CN107085189A - UPS power failure monitoring device - Google Patents
UPS power failure monitoring device Download PDFInfo
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- CN107085189A CN107085189A CN201710426055.2A CN201710426055A CN107085189A CN 107085189 A CN107085189 A CN 107085189A CN 201710426055 A CN201710426055 A CN 201710426055A CN 107085189 A CN107085189 A CN 107085189A
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- negative electrode
- electrode plate
- positive electrode
- voltage
- power failure
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/40—Testing power supplies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/3644—Constructional arrangements
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention provides a kind of ups power failure monitoring device, wherein, the device includes：Housing；Report to the leadship after accomplishing a task the multiple positive electrode plates and multiple negative electrode plates of arrangement, be arranged in the housing, for storing electric energy；With the one-to-one multiple positive electrode latticings of the positive electrode plate, it is connected with the positive electrode plate, the voltage for detecting each positive electrode plate；With the one-to-one multiple negative electrode latticings of the negative electrode plate, it is connected with the negative electrode plate, the voltage for detecting each negative electrode plate；Low-voltage alarm circuit, is connected with the positive electrode latticing and the negative electrode latticing, is alarmed when being less than predetermined threshold value for the voltage difference between the positive electrode plate and the adjacent negative electrode plate.The reliabilities of UPS battery services, security and intelligent are improved, the labor intensity of battery management personnel is alleviated.
Description
Technical field
The present invention relates to UPS (uninterrupted power source) fault diagnosis technology, more particularly to UPS battery condition monitoring systems,
It is exactly specifically a kind of ups power failure monitoring device.
Background technology
Since the electronic equipments such as computer come out, power issue is always the problem of people is deeply concerned.For example it is uninterrupted
Power supply (UPS), is mainly used in providing continual electricity to single computer, computer network system or other power electronic equipments
Power is supplied.During UPS main configuration is battery, practical application, people are not only concerned about that the performance of UPS power supplies in itself refers to
Mark, but quality, the continuity and stability of power supply of concern UPS power supplies, ensure that load maintains normal work, and protect
Shield load, hardware are without damage.If ups power once occurs unstable and stopped power supply, very big loss is will result in,
Even irredeemable loss.
Therefore, the safe mass of UPS batteries is considered as the most important thing of uninterrupted supply of electric power link by people extensively.But
It is that the battery group that current UPS is used needs attendant often to be detected, because battery group is to be in battery connecting line
The uninterrupted charge/discharge state being connected with each other, attendant can not measure the voltage, electric current, resistance value of single battery, lead to
Often need manually to unload accumulator anode and cathode connecting line, then one by one measure every piece of battery, this is time consuming, laborious,
And there is great risk hidden danger for emergency service；In addition, if attendant's detection is not in time, although or have detected on time
But still it is likely to occur failure in detection time interval twice.It is existing artificial especially in the case where battery group is larger
Maintenance technology accurate trouble accumulator of searching in the battery group that UPS is configured is extremely difficult and cumbersome, to the dimension of administrative staff
Shield detection work brings very big labor intensity, if the presence of trouble accumulator can not be found in time, UPS treats as adding N
Load again or big resistance, can cause UPS power-on times to greatly shorten or shut down, especially because charging current is excessive or interior
Hindered the battery jar cracking that excessively high etc. reason of ambassador's battery liquid temperature causes, electrolyte spill and leakage, if electrolyte with
Fire will be occurred because of short circuit by laying the metallic support contact of battery, and heavy losses are caused to enterprise or personal production.
Therefore, those skilled in the art, which need badly, researches and develops a kind of device of automatic monitoring UPS accumulator failures, so as to realize
The reliability of ups power, security and intelligent.
The content of the invention
In view of this, the technical problem to be solved in the present invention is to provide a kind of ups power failure monitoring device, solves
Ups power malfunction monitoring is wasted time and energy in the prior art, causes the problem of ups power security reliability is low.
