CN214205252U - Oil-immersed internal circulation permanent magnet synchronous motor - Google Patents

Oil-immersed internal circulation permanent magnet synchronous motor Download PDF

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Publication number
CN214205252U
CN214205252U CN202120296294.2U CN202120296294U CN214205252U CN 214205252 U CN214205252 U CN 214205252U CN 202120296294 U CN202120296294 U CN 202120296294U CN 214205252 U CN214205252 U CN 214205252U
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oil
fan blade
stator seat
stator
end cover
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CN202120296294.2U
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Chinese (zh)
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金程运
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Zhejiang Chuangtian Motor Technology Co ltd
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Zhejiang Chuangtian Motor Technology Co ltd
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Abstract

The utility model discloses an oil-immersed inner loop permanent magnet synchronous motor, it includes stator (1), rotor (2), pivot (3), fan blade (9), casing and oil cooling pipeline structure, it is equipped with insulating oil to fill at stator seat (4) inner chamber of casing, install into oil pipe (12) additional on stator seat (4), stator seat (4) lower extreme installs oil pipe (11) additional, cooling oil pipe (10) are installed additional to the casing end, constitute an inner loop structure, the motor heaies up the back, insulating oil flows to cooling oil pipe (10) from oil pipe (11) under the effect of inside pressure, lower the temperature through fan blade (9), flow back to stator seat (4) by advancing oil pipe (12) again, thereby reach the effect of quick reduction motor temperature rise.

Description

Oil-immersed internal circulation permanent magnet synchronous motor
Technical Field
The utility model relates to a motor field specifically is an oil-immersed inner loop PMSM.
Background
The cooling of the permanent magnet synchronous motor adopts air cooling, namely, the casing is cooled through the fan blades, so that the radiating effect is achieved, and due to the fact that heat is required to be transferred through multiple layers of media, the transferring speed of heat inside the motor is low, the temperature rise of the motor cannot be reduced rapidly, and the motor is short-circuited due to overheating.
SUMMERY OF THE UTILITY MODEL
The utility model provides an oil-immersed internal circulation permanent magnet synchronous motor to solve the technical problem of low cooling efficiency in the prior art,
the wind driven generator comprises a stator, a rotor, a rotating shaft, blades, a shell and an oil cooling pipeline structure, wherein the shell comprises a stator seat and a base, a flange end cover is arranged at one end of the stator seat, a rear end cover is arranged at the other end of the stator seat, and insulating oil is filled in an inner cavity of the stator seat; one end of the rear end cover is connected with the stator seat, the other end of the rear end cover is connected with the base, the side wall of the base is provided with a plurality of air inlets, one end of the base is connected with the rear end cover, the other end of the base is provided with a reticular air outlet, the stator is fixed on the inner wall of the stator seat, the rotor is rotatably arranged in a central hole of the stator, the rotating shaft is arranged in a central shaft hole of the rotor in a penetrating way, one end of the rotating shaft passes through the flange end cover to be contacted with the outside, the other end of the rotating shaft passes through the rear end cover to enter an inner cavity of the base and be connected with the fan blade, the tail end of the rotating shaft is provided with a snap ring at the joint of the rotating shaft and the fan blade to fix the fan blade, the stator and the rotor are both arranged in insulating oil in the inner cavity of the stator seat, the oil cooling pipeline structure comprises a cooling oil pipe, an oil outlet pipe and an oil pipe, the cooling oil pipe is arranged between the fan blade and the reticular air outlet pipe, one end of the oil pipe is connected with the bottom of the inner cavity of the stator seat, one end of the oil inlet pipe is connected with the cooling oil pipe, the other end of the oil inlet pipe is connected with the top of the inner cavity of the stator seat, and when the motor works, the insulating oil circularly flows in the stator seat and the oil cooling pipeline structure to transfer heat generated by the stator and the rotor during working.
