CN112871323B - Permanent magnet motor direct-drive vertical mill with vibration damping mechanism - Google Patents

Permanent magnet motor direct-drive vertical mill with vibration damping mechanism Download PDF

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Publication number
CN112871323B
CN112871323B CN202110299125.9A CN202110299125A CN112871323B CN 112871323 B CN112871323 B CN 112871323B CN 202110299125 A CN202110299125 A CN 202110299125A CN 112871323 B CN112871323 B CN 112871323B
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China
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stator
vertical mill
rotor
permanent magnet
piston
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CN202110299125.9A
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CN112871323A (en
Inventor
尚勤贵
张炳义
冯桂宏
姚硕
刘宇航
尚金铎
高敏
陈高敏
尚金鸽
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Henan Quanxin Liquid Start Up Equipment Co ltd
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Henan Quanxin Liquid Start Up Equipment Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B02CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02CCRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C17/00Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
    • B02C17/18Details

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  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

The utility model provides a permanent magnet motor direct-drive vertical mill with vibration damping mechanism, driving system includes rotor mechanism and annular stator mechanism, rotor mechanism cover is located in the annular stator mechanism, annular stator mechanism drive rotor mechanism rotates, the rotary drum cover is established with in the rotor mechanism, rotor mechanism drive rotary drum rotates, the rotary drum is connected with vertical mill's mill, the base is used for supporting stator mechanism, the rotary drum is connected with the base through bearing mechanism, the clearance between stator mechanism and the rotor mechanism has buffering support piece, through setting up driving system, after the power system lets in alternating current, stator mechanism's magnetic field induction rotor mechanism magnetic field, directly drive the rotary drum by rotor mechanism again, form permanent magnet synchronous motor under the rotating field effect, directly drive the rotary drum rotation by rotor mechanism, realize low-speed high torque permanent magnet synchronous motor direct-drive vertical mill.