In order to solve the above-mentioned technical problem, embodiment of the invention provides a kind of ups power failure monitoring device,
Including：Housing；Report to the leadship after accomplishing a task the multiple positive electrode plates and multiple negative electrode plates of arrangement, be arranged in the housing, for storing electric energy；
With the one-to-one multiple positive electrode latticings of the positive electrode plate, be connected with the positive electrode plate, for detect it is each it is described just
The voltage of battery lead plate；With the one-to-one multiple negative electrode latticings of the negative electrode plate, it is connected with the negative electrode plate, for visiting
Survey the voltage of each negative electrode plate；Low-voltage alarm circuit, is connected with the positive electrode latticing and the negative electrode latticing, uses
Voltage difference between the positive electrode plate and the adjacent negative electrode plate is alarmed when being less than predetermined threshold value.
It can be seen from the above-mentioned embodiment of the present invention, ups power failure monitoring device at least has following beneficial
Effect：Battery power storage voltage is uninterruptedly monitored using brownout warning circuit, if storing up electricity brownout, is reported
It is alert；Using the too high warning circuit monitoring battery internal temperature of temperature, if internal temperature is too high, security alarm is carried out；Profit
With electrolyte leakage alarm circuit monitoring battery liquid whether spill and leakage, if spill and leakage, alarmed；For attendant or
Amateur attendant monitors the battery broken down in battery group in real time, and the cumbersome maintenance monitoring of tradition is become into letter
It is single, easy to operate, round-the-clock battery can be timely and accurately uninterruptedly detected, when farthest saving the maintenance of battery
Between, the continuity and stability of power supply are realized, reduces and safeguards risk and fund cost, the reliable of ups power is improved
Property, security and intelligent, significantly reduce the labor intensity of battery management personnel；Existing battery is charged and discharged
Function will not produce any change or bad hidden danger, and the inaccessiable Detection results of manual maintenance institute are presented well.
It is to be understood that above-mentioned general description and detailed description below are merely illustrative and illustrative, it is not
Can the limitation scope of the invention to be advocated.
Brief description of the drawings
Following appended accompanying drawing is a part for the specification of the present invention, and it depicts the example embodiment of the present invention, institute
Accompanying drawing is used for illustrating the principle of the present invention together with the description of specification.
A kind of structure of the embodiment one for ups power failure monitoring device that Fig. 1 provides for the specific embodiment of the invention
Schematic diagram；
A kind of low-voltage alarm circuit for ups power failure monitoring device that Fig. 2 provides for the specific embodiment of the invention
Structural representation；
A kind of structure of the embodiment two for ups power failure monitoring device that Fig. 3 provides for the specific embodiment of the invention
Schematic diagram；
A kind of structure of the embodiment three for ups power failure monitoring device that Fig. 4 provides for the specific embodiment of the invention
Schematic diagram；
A kind of structural representation of the bottom surface for ups power failure monitoring device that Fig. 5 provides for the specific embodiment of the invention.
Symbol description：
The positive electrode plate of 10 housing 20
The positive electrode latticing of 30 negative electrode plate 40
The low-voltage alarm circuit of 50 negative electrode latticing 60
The temperature buzzer of 70 temperature sensor 80
The relay coil analog switch of 90 electrolyte spilling alarming circuit 601
The diode of 602 low-voltage alarm 603
The earth terminal of 6011 control end 6012
The output end of 6013 input 6014
The short switch of 901 accepting groove 902
903 spill and leakage sirens
Embodiment
For the purpose, technical scheme and advantage of the embodiment of the present invention are more clearly understood, below will with accompanying drawing and in detail
Narration clearly illustrates the spirit of disclosed content, and any skilled artisan is understanding present invention
After embodiment, when the technology that can be taught by present invention, it is changed and modifies, its essence without departing from present invention
God and scope.
The schematic description and description of the present invention is used to explain the present invention, but not as a limitation of the invention.
In addition, element/component of the same or like label used in drawings and the embodiments is for representing same or like portion
Point.
On " first " used herein, " second " ... etc., not especially censure the meaning of order or cis-position,
Be not used to limit the present invention, its only for distinguish with constructed term describe element or operation.
On direction term used herein, for example：Upper and lower, left and right, front or rear etc., are only the sides of refer to the attached drawing
To.Therefore, the direction term used is intended to be illustrative and not intended to limit this creation.
It is open term, i.e., on "comprising" used herein, " comprising ", " having ", " containing " etc.