Furthermore, the fan blade comprises a fan blade shaft sleeved on the rotating shaft and a fan blade arranged on the outer side of the fan blade shaft, the included angle between the fan blade and the fan blade shaft is 45-55 degrees, and the twist angle of the fan blade is 20-30 degrees. The fan blade shaft comprises a first fan blade shaft close to the net-shaped air outlet and a second fan blade shaft connected with the first fan blade shaft, and the diameter of the section of the second fan blade shaft is 1/2 of that of the first fan blade shaft; the wind blade comprises a first layer of wind blades, a second layer of wind blades and a third layer of wind blades, wherein the mesh-shaped air outlet is arranged in the inner cavity of the base in sequence, the first layer of wind blades and the second layer of wind blades are respectively provided with 9 blades, the third layer of wind blades are provided with 7 blades, the first layer of wind blades and the second layer of wind blades are connected with a first wind blade shaft, the third layer of wind blades are connected with a second wind blade shaft, the sizes of the first layer of wind blades and the second layer of wind blades are the same, and the length of the third layer of wind blades is 1.5-1.8 times that of the first layer of wind blades.
Furthermore, a first O-shaped sealing ring is arranged at the joint of the flange end cover and the stator seat; and a second O-shaped sealing ring is arranged at the joint of the rear end cover and the stator seat.
Furthermore, a first notch is formed in the connecting end of the rear end cover and the stator seat, a first bearing is arranged at one end, close to the stator seat, of the first notch, a first mechanical seal is arranged at the other end of the first notch, the rotating shaft penetrates through a central shaft hole of the first bearing and the first mechanical seal, a waveform gasket is arranged between the first bearing and the first mechanical seal, a first groove is formed in the connecting end of the rear end cover and the base, and a first framework oil seal connected with the rotating shaft is arranged in the first groove; the flange end cover is equipped with the second notch at the link with the stator seat, and the one end that the second notch is close to the stator seat is equipped with the second bearing, and the second notch other end is equipped with second mechanical seal, and the pivot is worn to locate in second bearing and second mechanical seal's central shaft hole, and the flange end cover outside is equipped with the second recess, is equipped with the second skeleton oil blanket of being connected with the pivot in the second recess. First mechanical seal and second mechanical seal are the same mechanical seal device of structure, mechanical seal includes the rotating ring, the gland, quiet ring sum spring, rotating ring one end cup joints in the gland, the other end cup joints in quiet ring, spring one end is connected with the rotating ring, the spring other end laminating in the gland inner wall, the spring is the pressure state, the central shaft hole and the pivot of rotating ring are connected, the gland laminates with first bearing and second bearing respectively, quiet ring is fixed in first notch and second notch respectively, the rotating ring is equipped with the insulating oil reservoir with the contact surface coating of quiet ring, when the pivot rotates, rotating ring and quiet ring relative motion, the rotating ring generates and maintains the liquid film in order to play the sealing action with the contact surface of quiet ring.
Furthermore, a cable interface is arranged on the side face of the stator seat, an upper cable connector and a lower cable connector are arranged at the cable interface to ensure the sealing performance, the upper cable connector and the lower cable connector are respectively connected with the stator, the upper cable connector is arranged at an inner port of the cable interface, a third O-shaped sealing ring is arranged between the upper cable connector and the cable interface, the lower cable connector is arranged at an outer port of the cable interface, and a pressing plate is arranged outside the cable interface to fix the upper cable connector and the lower cable connector.
Furthermore, a filter is connected in the oil path of the oil outlet pipe.