Description

Permanent magnet motor direct-drive vertical mill with vibration damping mechanism
Technical Field
The invention relates to the technical field of ball mills, in particular to a permanent magnet motor direct-drive vertical mill with a vibration damping mechanism.
Background
In recent years, the cement raw material, clinker and slag grinding process is innovated in a new and new way, integrates crushing, drying, grinding, sorting and conveying into a whole, and has the advantages of high yield, low unit consumption, high intensification degree, small occupied area, low civil engineering and transportation cost and the like. But the matched speed reducer of the asynchronous motor has the advantages of large equipment volume and weight, high manufacturing difficulty and maintenance cost, high vibration noise, leakage pollution of lubricating oil, reduced operation efficiency, particularly unstable operation of the vertical mill grinding roller, large vibration of the grinding roller and difficult improvement of yield.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a permanent magnet motor direct-drive vertical mill with a vibration damping mechanism, so as to solve the problems in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a permanent magnet motor direct-drive vertical mill with slow vibration mechanism, includes vertical mill, vertical mill power system, slow vibration mechanism and base, its characterized in that: the power system comprises a rotor mechanism and an annular stator mechanism, wherein the rotor mechanism is sleeved in the annular stator mechanism, the annular stator mechanism drives the rotor mechanism to rotate, the rotor mechanism drives the rotor drum to rotate, the rotor drum is connected with a grinding disc of the vertical mill, the annular stator mechanism consists of at least one stator mechanism, a base is used for supporting the stator mechanism, the rotor drum is connected with the base through a bearing mechanism, the rotor drum rotates relative to the base, a buffer support piece is arranged between the stator mechanism and the rotor mechanism in a gap, the buffer support piece comprises rolling bodies and a buffer support piece connected with the rolling bodies, the buffer support piece keeps a relative gap between the rotor mechanism and the stator mechanism, and the rolling bodies ensure normal relative rotation between the stator mechanism and the rotor mechanism.
Further, the buffer support piece comprises a connecting seat, a piston cylinder and an elastic piece arranged inside the piston cylinder, the piston cylinder is connected with the connecting seat, the elastic piece is arranged at the top of the piston cylinder, the other end of the elastic piece is provided with a rolling body connected with the elastic piece through a connecting limiting piece, the other end of the rolling body extends out of a port of the piston cylinder, and the connecting seat is connected with a rotor mechanism, a stator mechanism, a rotary drum or a millstone.
Further, the rolling body is a sphere or a cylinder, one end of the connecting limiting piece is connected with the elastic piece, the other end of the connecting limiting piece is provided with a groove matched with the cylinder or the sphere and matched with the sphere or the cylinder, and one end of the cylinder or the sphere extends out of the piston cylinder.
Further, the rolling body is a guide wheel, one end of the connecting limiting piece is connected with the elastic piece, the other end of the connecting limiting piece is connected with the guide wheel through the rotating shaft, and one end of the guide wheel extends out of the piston cylinder.
Further, the rolling body is a guide wheel, the limiting connecting piece is a piston, one end of the piston is connected with the elastic piece, the other end of the piston extends out of the piston cylinder, and the end part of the piston extending out of the piston cylinder is connected with the guide wheel through a shaft.
Further, the lateral wall of the piston cylinder is provided with a through hole, the limiting shaft sequentially penetrates through the through hole on one side wall of the piston cylinder, the through hole on the lateral wall of the piston and extends out of the through hole on the other lateral wall of the piston, and two ends of the limiting shaft are provided with snap springs.
Further, an adjusting pad is arranged between the elastic piece and the piston cylinder.
Furthermore, the elastic piece is a disc spring, and the disc spring is assembled in a single in-phase superposition or reverse superposition mode.
Further, when the number of the stator mechanisms is greater than 1, the stator mechanisms comprise sector shells and stator iron cores in the sector shells, stator windings wound on the iron cores are arranged on the stator iron cores, and the sector shells are integrally spliced to form an annular structure.
Further, the fan-shaped shell is connected with the fan-shaped shell through a connecting piece.
Further, the bearing mechanism comprises a positioning bearing and a thrust bearing arranged between the positioning bearing and the base, and the inner ring of the positioning bearing is sleeved on the surface of the re-rotating drum.
Further, a magnetism isolating sleeve is arranged between the rotor mechanism and the rotary drum.
Compared with the prior art, the invention has the following advantages:
1. Through setting up driving system, after the power system lets in alternating current, the magnetic field induction rotor mechanism magnetic field of stator mechanism, directly drive the rotary drum by rotor mechanism again, form PMSM under the rotating field effect, directly drive the rotary drum rotatory by rotor mechanism, realize low-speed high torque PMSM and directly drive the vertical mill, realize motor and mechanical equipment integrated design, stator mechanism adopts the concatenation formula structure, make things convenient for the mill to make the transportation, on-the-spot assembly and follow-up maintenance, the stator adopts fan-shaped structure, replace trouble unit when easy to assemble and maintenance, fundamentally changes traditional mechanical transmission system drive chain redundancy, bulk and huge shortcoming of weight, can be widely applied to in the large-scale vertical mill technique. The driving system can avoid the difficulties of shipping, lifting, maintaining, processing and manufacturing caused by large volume and overweight weight of the traditional driving system, and reduce the running power of the gear box, thereby reducing the manufacturing cost.
