection module, passive moods module, disconnected phase
Protective module, unbalance protection module, earth leakage search/lockout module, over-voltage protection module), o-volt protection module, selective leakage
Protective module and blower are fallen from power module automatically;
The inverse time-lag protection module, including start inverse time-lag protection (cold conditions inverse time lag), stall inverse time-lag protection (heat
The state inverse time lag), overload protection (overload inverse time lag), the inverse time-lag protection of use uses IEC60255 standard, operation equation
Are as follows:
The fast tripping protection blocks current more than definite value and after the time is greater than adjusting delay, trip by protection act outlet;
The passive moods module be equipped with two sections of unbalanced fault protections, for Electric Motor Open-phase Situation, reverse phase, turn-to-turn short circuit and
More serious asymmetrical voltage, negative-sequence current inverse time lag section can also be used as sensitive unbalanced current protection, in investment negative phase-sequence
When current protection, open-phase protection and unbalance protection can be exited;
For the open-phase protection module when open-phase protection is put into, if lacking a phase or biphase current, open-phase protection is through prolonging
When movement outlet, unbalanced fault protection put into trip when, after effect, guarantee reliability situation under, exit;
The unbalance protection module is when unbalance protection is put into, if a phase current is larger or smaller, in logic
Distinguishing rule is, when primary current is greater than 4A or more, a phase current is greater than 1.6 times of minimum phase, or less than the 0.6 of maximum phase
Times, then differentiating three-phase current unbalance, protection is exported through deferred action, when unbalanced fault protection puts into and trips, after effect,
Guarantee to exit under reliability situation;
The earth leakage search/lockout module is used for being latched to close a floodgate, and after switching separating brake, protective device detection switch is by closing
Variation, when electric current reverts to 0, be delayed automatic incision earth leakage search/lockout detection, and the insulating resistance value of detection, which is used as, concentrates route selection auxiliary
Help criterion;
The over-voltage protection module measures 3 line voltages and is above overvoltage protection definite value, by the delay of adjusting
After act in tripping;
The o-volt protection module measures 3 line voltages and is below under-voltage protection definite value, after the delay of adjusting
It acts in tripping;
The selective earth leakage protection module acquires zero-sequence current residual voltage, using zero-sequence current 5 subharmonic into
Traveling wave conformal analysis, forms the selective earth leakage protection of zero sequence power direction, and selective selects ground path;
The blower fall from power automatically module fan power lose or break down, standby fan through delay automatically switch
It puts into operation, be delayed 0.1~300 second (adjustable), while being latched former operation blower, excludes and in original operation fan trouble through people
After work confirmation or after power up, restore automatic switching function again, two sides blower can be used as host or standby host.
As a preferred technical solution of the invention, the primary processor uses high-performance 32-bit RISC CPU core
Piece PIC32MX.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
It can be started at a distance, be stopped, online starting, delayed firing, monitor set, guarantor directly or by communication network
Shield, is measured in one at control, both can realize that main booster was cut automatically to from local fan in failure or power-off
It changes, and blower, switch effectively can be monitored and protected.Mature communication in terms of Sustainable use comprehensive automation of electric power system
Interaction technique applies multinomial hardware and software interference protection measure, using fast using the MCU chip of high-performance high reliability
Fast data processing algorithm provides and starts a variety of electricity such as inverse time lag, stall inverse time lag, overvoltage protection, under-voltage protection, passive moods
Machine protection.Protection can acquire switch cavity temperature in real time and can provide temperature alarm signal, protection acquisition gas alarm signal, can
Select direct action in tripping.Protection may be implemented that the motor control with a distant place on the spot can also be realized online starting, be passed through
Software Integration calculates current electric degree information, by the status monitoring to motor and switch, for switch and electronic machine overhauling and its
Life cycle management provides foundation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is overall structure diagram of the invention;
Fig. 2 is inverse time-lag protection module logic figure of the invention;
Fig. 3 is fast tripping protection module logic figure of the invention;
Fig. 4 is passive moods module logic figure of the invention;
Fig. 5 is this unbalance protection module logic figure;
Fig. 6 is the logic chart of over-voltage protection module of the invention;
Fig. 7 is the logic chart of o-volt protection module of the invention;
Fig. 8 is the logic chart of selective earth leakage protection module of the invention;
Fig. 9-11 is that blower of the invention is fallen from power the logic chart of module automatically.