Adopt above-mentioned structure, make the utility model discloses possess following gain effect:
the utility model discloses fill insulating oil in stator seat inner chamber, outer stator seat adds the oil cooling pipeline structure outward, and insulating oil flows in stator seat and oil cooling pipeline structure under the drive of pressure differential, reaches the effect that reduces the motor temperature rise fast; the tail end of the rotating shaft is provided with the fan blade, the fan blade adopts a structure of three layers of blades, air is fed from the side surface of the base under the driving of the fan blade, and air is discharged from the tail end, so that the air flow speed at the oil pipe is greatly improved, and the cooling effect at the cooling oil pipe is improved; a first O-shaped sealing ring is arranged at the joint of the rear end cover and the stator seat, and a second O-shaped sealing ring is arranged at the joint of the flange end cover and the stator seat, so that the overall sealing property of the stator seat is improved; a first bearing, a first mechanical seal and a first framework oil seal are arranged at the joint of the rear end cover and the rotating shaft, and a second bearing, a second mechanical seal and a second framework oil seal are arranged at the joint of the flange end cover and the rotating shaft, so that the sealing property of the rotating shaft in the rotating process is improved; a wave-shaped gasket is arranged between the first bearing and the first mechanical seal, so that the anti-loosening and anti-impact effects are achieved; a cable joint is additionally arranged at the cable interface and is used for connecting the stator and the cable, so that the dustproof, waterproof and shockproof performance of the motor is improved; the oil way of the oil outlet pipe is additionally provided with the filter, so that the oil pipe and the motor are prevented from being blocked by impurities, and the service lives of the oil pipe and the motor are prolonged.
Drawings
Fig. 1 is a front sectional view of the present invention.
Fig. 2 is a side sectional view of the present invention.
Fig. 3 is a schematic view of the structure of the motor end.
Shown in the figure: 1. a stator; 2. a rotor; 3. a rotating shaft; 4. a stator base; 5. a base; 6. a flange end cover; 7. a rear end cap; 8. an air inlet; 9. a fan blade; 901. a fan blade shaft; 902. a wind blade; 10. cooling the oil pipe; 11. an oil outlet pipe; 12. an oil inlet pipe; 13. a filter; 14. a cable upper joint; 15. and a cable lower joint.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings,
the utility model discloses an oil-immersed internal circulation permanent magnet synchronous motor, which comprises a stator 1, a rotor 2, a rotating shaft 3, a fan blade 9, a casing and an oil cooling pipeline structure,
the casing comprises a stator seat 4 and a base 5,
one end of the stator seat 4 is provided with a flange end cover 6, the other end of the stator seat 4 is provided with a rear end cover 7, and an inner cavity of the stator seat 4 is filled with insulating oil; one end of the rear end cover 7 is connected with the stator seat 4, the other end of the rear end cover 7 is connected with the base 5,
the side wall of the base 5 is provided with a plurality of air inlets 8, one end of the base 5 is connected with the rear end cover 7, the other end of the base 5 is provided with a reticular air outlet,
the stator 1 is fixed on the inner wall of the stator seat 4, the rotor 2 is rotatably arranged in a central hole of the stator 1, the rotating shaft 3 is arranged in a central shaft hole of the rotor 2 in a penetrating way, one end of the rotating shaft 3 passes through the flange end cover 6 to be contacted with the outside, the other end of the rotating shaft 3 passes through the rear end cover 7 to enter the inner cavity of the base 5 and be connected with the fan blade 9, a snap ring is arranged at the joint of the tail end of the rotating shaft 3 and the fan blade 9 to fix the fan blade 9, the stator 1 and the rotor 2 are both arranged in insulating oil in the inner cavity of the stator seat 4,
the oil-cooling pipeline structure comprises a cooling oil pipe 10, an oil outlet pipe 11 and an oil inlet pipe 12, the cooling oil pipe 10 is arranged between the fan blade 9 and the net-shaped air outlet, one end of the oil outlet pipe 11 is connected with the bottom of the inner cavity of the stator seat 4, the other end of the oil outlet pipe 11 is connected with the cooling oil pipe 10, one end of the oil inlet pipe 12 is connected with the cooling oil pipe 10, the other end of the oil inlet pipe 12 is connected with the top of the inner cavity of the stator seat 4, and when the motor works, insulating oil circularly flows in the stator seat 4 and the oil-cooling pipeline structure to transfer heat generated by the stator 1 and the rotor 2.