After the power system is electrified with alternating current, the rotor cylinder is directly driven to rotate by the rotor mechanism by the stator magnetic field induction rotor magnetic field of the permanent magnet synchronous motor, and the permanent magnet synchronous motor under the action of the rotating magnetic field directly drives the movable millstone to rotate by the rotor mechanism, so that a complex transmission mechanism in the prior art is eliminated, no gear transmission is consumed, and meanwhile, the equipment is enabled to operate more stably.
3. Through setting up buffer support piece, can effectively control the clearance between stator mechanism and the rotor mechanism, vertical mill is at the start-up, and the operation is and do not sweep the thorax when shutting down, and the energy of the amplitude that vertical mill produced is effectively offset by buffer support piece and released, can keep the relative minimum clearance between rotor mechanism and the stator mechanism through buffer support piece, and minimum clearance can practice thrift manufacturing cost, and minimum clearance economize on electricity effect is obvious.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a structure in which the rolling elements are spheres or cylinders;
FIG. 3 is a schematic view of a structure of a guide wheel;
FIG. 4 is a schematic view of another construction in which the rolling elements are guide wheels;
Fig. 5 is an assembly view of the stator mechanism and the vibration damping device.
Reference numerals: 1. the vertical mill comprises a vertical mill body, 2, a rotor mechanism, 3, a rotary drum, 4, a millstone, 5, a base, 6, a buffer support piece, 7, a connecting seat, 8, a piston cylinder, 9, an elastic piece, 10, a connecting limiting piece, 11, a guide wheel, 12, a rotating shaft, 13 adjusting pads, 14, a stator mechanism, 15, a fan-shaped shell, 16, a connecting piece, 17, a positioning bearing, 18, a thrust bearing, 19, a limiting shaft, 20, a rolling body, 21 and a piston.
Detailed Description
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The technical proposal of the invention is described in detail with reference to the accompanying drawings, the permanent magnet motor direct-drive vertical mill with a vibration damping mechanism comprises a vertical mill 1, a vertical mill power system, a vibration damping mechanism and a base, wherein the power system comprises a rotor mechanism 2 and an annular stator mechanism, the rotor mechanism is sleeved in the annular stator mechanism, the annular stator mechanism drives the rotor mechanism to rotate, a rotary drum 3 is sleeved in the rotor mechanism, the rotor mechanism drives the rotary drum to rotate, the rotor mechanism can be directly sleeved on the surface of the rotary drum to form contact with the surface of the rotary drum, or the rotary drum is connected on the surface of the rotary drum by utilizing a flange in a threaded manner, or the rotary drum is indirectly driven to rotate by a plurality of connecting devices, for example, the rotor mechanism and the rotary drum are respectively provided with a flange connecting device on the surface of the rotary drum, the rotor mechanism drives the rotary drum to rotate through the transmission of the flange plate, or the rotor mechanism drives a rotary shaft connecting device, the rotary shaft connecting device is concentrically matched and connected with the rotary drum, the rotor mechanism indirectly drives the rotary drum to rotate through the rotary shaft connecting device, the rotary drum is connected with the millstone 4 of the vertical mill, the rotary drum and the millstone can be fixedly connected or detachably connected through a flange and the like, or the rotary drum and the millstone can be in an integrated structure, the annular stator mechanism consists of at least one stator mechanism 14, the stator mechanism can comprise a stator iron core and windings arranged on the iron core, the rotor mechanism can consist of a plurality of permanent magnets attached to the surface of the rotary drum or the transfer mechanism consists of the rotor iron core and permanent magnets distributed on the rotor iron core, when the rotor core is arranged, the rotor core is sleeved inside the rotor core, the rotor core directly drives the roller to rotate, after the power of the vertical mill power system is supplied in work, a gap between the stator core and the permanent magnet generates a rotating magnetic field, a permanent magnet synchronous motor is formed under the action of the rotating magnetic field, the rotor mechanism directly drives the rotor to rotate, the rotating magnetic field interacts with the magnetic field of the permanent magnet pole on the rotor mechanism to generate electromagnetic force to drive the motor-driven rotor to rotate, the rotor mechanism rotates relative to the stator mechanism to drive the rotor to rotate, the existing power mechanism for driving the grinding roller through a speed reducer matched with an asynchronous motor is eliminated, meanwhile, the grinding roller operates more stably, the grinding roller vibration is reduced, the base 5 is used for supporting the stator mechanism, the rotary drum is connected with the base through the bearing mechanism, so that the rotary drum rotates relative to the base, preferably, the rotary drum is ensured to rotate, and meanwhile, the base is required to share the gravity of the whole equipment, so that the bearing mechanism can comprise a positioning bearing 17 and a thrust bearing 18 arranged between the positioning bearing and the base, an inner ring of the positioning bearing is sleeved on the surface of the rotary drum, and a magnetism isolating sleeve is arranged between the rotor mechanism and the rotary drum; when the surface-mounted permanent magnet is arranged on the surface of