Specific embodiment
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
As shown in Figure 1, a kind of flame-proof mine double loop fan protection device described in the present embodiment, including primary processor
1, it further include the inverse time-lag protection module 2, fast tripping protection module 3, passive moods module 4, open-phase protection being connect with primary processor 1
Module 5, unbalance protection module 6, earth leakage search/lockout module 7, over-voltage protection module 8, o-volt protection module 9, selective leakage
Protective module 10 and blower are fallen from power module 11 automatically;
As shown in Fig. 2, the inverse time-lag protection module 2, including to start inverse time-lag protection (cold conditions inverse time lag), stall anti-
Time limit protects (hot inverse time lag), overload protection (overload inverse time lag), and the inverse time-lag protection of use uses IEC60255 standard,
Its operation equation are as follows:
Inverse time lag includes five kinds of modes, as table 1-1,1-2 are defined
Table 1-1 inverse-time overcurrent pattern collation table
The table 1-2 inverse-time overcurrent constant table of comparisons
Inverse-time overcurrent mode | α | β |
The common inverse time lag | 0.02 | 0.14 |
The very inverse time lag | 1.0 | 13.5 |
The extreme inverse time lag | 2.0 | 80.0 |
The long-time inverse time lag | 1.0 | 120 |
Starting inverse time lag, stall inverse time-lag protection are adjusted with the thermoae limit curve of motor, can also be according to normal
Starting current, starting time select inverse-time curve.If the name plate of motor is labelled with the starting in the case of different starting voltages
The starting time of electric current and permission should be adjusted according to all calculated maximum inverse time lag coefficients.It is general to recommend to start instead
Time limit uses long-time inverse time lag (mode 4), and the reference current for starting the inverse time lag is motor electric current at full capacity, as motor allows
1.2 times of electric current continuous operations at full capacity, then should adjust for 1.2 times at full capacity electric current, stall inverse time lag generally use extreme inverse time
It limits (mode 3).Consider the previous use habit of coal mine, protection includes overload inverse time-lag protection (i.e. overload protection), if thrown
Enter to start inverse time lag and stall inverse time lag, that overload protection can directly use specified time (mode 0) to protect as motor standby
Shield.
Protection uses the inverse time lagDiscrete way is completed to calculate.Inverse time lag can also lead to
It crosses the corresponding operating point of 10 current times of fixed input to be adjusted, this function is apolegamy function.
As shown in figure 3,3 electric current of fast tripping protection module is more than definite value and after the time is greater than adjusting delay, protection is moved
It trips for export;As needed, low-voltage dead lock directional current protection can also be matched into, i.e., when electric current is more than definite value, voltage is small
In low-voltage definite value, while after directional element meets condition, protection just judge that entry condition meets, and movement, which exports, trips.
The passive moods module 4 is equipped with two sections of unbalanced fault protections, for Electric Motor Open-phase Situation, reverse phase, turn-to-turn short circuit
And more serious asymmetrical voltage, negative-sequence current inverse time lag section can also be used as sensitive unbalanced current protection, it is negative in investment
When sequence current protection, open-phase protection and unbalance protection can be exited;When normal operation, since motor load three-phase current is general
It is symmetrical.When phase fault occurs, break equal unbalanced fault when, three-phase current will be no longer symmetrical.According to symmetrical component method,
When route three-phase current unbalance, negative sequence component can be generated.And the identical stator forward-order current of amplitude and negative-sequence current are electronic
The heat generated inside machine is not identical, and twice of power frequency exciting current that negative-sequence current generates is non-for the fuel factor effect of rotor
Chang Xianzhu.Small negative-sequence current, thermal overload protection caused by the reasons such as imbalance slight for supply voltage can provide guarantor
Shield, but for serious imbalance, as one phase of stator winding broken string or phase sequence are reversed, it is necessary to special quick protection is provided, it is no
The negative-sequence current that then increased dramatically will be such that motor burns because of overheat.Device is equipped with two sections of unbalanced fault protections, main needle
To Electric Motor Open-phase Situation, reverse phase, turn-to-turn short circuit and more serious asymmetrical voltage.Negative-sequence current inverse time lag section can also be used as sensitive
Unbalanced current protection.When putting into unbalanced fault protection, open-phase protection and unbalance protection can be exited.Its logic chart is same
Overload inverse time-lag protection.