Stator 1 and rotor 2 generate heat during motor operation for 4 inner chamber temperatures of stator seat rise and form inside and outside pressure differential, insulating oil takes stator 1 and rotor 2's heat to flow by play oil pipe 11 under the drive of pressure differential, cools off oil pipe 10 department through fan blade 9 cooling, sends back the stator seat by the insulating oil of advancing oil pipe 12 after with the cooling again, the utility model discloses an oil cooling pipeline structure and stator seat 4 intercommunication constitute insulating oil's inner loop structure, take away the heat that rotor 2 and stator 1 produced through insulating oil, cooperate fan blade 9 to cool off insulating oil, reach the effect of quick reduction motor temperature rise.
Specifically, the fan blade 9 comprises a fan blade shaft 901 sleeved on the rotating shaft 3 and a fan blade 902 arranged outside the fan blade shaft 901, an included angle between the fan blade 902 and the fan blade shaft 901 is 45-55 degrees, a twist angle of the fan blade 902 is 20-30 degrees, and the fan blade shaft 901 comprises a first fan blade shaft close to the net-shaped air outlet and a second fan blade shaft connected with the first fan blade shaft; the wind blade 902 includes the first layer wind blade that netted air outlet set gradually to base inner chamber, second floor wind blade and third layer wind blade, first layer wind blade and second floor wind blade are equipped with 9 blades respectively, the third layer wind blade is equipped with 7 blades, first layer wind blade and second floor wind blade are connected with first fan blade hub connection, the third layer wind blade is connected with second fan blade hub connection, the blade size of first layer wind blade and second floor wind blade is the same, the blade length of third layer wind blade is 1.5 ~ 1.8 times of the blade length of first layer wind blade. The blades of the third layer of wind blades are longer than those of the first layer of wind blades and the second layer of wind blades, so that a better induced air effect can be achieved, the air inlet efficiency is higher, the number of the blades of the second layer of wind blades and the first layer of wind blades is larger, the wind speed of the net-shaped air outlet can be effectively improved, and the cooling effect is improved.
Specifically, a first O-shaped sealing ring is arranged at the joint of the flange end cover 6 and the stator seat 4; and a second O-shaped sealing ring is arranged at the joint of the rear end cover 7 and the stator seat 4. The sealing performance of the joint of the stator seat 4 and the flange end cover 6 and the sealing performance of the joint of the stator seat 4 and the rear end cover 7 are improved, meanwhile, the flange end cover 6 and the stator seat 4 are connected more firmly under the expansion action of the sealing ring, and the rear end cover 7 and the stator seat 4 are connected more firmly.
Specifically, a first notch is formed in the connecting end of the rear end cover 7 and the stator seat 4, a first bearing is arranged at one end, close to the outer side, of the first notch, a first mechanical seal is arranged at one end, close to the inner side, of the first notch, the rotating shaft 3 penetrates through a central shaft hole of the first bearing and the first mechanical seal, a waveform gasket is arranged between the first bearing and the first mechanical seal, a first groove is formed in the connecting end of the rear end cover 7 and the base 5, and a first framework oil seal connected with the rotating shaft 3 is arranged in the first groove; the flange end cover 6 is equipped with the second notch at the link with stator holder 4, and the second notch is leaned on outer one end to be equipped with the second bearing, and the second notch is leaned on interior one end to be equipped with second mechanical seal, and pivot 3 wears to establish with second bearing and second mechanical seal's central shaft hole in, and the flange end cover 6 outside is equipped with the second recess, is equipped with the second skeleton oil blanket of being connected with pivot 3 in the second recess. First mechanical seal and second mechanical seal are the same mechanical seal device of structure, mechanical seal includes the rotating ring, the gland, quiet ring and spring, rotating ring one end is cup jointed in the gland, the other end cup joints in quiet ring, spring one end is connected with the rotating ring, the spring other end laminating in the gland inner wall, the spring is the compression state, the central shaft hole and the pivot 3 of rotating ring are connected, the gland laminates with first bearing and second bearing respectively, quiet ring is fixed in first notch and second notch respectively, the rotating ring is equipped with the insulating oil reservoir with the contact surface coating of quiet ring, when pivot 3 rotates, rotating ring and quiet ring relative motion, the rotating ring generates and maintains the liquid film in order to play the sealing action with the contact surface of quiet ring. The film has hydrodynamic pressure and static pressure, plays the role of balancing pressure and lubricating end faces, and the two end faces of the static ring and the dynamic ring are highly smooth and level to form relative rotary seal.