the rotary drum, magnetism isolation and a rotor core are not needed, a buffer support piece is arranged in a gap between the stator mechanism and the rotor mechanism, the vibration damping mechanism comprises rolling bodies 20 and a buffer support piece 6 connected with the rolling bodies, the buffer support piece keeps the relative gap between the rotor mechanism and the stator mechanism, the rolling bodies ensure the normal relative rotation between the stator mechanism and the rotor mechanism, the gap between the stator mechanism and the rotor mechanism can be effectively controlled by arranging the buffer support piece, the vertical mill does not sweep the bore when being started and operated and when being stopped, and the energy of the amplitude generated by the vertical mill is effectively counteracted and released by the buffer support piece, the buffer support piece can keep a relatively minimum gap between the rotor mechanism and the stator mechanism, the minimum gap can save manufacturing cost, and the minimum gap has obvious electricity-saving effect.
The buffer support piece comprises a connecting seat 7, a piston cylinder 8 and an elastic piece 9 arranged in the piston cylinder, wherein the piston cylinder is connected with the connecting seat or the piston cylinder can be integrated with the base into a whole, the elastic piece is arranged at the top of the piston cylinder, the other end of the elastic piece is provided with a rolling body connected with the elastic piece through a connecting limiting piece, the other end of the rolling body extends out of a port of the piston cylinder, the connecting seat is connected with a rotor mechanism, a stator mechanism, a rotary drum or a grinding disc, the connecting seat is fixedly connected or detachably connected, when the connecting seat is connected with the stator mechanism, the connecting seat can be connected with the upper surface or the inner side surface of the stator mechanism, the rolling body can roll on the surface of any one of the three parts of the rotor mechanism, the rotary drum or the grinding disc, the connecting seat can roll on the stator mechanism, the elastic piece can be a disc spring, a rubber block, a polytetrafluoroethylene block and other elastic components can be adopted, and the disc spring can be singly, in-phase stacked or reversely stacked and assembled when the elastic piece is a disc spring, the vibration amplitude can be effectively counteracted by the rolling piece through the extrusion limiting piece when the rotary drum generates vibration amplitude.
When the rolling body is a sphere or a cylinder, one end of the connecting limiting piece 10 is connected with the elastic piece, the other end is provided with a groove matched with the cylinder or the sphere and matched with the sphere or the cylinder, and one end of the cylinder or the sphere extends out of the piston cylinder; when the rolling body is a guide wheel 11, one end of the connecting limiting piece is connected with the elastic piece, the other end of the connecting limiting piece is connected with the guide wheel through a rotating shaft 12, and one end of the guide wheel extends out of the piston cylinder; the rolling body is a guide wheel, the other structure of the limiting connecting piece is a piston 21, one end of the piston is connected with the elastic piece, the other end of the piston extends out of the piston cylinder, and the end part of the piston extending out of the piston cylinder is connected with the guide wheel through a shaft.
In order to prevent the piston from rotating, the side wall of the piston cylinder is provided with a through hole, the limiting shaft 19 sequentially penetrates through the through hole on one side wall of the piston cylinder and the through hole on the side wall of the piston and extends out of the through hole on the other side wall of the piston, two ends of the limiting shaft are provided with snap springs, and at the moment, the diameter of the through hole on the side wall of the piston cylinder is larger than that of the limiting shaft, so that the piston can axially move; in order to prevent the piston and the guide wheel from rotating, a key pin and a key groove can be arranged between the piston and the piston barrel, an adjusting pad 13 is arranged between the elastic piece and the piston barrel, and the tightness of the force applied to the elastic piece is adjusted through the adjusting pad.
The stator mechanism can be integrally encircling the outside of the rotor mechanism, when the diameter of the rotary drum or the millstone is larger, the rotor mechanism can also be formed by combining a plurality of stator mechanisms, when the number of the stator mechanisms is larger than 1, the stator mechanism comprises a fan-shaped shell 15 and a stator core in the fan-shaped shell, a stator winding of the winding core is arranged on the stator core, the fan-shaped shell and the fan-shaped shell are integrally spliced into an annular structure, and the stator mechanism is provided with a spliced structure, so that the number of magnetic poles can be selected according to the diameter of different rotary drums and the requirement, and the shells with different numbers and the stator core are spliced into the whole annular stator mechanism; the fan-shaped shells are connected through the connecting piece 16, so that the fan-shaped shells are detachably spliced to form the annular shape of the whole stator mechanism, the connecting piece can be an integral flange, the flange is arranged on one side or two sides of the fan-shaped shells during installation, the flange can be connected with the annular shells through implementation, the fan-shaped shells can also be segmented connecting discs, two or more fan-shaped shells can be simultaneously connected through bolts according to different needs, and the plurality of fan-shaped shells are integrally spliced to form the annular shape of the whole stator mechanism.
While the basic principles of the invention have been shown and described, there are various changes and modifications to the invention, which fall within the scope of the invention as hereinafter claimed, without departing from the spirit and scope of the invention.