Mean including but not limited to.
On it is used herein " and/or ", include the things any or all combination.
On term used herein " substantially ", " about " etc., to modify it is any can be with the quantity or mistake of microvariations
Difference, but this slight variations or error can't change its essence.In general, microvariations that such term is modified or error
Scope in some embodiments can be 20%, in some embodiments can be 10%, can be in some embodiments 5% or its
His numerical value.It will be understood by those skilled in the art that the foregoing numerical value referred to can be adjusted according to actual demand, it is not limited thereto.
It is some to describe the word of the application by lower or discuss in the other places of this specification, to provide art technology
Personnel's guiding extra on about the description of the present application.
A kind of structure of the embodiment one for ups power failure monitoring device that Fig. 1 provides for the specific embodiment of the invention
Schematic diagram, as shown in figure 1, being connected one to one multiple positive electrode plates using multiple positive electrode latticings, utilizes multiple negative electrodes to connect
Bar connects one to one multiple negative electrode plates, when the voltage difference between such as positive electrode plate and adjacent negative electrode plate is less than predetermined threshold value
Alarmed.
In the embodiment shown in the drawings, ups power failure monitoring device includes housing 10, multiple positive electrode plates
20th, multiple negative electrode plates 30, multiple positive electrode latticings 40, multiple negative electrode latticings 50 and low-voltage alarm circuit 60.Wherein, it is multiple
Positive electrode plate 20 and multiple negative electrode plates 30 are reported to the leadship after accomplishing a task arrangement, and multiple positive electrode plates 20 and multiple negative electrode plates 30 are arranged on the shell
In body 10, positive electrode plate 20 and negative electrode plate 30 are used to store electric energy；A pair of positive electrode latticing 40 and the positive electrode plate 20 1
Should, positive electrode latticing 40 is connected with the positive electrode plate 20, and positive electrode latticing 40 is used to detect each positive electrode plate 20
Voltage；Negative electrode latticing 50 is corresponded with the negative electrode plate 30, and negative electrode latticing 50 is connected with the negative electrode plate 50, is born
Electrode latticing 50 is used for the voltage for detecting each negative electrode plate 50；Low-voltage alarm circuit 60 and the positive electrode latticing 40,
The negative electrode latticing 50 is connected, low-voltage alarm circuit 60 be used for the positive electrode plate 20 and the adjacent negative electrode plate 30 it
Between voltage difference be less than predetermined threshold value when alarmed.
Referring to Fig. 1, battery is made up of multiple positive electrode plates and multiple negative electrode plates, is utilized respectively corresponding multiple positive electricity
Voltage difference between pole latticing and multiple negative electrode latticings, detection adjacent electrode plates, if voltage difference is less than predetermined threshold value, enters
Row alarm, so as to prevent battery power storage brownout, it is ensured that ups power safe operation.
A kind of low-voltage alarm circuit for ups power failure monitoring device that Fig. 2 provides for the specific embodiment of the invention
Structural representation, as shown in Fig. 2 low-voltage alarm circuit specifically includes multiple relay coil analog switches, multiple low pressure alarms
Device and multiple diodes；Each relay coil analog switch has control end, earth terminal, input and output end, phase
When believing that the voltage difference of battery lead plate is less than predetermined threshold value, the control end conducting input of correspondence relay coil analog switch and output
End, so as to cause corresponding low-voltage alarm to be alarmed；In low-voltage alarm two ends parallel-connected diodes, control end can be prevented
The reverse high voltage for disconnecting moment generation burns low-voltage alarm.
In the embodiment shown in the drawings, the low-voltage alarm circuit 60 is specifically included：Multiple relay coils
Analog switch 601, multiple low-voltage alarms 602 and multiple diodes 603.Wherein, each relay coil analog switch
601 have control end 6011, earth terminal 6012, input 6013 and output end 6014, the control end 6011 and the positive electricity
Pole latticing 40 is connected, and the earth terminal 6012 is connected with the negative electrode latticing 50；Low-voltage alarm 602 and the relay line
Circle analog switch 601 is corresponded, and low-voltage alarm 602 is connected with the input 6013, the output end 6014, low pressure police
The voltage difference that report device 602 is used between the positive electrode plate 20 and the adjacent negative electrode plate 30 is carried out when being less than predetermined threshold value
Alarm；Diode 603 is corresponded with the low-voltage alarm 602, and diode 603 is in parallel with the low-voltage alarm 602 even
Connect, diode 603 is used to prevent that producing backward voltage when the control end 6011 from disconnecting to puncture the low-voltage alarm 602.Its
In, the low-voltage alarm 602 can be red LED (invention diode) lamp, red flashing light lamp etc..