Specifically, a cable interface is arranged on the side face of the stator seat 4, a cable upper connector 14 and a cable lower connector 15 are arranged at the cable interface to ensure sealing performance, the cable upper connector 14 and the cable lower connector 15 are respectively connected with the stator 1, an inner port of the cable interface is arranged at the cable upper connector 14, a third O-shaped sealing ring is arranged between the cable upper connector 14 and the cable interface, the cable lower connector 15 is arranged at an outer port of the cable interface, and a pressing plate is arranged outside the cable interface to fix the cable upper connector 14 and the cable lower connector 15. The motor passes through cable top connection 14 and cable lower clutch 15 and cable conductor connection, has improved the leakproofness of motor with the cable junction, and cable top connection 14 and cable lower clutch 15 can also play dustproof shockproof waterproof effect simultaneously.
Specifically, a filter 13 is connected in the oil path of the oil outlet pipe 11 to prevent impurities from blocking the oil pipe and the motor.
By adopting the sealing structure combining the mechanical seal and the framework oil seal, the whole sealing performance of the motor reaches the IP08 protection grade, and all joints of the motor are ensured not to leak oil.
The foregoing is illustrative of the preferred embodiments of the present invention only, and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and all the changes made within the scope of the independent claims of the present invention are within the scope of the present invention.

Claims (8)

1. The utility model provides an oily formula inner loop PMSM which characterized in that: the wind power generator comprises a stator (1), a rotor (2), a rotating shaft (3), fan blades (9), a shell and an oil cooling pipeline structure, wherein the shell comprises a stator seat (4) and a base (5), a flange end cover (6) is arranged at one end of the stator seat (4), a rear end cover (7) is arranged at the other end of the stator seat (4), and insulating oil is filled in an inner cavity of the stator seat (4); one end of a rear end cover (7) is connected with a stator seat (4), the other end of the rear end cover (7) is connected with a base (5), the side wall of the base (5) is provided with a plurality of air inlets (8), one end of the base (5) is connected with the rear end cover (7), the other end of the base (5) is provided with a net-shaped air outlet, a stator (1) is fixed on the inner wall of the stator seat (4), a rotor (2) is rotatably arranged in a mesopore of the stator (1), a rotating shaft (3) is arranged in a central shaft hole of the rotor (2) in a penetrating manner, one end of the rotating shaft (3) penetrates through a flange end cover (6) to be contacted with the outside, the other end of the rotating shaft (3) penetrates through the rear end cover (7) to enter an inner cavity of the base (5) and be connected with a fan blade (9), a clamping ring is arranged at the joint of the rotating shaft (3) and used for fixing the fan blade (9), the stator (1) and the rotor (2) are both arranged in insulating oil in the inner cavity of the stator seat (4), the oil cooling pipeline structure comprises a cooling oil pipe (10), an oil outlet pipe (11) and an oil inlet pipe (12), the cooling oil pipe (10) is arranged between the fan blade (9) and the net-shaped air outlet, one end of the oil outlet pipe (11) is connected with the bottom of the inner cavity of the stator seat (4), the other end of the oil outlet pipe (11) is connected with the cooling oil pipe (10), one end of the oil inlet pipe (12) is connected with the cooling oil pipe (10), the other end of the oil inlet pipe (12) is connected with the top of the inner cavity of the stator seat (4), and when the motor works, insulating oil circularly flows in the stator seat (4) and the oil cooling pipeline structure to transfer heat generated by the stator (1) and the rotor (2) during working.