As shown in figure 4, the open-phase protection module 5 when open-phase protection is put into, if lacking a phase or biphase current, is broken
Mutually protection is exported through deferred action, when unbalanced fault protection puts into and trips, after effect, guarantees to exit under reliability situation;
As shown in figure 5, the unbalance protection module 6 is needed for the adjusting of coal mine tradition, put into unbalance protection
When, as long as one phase current of discovery is larger or smaller, distinguishing rule is in logic, when primary current is greater than 4A or more, a phase
Electric current is greater than 1.6 times of minimum phase, or less than 0.6 times of maximum phase, then differentiates three-phase current unbalance, protects through deferred action
Outlet.When unbalanced fault protection puts into and trips, after effect, guarantee to exit under reliability situation;
The earth leakage search/lockout module 7 can adjust earth leakage search/lockout according to table 1-3, only just fill in feed master switch
If earth leakage protective.Earth leakage search/lockout be served only for locking close a floodgate use, after switch separating brake, protective device detection switch by conjunction variation,
When electric current reverts to 0, be delayed automatic incision earth leakage search/lockout detection, and the insulating resistance value of detection can be used for liquid crystal display,
It is uploaded by communication, as concentration route selection assistant criteria.
Table 1-3 leakage latching protection
Major loop operating voltage (V) | Single-phase earth leakage action value | Single-phase earth leakage locking value |
1140 | 20kΩ | 40kΩ |
660 | 11kΩ | 22kΩ |
;
As shown in fig. 6, the over-voltage protection module 8, when 3 line voltages are above overvoltage protection definite value, pass through
Movement is in tripping after the delay of adjusting.Prevent overtension from motor overexcitation being caused to be burnt;
As shown in fig. 7, the o-volt protection module 9, when 3 line voltages are below under-voltage protection definite value, process is whole
Movement is in tripping after fixed delay.Traditional tripping coil can be substituted completely, can both prevent lightning stroke low-voltage from switch being caused to miss
It is dynamic, protection act sensitivity when can also be improved decompression.O-volt protection is latched through coincidence, in switch in quartile, is protected motionless
Make;
As shown in figure 8, the selective earth leakage protection module 10, fan monitoring protection acquisition zero-sequence current zero sequence electricity
Pressure carries out waveform analysis using 5 subharmonic of zero-sequence current, forms the selective earth leakage protection of zero sequence power direction, Ke Yiyou
Selectivity selects ground path.It is greater than definite value in residual voltage, zero-sequence current is greater than definite value, when directional element meets, through whole
Fixed delay, selective earth leakage protection movement outlet tripping.;
As shown in figs. 9-11, the blower is fallen from power module 11 automatically, standby when operation fan power is lost or breaks down
Automatically switch to put into operation through delay with blower, be delayed 0.1~300 second (adjustable), while being latched former operation blower.It is transported in original
Row fan trouble excludes and after manual confirmation or after power up, restores automatic switching function again.Two sides blower can be with
Automatic switchover can be realized as long as no failure or block signal as host or standby host.
The protection of NRKJ352 fan monitoring is applied to common blower, after running main air blower, which breaks down, shuts down, delay
1~30 second (adjustable), standby fan automatically starting.Automatically mode of falling from power has two-shipper automatic switchover, two-shipper manual switching.
The protection of NRKJ354 fan monitoring is applied to counter-rotating fan, after running main air blower level-one is because of disorderly closedown, from
Dynamic another grade of cutting, delay successively start opposite side two-stage standby fan automatically.When standby fan cannot start for some reason, protection is not
Automatically switching of falling from power is carried out, the trouble-free another primary motor of main air blower allows to run a period of time, in order to avoid blowing-out.Automatically switch function
Can both can be from host to standby host switching, can also be from standby host to host switching.Automatic switchover mode has two-shipper automatically switch, is double
Machine manual switching, Two-channel switching (single machine is allowed to run in short-term).
Fan monitoring is protected to improve the accuracy and reliability fallen from power automatically, removes and is assisted using two fans two-stage electric motor
Other than idle contact is controlled as the transmitting signal of the automatic switchover to active and standby blower, while utilizing dedicated communications network interaction two
Side information provides auxiliary information of the of ac information of opposite side blower as fan switch position, to prevent blower from falling from power automatically
When accidentally switching or the generation of separating brake simultaneously.