Claims (11)

1. The utility model provides a permanent magnet motor direct-drive vertical mill with slow vibration mechanism, includes vertical mill, vertical mill power system, slow vibration mechanism and base, its characterized in that: the power system comprises a rotor mechanism and an annular stator mechanism, wherein the rotor mechanism is sleeved in the annular stator mechanism, the annular stator mechanism drives the rotor mechanism to rotate, the rotor mechanism is connected with a grinding disc of the vertical mill, the annular stator mechanism consists of at least one stator mechanism, a base is used for supporting the stator mechanism, the rotor mechanism is connected with the base through a bearing mechanism to enable the rotor mechanism to rotate relative to the base, a buffer supporting piece is arranged at a gap between the stator mechanism and the rotor mechanism, the buffer supporting piece comprises rolling bodies and buffer supporting pieces connected with the rolling bodies, the buffer supporting pieces keep a relative gap between the rotor mechanism and the stator mechanism, and the rolling bodies guarantee normal relative rotation between the stator mechanism and the rotor mechanism; the buffer support piece comprises a connecting seat, a piston cylinder and an elastic piece arranged inside the piston cylinder, the piston cylinder is connected with the connecting seat, the elastic piece is arranged at the top of the piston cylinder, the other end of the elastic piece is provided with a rolling body connected with the elastic piece through a connecting limiting piece, the other end of the rolling body extends out of a port of the piston cylinder, and the connecting seat is connected with the rotor mechanism or the stator mechanism.
2. The permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to claim 1, wherein: the rolling body is a sphere or a cylinder, one end of the connecting limiting piece is connected with the elastic piece, the other end of the connecting limiting piece is provided with a groove matched with the cylinder or the sphere and matched with the sphere or the cylinder, and one end of the cylinder or the sphere extends out of the piston cylinder.
3. The permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to claim 1, wherein: the rolling body is a guide wheel, one end of the connecting limiting piece is connected with the elastic piece, the other end of the connecting limiting piece is connected with the guide wheel through the rotating shaft, and one end of the guide wheel extends out of the piston cylinder.
4. The permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to claim 1, wherein: the rolling body is a guide wheel, the connecting limiting piece is a piston, one end of the piston is connected with the elastic piece, the other end of the piston extends out of the piston cylinder, and the end part of the piston extending out of the piston cylinder is connected with the guide wheel through a shaft.
5. The permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to claim 4, wherein: the side wall of the piston cylinder is provided with a through hole, the limiting shaft sequentially penetrates through the through hole on one side wall of the piston cylinder, the through hole on the side wall of the piston and the through hole on the other side wall of the piston, and two ends of the limiting shaft are provided with snap springs.
6. A permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to any one of claims 1-5, characterized in that: an adjusting pad is arranged between the elastic piece and the piston cylinder.
7. A permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to any one of claims 1-5, characterized in that: the elastic piece is a disc spring, and the disc spring is assembled in a single in-phase superposition or reverse superposition mode.
8. The permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to claim 1, wherein: when the number of the stator mechanisms is greater than 1, the stator mechanisms comprise sector shells and stator iron cores in the sector shells, stator windings wound on the iron cores are arranged on the stator iron cores, and the sector shells are integrally spliced to form an annular structure.
9. The permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to claim 8, wherein: the fan-shaped shell is connected with the fan-shaped shell through a connecting piece.
10. The permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to claim 1, wherein: the bearing mechanism comprises a positioning bearing and a thrust bearing arranged between the positioning bearing and the base, and the inner ring of the positioning bearing is sleeved on the surface of the re-rotating drum.
11. The permanent magnet motor direct drive vertical mill with a vibration damping mechanism according to claim 1, wherein: a magnetism isolating sleeve is arranged between the rotor mechanism and the rotary drum.
CN202110299125.9A 2021-02-03 2021-03-20 Permanent magnet motor direct-drive vertical mill with vibration damping mechanism Active CN112871323B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202120306802 2021-02-03
CN2021203068020 2021-02-03