Referring to Fig. 2, alarmed using multiple independent relay coil analog switch conducting low-voltage alarms, to safeguard
Personnel or amateur attendant recommend the battery for showing and being broken down in battery group in real time, and the work for reducing maintenance personal is strong
Degree, improves detection efficiency.
A kind of structure of the embodiment two for ups power failure monitoring device that Fig. 3 provides for the specific embodiment of the invention
Schematic diagram, as shown in figure 3, monitor the temperature of battery liquid in real time using temperature sensor, once battery liquid
When temperature is more than preset temperature, temperature buzzer is alarmed.
In the embodiment shown in the drawings, ups power failure monitoring device also includes temperature sensor 70 and temperature
Spend siren 80.Wherein, temperature sensor 70 is arranged in battery liquid, and temperature sensor 70 is used to measure the electric power storage
The temperature of pond electrolyte；Temperature buzzer 80 is connected with the temperature sensor 70, and temperature buzzer 80 is used for the battery
The temperature of electrolyte is alarmed when being more than preset temperature.In the specific embodiment of the present invention, the material of the temperature sensor 70
Matter is ceramic or other high-temperature insulation materials；The temperature buzzer 80 can be yellow led (light emitting diode) lamp, yellow
Flash lamp etc..
Referring to Fig. 3, temperature sensor monitors the temperature of battery liquid in real time, if the temperature of battery liquid is high
In preset temperature, then temperature buzzer is alarmed, and causes the attention of special maintenance personnel or amateur patrolman, this is also anti-
Internal storage battery is demonstrate,proved because resistance is big, the certain high convention of temperature, so that it is guaranteed that the safe operation of battery group, reduces work people
The labor intensity of member, it is to avoid contingency occurs.
A kind of structure of the embodiment three for ups power failure monitoring device that Fig. 4 provides for the specific embodiment of the invention
Schematic diagram, if as shown in figure 4, the spill and leakage of battery liquid, electrolyte spilling alarming circuit is alarmed.
In the embodiment shown in the drawings, ups power failure monitoring device also includes electrolyte spilling alarming electricity
Road 90, wherein, electrolyte spilling alarming circuit 90 is arranged on outside the housing 10, and electrolyte spilling alarming circuit 90 is used for electric power storage
Alarmed during the spill and leakage of pond electrolyte.In the specific embodiment of the present invention, the electrolyte spilling alarming circuit 90 is specifically wrapped
Include multiple accepting grooves 901, multiple short switches 902 and spill and leakage siren 903.Wherein, accepting groove 901 is arranged on the housing 10
Around and bottom, accepting groove 901 is used to house the battery liquid of spill and leakage, and accepting groove 901 is arranged on around housing 10
And bottom, accepting groove 901 is arranged on around housing 10, and when the spilling of battery liquid, short switch 902 is reported
It is alert；Accepting groove 901 is arranged on the bottom of housing 10, and when the leakage of battery liquid, short switch 902 is also alarmed,
It is more safe and reliable so as to carry out overall monitor to the spill and leakage of battery liquid；The scattering device of short switch 902 is received described
In tank 901, short switch 902 is used to turn on when accumulation has battery liquid in the accepting groove 901；Spill and leakage siren
903 are connected with all short switches 902, and spill and leakage siren 903 is used for the short switch 902 and turns on alarm.It is described
Spill and leakage siren 903 can be buzzer, vibrating motor etc..The specific embodiment of the present invention, accepting groove 901 can be deep 2 milli
Rice~5 millimeters, wide 2 millimeters~5 millimeters of flat groove, or 3 millimeters deeps, the U-type groove of 4 mm wides.