The technical characterstic of the present embodiment are as follows: 1, fan monitoring protection use high-performance 32-bit RISC cpu chip PIC32MX
As primary processor, with band up to 5 level production lines32 kernels, JATG debugging interface, monocycle
Multiplication unit and high-performance divider, pin compatibility is good, has the characteristics that low energy consumption, high reliablity.
2, fan monitoring protection is with " closing a floodgate allows " function, to prevent operations staff's maloperation.The function is in urgent shape
Under state, " close a floodgate allow " function can be exited by toggle switch.Once exited, device can be directly by manual starting.
3, fan monitoring protection provide to switch picket surveillance function, can to working power, switch cavity temperature, open
It closes separating brake and making process is monitored, split can put the whole monitoring of row and protection into, it is also possible to both to mention for switch maintenance
For foundation, it can also extend and be used as switch life cycle management.
4, there is motor starting function for monitoring to utilize switch by motor starting discrimination function for fan monitoring protection
Auxiliary contact and exchange acquisition data judge motor starting procedure, calculate maximum starting current and starting time.
5, mature communication interaction technique in terms of fan monitoring Sustainable use comprehensive automation of electric power system, on the one hand using connecing
Interlocking signal of the point as two sides blower, on the one hand also using communication as block signal.It can be effectively prevented because of auxiliary
Contact problem causes double-sided fan while closing, and is formed " cancelling all things together ";It is also ensured that also can guarantee in auxiliary contact failure
Blower can fall from power.
6, fast tripping protection, overload protection, open-phase protection, earth leakage protective etc. both are provided to blower to protect substantially, is also increased
The functions such as starting inverse time lag, stall inverse time lag, overvoltage protection, low-voltage protection are added, protection feature is more perfect, steady
It is fixed, reliable.
7, electric leakage monitoring circuit is equipped with power-off time delay function.After vacuum contactor power-off can be achieved, delay recovery motor
Integrated protection detects over the ground, and the motor back-emf that blower generates after a shutdown has effectively been isolated, has reliably protected blower
Monitoring protection.
8, for the wide temperature big screen LCD of fan monitoring Sustainable use as man-machine dialogue interface, information shows whole Chinese
Change, fault message is concise, operates intuitive and convenient.Both it can use key to be operated, and also IR remote controller supported to carry out
Operation and adjusting.
9, fan monitoring protection used on hardware a variety of inhibition common modes in disturb, the measure of series mode interference, device has
Stronger anti-interference ability.Software passes on the traditional protection data processing of the ground Nan Rui and protection algorism, ensure that the reliable of device
Property and stability.
10, fan monitoring protection has the function of that watt metering, device utilize software algorithm, can real-time integral calculation electric degree
And record, using background monitoring software, load daily sheet, moon sheet etc. can be automatically generated.
11, fan monitoring protection has the function of veneer control and multistage joint control, can be realized according to wiring and menu selection
Multistage (multimachine) joint control.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (2)
1. a kind of flame-proof mine double loop fan protection device, which is characterized in that including primary processor (1), further include and master
Inverse time-lag protection module (2), the fast tripping protection module (3), passive moods module (4), open-phase protection module of processor (1) connection
(5), unbalance protection module (6), earth leakage search/lockout module (7), over-voltage protection module (8), o-volt protection module (9), selection
Property leakage protection module (10) and blower fall from power module (11) automatically;
The inverse time-lag protection module (2), including start inverse time-lag protection (cold conditions inverse time lag), stall inverse time-lag protection (heat
The state inverse time lag), overload protection (overload inverse time lag), the inverse time-lag protection of use uses IEC60255 standard, operation equation
Are as follows:
Fast tripping protection module (3) electric current more than definite value and after the time is greater than adjusting delay, trip by protection act outlet;
The passive moods module (4) be equipped with two sections of unbalanced fault protections, for Electric Motor Open-phase Situation, reverse phase, turn-to-turn short circuit and