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CN112871323B true CN112871323B (en) 2024-06-14

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Application Number Title Priority Date Filing Date
CN202120569897.5U Active CN214811390U (en) 2021-02-03 2021-03-20 Rotor and stator supporting and limiting mechanism of mill
CN202110299125.9A Active CN112871323B (en) 2021-02-03 2021-03-20 Permanent magnet motor direct-drive vertical mill with vibration damping mechanism
CN202110299119.3A Withdrawn CN113019595A (en) 2021-02-03 2021-03-20 Rotor and stator supporting and limiting mechanism of mill
CN202120569890.3U Withdrawn - After Issue CN214811361U (en) 2021-02-03 2021-03-20 Permanent magnet motor direct-drive vertical mill with vibration damping mechanism

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CN202110299119.3A Withdrawn CN113019595A (en) 2021-02-03 2021-03-20 Rotor and stator supporting and limiting mechanism of mill
CN202120569890.3U Withdrawn - After Issue CN214811361U (en) 2021-02-03 2021-03-20 Permanent magnet motor direct-drive vertical mill with vibration damping mechanism

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN214811390U (en) * 2021-02-03 2021-11-23 河南全新机电设备有限公司 Rotor and stator supporting and limiting mechanism of mill
CN113410942B (en) * 2021-07-28 2024-06-07 河南全新机电设备有限公司 Damping wheel type bearing device between stator and rotor of direct-driven motor of mill
CN113751137B (en) * 2021-10-02 2024-06-07 河南全新机电设备有限公司 Permanent magnet motor direct-drive vertical mill with bidirectional load buffer device

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ES2444437T3 (en) * 2010-11-29 2014-02-25 Siemens Aktiengesellschaft Motor-reducer of a mill drive system
CN102716780B (en) * 2012-06-29 2014-12-03 冯桂宏 Combined stator/rotor permanent-magnet outer rotor motor directly-driven vertical mill millstone
CN103191803B (en) * 2013-04-19 2015-03-04 二重集团(德阳)重型装备股份有限公司 Vertical roller mill
CN210074894U (en) * 2019-06-13 2020-02-14 青岛恩能电机有限公司 Special full-packaging combined type permanent magnet direct-drive annular motor for ball mill
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CN214811361U (en) * 2021-02-03 2021-11-23 河南全新机电设备有限公司 Permanent magnet motor direct-drive vertical mill with vibration damping mechanism

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CN214811390U (en) 2021-11-23
CN113019595A (en) 2021-06-25
CN112871323A (en) 2021-06-01

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