Referring to Fig. 4, if the spill and leakage of battery liquid, electrolyte spilling alarming circuit is alarmed, and people is safeguarded in warning
The maintenance lifting of battery, is arrived more human nature, safer, more reliable aspect, alleviates staff's maintenance by member's processing in time
The labor intensity of battery and the psychological pressure of administrative staff.
A kind of structural representation of the bottom surface for ups power failure monitoring device that Fig. 5 provides for the specific embodiment of the invention
Figure, as shown in figure 5, multiple accepting grooves 901 are being set in the bottom of the housing 10, if battery liquid spill and leakage, is located at
Short switch 902 in accepting groove 901 can be turned on, and be alarmed so as to trigger spill and leakage siren 903.The specific embodiment of the present invention
In, spill and leakage siren 903 can be buzzer, vibrating motor, loudspeaker, flash lamp etc..
The various functions for the ups power failure monitoring device that the present invention is provided both were completely independent, and had mutually confirmation pair again
The detection of battery tension, internal temperature and storing up electricity situation, any change will not be produced to the function that battery is charged and discharged
And bad hidden danger, the inaccessiable Detection results of manual maintenance institute are presented well.The circuit element that the present invention is used is adopted
Detected with the power supply of battery, each circuit element power consumption is extremely low negligible.Technical scheme is at least presented
Advantages below：
A. the present invention solves the drawbacks of cumbersome port of detection battery is single, can be according to storage battery during material object manufacture
The quantity of pole plate flexibly sets the quantity of power port, and showing power port especially has the advantages that scalability is strong.
B. the present invention can with it is round-the-clock it is uninterrupted, detect battery accurately and in time, farthest saved battery
Maintenance time, realize the continuity and stability of power supply, reduce and safeguard risk and fund cost.
C. the present invention has the advantages that to help layman's identification of defective battery, and the prominent intuitive that embodies is strong, easily
Management, the mode of operation of early processing.
D. there are the present invention multiple testing results can mutually confirm the function of tracing trouble, alleviates staff and safeguards storage
The labor intensity of battery and the psychological pressure of administrative staff, battery service is lifted to the more reliable safe aspect of more human nature.
The specific embodiment of the invention provides a kind of ups power failure monitoring device, is uninterruptedly supervised using low-voltage alarm circuit
Battery power storage voltage is surveyed, if storing up electricity brownout, is alarmed；Utilize temperature sensor monitors internal storage battery temperature
Degree, if internal temperature is too high, temperature buzzer carries out security alarm；Utilize electrolyte spilling alarming circuit monitoring battery
Electrolyte whether spill and leakage, if spill and leakage, alarmed；Battery group is monitored in real time for attendant or amateur attendant
In the battery that breaks down, the cumbersome maintenance monitoring of tradition is become simple, easy to operate, can be round-the-clock uninterrupted accurate in time
Battery really is detected, the maintenance time of battery is farthest saved, realizes the continuity and stability of power supply, is dropped
Low maintenance risk and fund cost, improve the reliability of ups power, security and intelligent, significantly reduce battery
The labor intensity of administrative staff；Any change or bad hidden danger will not be produced to the function that existing battery is charged and discharged, very
The inaccessiable Detection results of manual maintenance institute are presented well.
The above-mentioned embodiment of the present invention can be implemented in various hardware, Software Coding or both combination.For example, this hair
Bright embodiment, which is alternatively in data signal processor (Digital Signal Processor, DSP), performs the above method
Program code.The present invention can also refer to computer processor, digital signal processor, microprocessor or field-programmable gate array
Arrange a variety of functions that (Field Programmable Gate Array, FPGA) is performed.Above-mentioned processing can be configured according to the present invention
Device performs particular task, its machine-readable software code that the ad hoc approach that the present invention is disclosed is defined by performing or firmware generation
Code is completed.Software code or firmware code can be developed into different program languages and different forms or form.Or
Different target platform composing software codes.However, configuring generation according to the software code of execution task of the present invention and other types
Different code pattern, type and the language of code do not depart from spirit and scope of the invention.