More serious asymmetrical voltage, negative-sequence current inverse time lag section can also be used as sensitive unbalanced current protection, in investment negative phase-sequence
When current protection, open-phase protection and unbalance protection can be exited;
For the open-phase protection module (5) when open-phase protection is put into, if lacking a phase or biphase current, open-phase protection is through being delayed
Movement outlet after effect, guarantees to exit under reliability situation when unbalanced fault protection puts into and trips;
The unbalance protection module (6) if a phase current is larger or smaller, is sentenced when unbalance protection is put into logic
Not foundation is, when primary current is greater than 4A or more, a phase current is greater than 1.6 times of minimum phase, or less than the 0.6 of maximum phase
Times, then differentiating three-phase current unbalance, protection is exported through deferred action, when unbalanced fault protection puts into and trips, after effect,
Guarantee to exit under reliability situation;
The earth leakage search/lockout module (7) is used for being latched to close a floodgate, and after switching separating brake, protective device detection switch is become by closing
Point, when electric current reverts to 0, through the automatic incision earth leakage search/lockout detection of delay, the insulating resistance value of detection is as concentration route selection auxiliary
Criterion;
The over-voltage protection module (8) measures 3 line voltages and is above overvoltage protection definite value, after the delay of adjusting
It acts in tripping;
The o-volt protection module (9) measures 3 line voltages and is below under-voltage protection definite value, moves after the delay of adjusting
Make in tripping;
The selective earth leakage protection module (10) acquires zero-sequence current residual voltage, using zero-sequence current 5 subharmonic into
Traveling wave conformal analysis, forms the selective earth leakage protection of zero sequence power direction, and selective selects ground path;
The blower fall from power automatically module (11) fan power lose or break down, standby fan through delay automatically switch
It puts into operation, be delayed 0.1~300 second (adjustable), while being latched former operation blower, excludes and in original operation fan trouble through people
After work confirmation or after power up, restore automatic switching function again, two sides blower can be used as host or standby host.
2. a kind of flame-proof mine double loop fan protection device according to claim 1, which is characterized in that the master
Processor (1) uses high-performance 32-bit RISC cpu chip PIC32MX.
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CN201910046647.0A CN109617019A (en) | 2019-01-18 | 2019-01-18 | A kind of flame-proof mine double loop fan protection device |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110460009A (en) * | 2019-09-03 | 2019-11-15 | 鞍钢集团工程技术有限公司 | A kind of ferro-alloy furnace transformer inverse time lag relay protection setting method |
CN112769099A (en) * | 2021-03-01 | 2021-05-07 | 上海节卡机器人科技有限公司 | Robot braking method and device, robot and computer storage medium |
CN114704492A (en) * | 2022-04-25 | 2022-07-05 | 远东双诚风机(江苏)有限公司 | High-temperature and high-pressure resistant efficient centrifugal fan |
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Publication number | Priority date | Publication date | Assignee | Title |
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CN101403391A (en) * | 2008-10-07 | 2009-04-08 | 同济大学 | Novel duplicate-power double-fan intelligent monitoring protection device |
CN107332205A (en) * | 2017-07-17 | 2017-11-07 | 日照南瑞电气科技有限公司 | A kind of mining flameproof feed switch protection device |
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2019
- 2019-01-18 CN CN201910046647.0A patent/CN109617019A/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101403391A (en) * | 2008-10-07 | 2009-04-08 | 同济大学 | Novel duplicate-power double-fan intelligent monitoring protection device |
CN107332205A (en) * | 2017-07-17 | 2017-11-07 | 日照南瑞电气科技有限公司 | A kind of mining flameproof feed switch protection device |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110460009A (en) * | 2019-09-03 | 2019-11-15 | 鞍钢集团工程技术有限公司 | A kind of ferro-alloy furnace transformer inverse time lag relay protection setting method |
CN110460009B (en) * | 2019-09-03 | 2021-09-24 | 鞍钢集团工程技术有限公司 | Inverse time limit relay protection setting method for transformer of ferroalloy furnace |
CN112769099A (en) * | 2021-03-01 | 2021-05-07 | 上海节卡机器人科技有限公司 | Robot braking method and device, robot and computer storage medium |
CN114704492A (en) * | 2022-04-25 | 2022-07-05 | 远东双诚风机(江苏)有限公司 | High-temperature and high-pressure resistant efficient centrifugal fan |
CN114704492B (en) * | 2022-04-25 | 2024-03-08 | 远东双诚风机(江苏)有限公司 | High-efficient centrifugal fan of high temperature resistant high pressure |
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Application publication date: 20190412 |