Schematical embodiment of the invention is the foregoing is only, before the design of the present invention and principle is not departed from
Put, equivalent variations and modification that any those skilled in the art is made all should belong to the scope of protection of the invention.
Claims (10)
1. a kind of ups power failure monitoring device, it is characterised in that the device includes：
Housing (10)；
Report to the leadship after accomplishing a task the multiple positive electrode plates (20) and multiple negative electrode plates (30) of arrangement, be arranged in the housing (10), for storing up
Deposit electric energy；
With the one-to-one multiple positive electrode latticings (40) of the positive electrode plate (20), it is connected, uses with the positive electrode plate (20)
In the voltage of each positive electrode plate (20) of detection；
With the one-to-one multiple negative electrode latticings (50) of the negative electrode plate (30), it is connected, uses with the negative electrode plate (50)
In the voltage of each negative electrode plate (50) of detection；And
Low-voltage alarm circuit (60), is connected with the positive electrode latticing (40) and the negative electrode latticing (50), for it is described just
Voltage difference between battery lead plate (20) and the adjacent negative electrode plate (30) is alarmed when being less than predetermined threshold value.
2. ups power failure monitoring device as claimed in claim 1, it is characterised in that low-voltage alarm circuit (60) tool
Body includes：
Multiple relay coil analog switches (601), each relay coil analog switch (601) has control end
(6011), earth terminal (6012), input (6013) and output end (6014), the control end (6011) connect with the positive electrode
Bar (40) is connected, and the earth terminal (6012) is connected with the negative electrode latticing (50)；And
With the one-to-one multiple low-voltage alarms (602) of the relay coil analog switch (601), with the input
(6013) connected with the output end (6014), between the positive electrode plate (20) and the adjacent negative electrode plate (30)
Voltage difference be less than predetermined threshold value when alarmed.
3. ups power failure monitoring device as claimed in claim 2, it is characterised in that the low-voltage alarm circuit (60) is also
Including：
With the one-to-one multiple diodes (603) of the low-voltage alarm (602), it is in parallel with the low-voltage alarm (602)
Connection, produces backward voltage and punctures the low-voltage alarm (602) during for preventing that the control end (6011) from disconnecting.
4. ups power failure monitoring device as claimed in claim 2, it is characterised in that the low-voltage alarm (602) is red
Color LED.
5. ups power failure monitoring device as claimed in claim 1, it is characterised in that the device also includes：
Temperature sensor (70), is arranged in battery liquid, the temperature for measuring the battery liquid；And
Temperature buzzer (80), is connected with the temperature sensor (70), and the temperature for the battery liquid is more than pre-
If being alarmed during temperature.
6. ups power failure monitoring device as claimed in claim 5, it is characterised in that the material of the temperature sensor (70)
Matter is ceramics.
7. ups power failure monitoring device as claimed in claim 5, it is characterised in that the temperature buzzer (80) is Huang
Color LED.
8. ups power failure monitoring device as claimed in claim 1, it is characterised in that the device also includes：
Electrolyte spilling alarming circuit (90), is arranged on the housing (10) outside, is carried out during spill and leakage for battery liquid
Alarm.
9. ups power failure monitoring device as claimed in claim 8, it is characterised in that the electrolyte spilling alarming circuit
(90) specifically include：
Multiple accepting grooves (901), are arranged on around the housing (10) and bottom, and the battery for housing spill and leakage is electrolysed
Liquid；
Multiple short switches (902), scattering device has in the accepting groove (901) for accumulation in the accepting groove (901)
Turned on during battery liquid；And
Spill and leakage siren (903), is connected with all short switches (902), and Times is turned on for the short switch (902)
It is alert.
10. ups power failure monitoring device as claimed in claim 9, it is characterised in that the spill and leakage siren (903) is
Buzzer.
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|---|---|---|---|
| CN201710426055.2A CN107085189A (en) | 2017-06-08 | 2017-06-08 | UPS power failure monitoring device |
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| CN201710426055.2A CN107085189A (en) | 2017-06-08 | 2017-06-08 | UPS power failure monitoring device |
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Cited By (1)
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| CN109061439A (en) * | 2018-07-23 | 2018-12-21 | 清华大学 | The method tested automatically for a variety of active implantation medical instruments |
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