2. The oil-immersed internal circulation permanent magnet synchronous motor according to claim 1, characterized in that: the fan blade (9) comprises a fan blade shaft (901) sleeved on the rotating shaft (3) and a fan blade (902) arranged on the outer side of the fan blade shaft (901), the included angle between the fan blade (902) and the fan blade shaft (901) is 45-55 degrees, and the twist angle of the fan blade (902) is 20-30 degrees.
3. The oil-immersed internal circulation permanent magnet synchronous motor according to claim 2, characterized in that: the fan blade shaft (901) comprises a first fan blade shaft close to the net-shaped air outlet and a second fan blade shaft connected with the first fan blade shaft, and the diameter of the section of the second fan blade shaft is 1/2 of that of the first fan blade shaft; the wind blade (902) comprises a first layer wind blade, a second layer wind blade and a third layer wind blade, wherein the first layer wind blade, the second layer wind blade and the third layer wind blade are sequentially arranged from a net-shaped air outlet to an inner cavity of the base, the first layer wind blade and the second layer wind blade are respectively provided with 9 blades, the third layer wind blade is provided with 7 blades, the first layer wind blade and the second layer wind blade are connected with a first wind blade shaft, the third layer wind blade is connected with a second wind blade shaft, the sizes of the first layer wind blade and the second layer wind blade are the same, and the length of the third layer wind blade is 1.5-1.8 times that of the first layer wind blade.
4. The oil-immersed internal circulation permanent magnet synchronous motor according to claim 1, characterized in that: a first O-shaped sealing ring is arranged at the joint of the flange end cover (6) and the stator seat (4); and a second O-shaped sealing ring is arranged at the joint of the rear end cover (7) and the stator seat (4).
5. The oil-immersed internal circulation permanent magnet synchronous motor according to claim 1, characterized in that: a first notch is formed in the connecting end of the rear end cover (7) and the stator seat (4), a first bearing is arranged at one end, close to the stator seat (4), of the first notch, a first mechanical seal is arranged at the other end of the first notch, the rotating shaft (3) penetrates through a central shaft hole of the first bearing and the first mechanical seal, a waveform gasket is arranged between the first bearing and the first mechanical seal, a first groove is formed in the connecting end, connected with the base (5), of the rear end cover (7), and a first framework oil seal connected with the rotating shaft (3) is arranged in the first groove; the flange end cover (6) is equipped with the second notch at the link with stator seat (4), and the one end that the second notch is close to stator seat (4) is equipped with the second bearing, and the second notch other end is equipped with second mechanical seal, and pivot (3) are worn to locate in second bearing and second mechanical seal's central shaft hole, and the flange end cover (6) outside is equipped with the second recess, is equipped with the second skeleton oil blanket of being connected with pivot (3) in the second recess.
6. The oil-immersed internal circulation permanent magnet synchronous motor according to claim 5, characterized in that: the first mechanical seal and the second mechanical seal are mechanical seal devices with the same structure, the mechanical seal comprises a movable ring, a gland, a static ring and a spring, one end of the movable ring is sleeved in the gland, the other end of the movable ring is sleeved in the static ring, one end of the spring is connected with the movable ring, the other end of the spring is attached to the inner wall of the gland, the spring is in a compression state, a central shaft hole of the movable ring is connected with a rotating shaft (3), the gland is respectively attached to a first bearing and a second bearing, the static ring is respectively fixed in a first notch and a second notch, an insulating oil layer is coated on the contact surface of the movable ring and the static ring, when the rotating shaft (3) rotates, the movable ring and the static ring move relatively, and the contact surface of the movable ring and the static ring generates and maintains a liquid film to play a role in sealing.
7. The oil-immersed internal circulation permanent magnet synchronous motor according to claim 1, characterized in that: stator seat (4) side is equipped with the cable interface, the cable interface department is equipped with cable top connection (14) and cable lower clutch (15) in order to ensure the leakproofness, cable top connection (14) and cable lower clutch (15) are connected with stator (1) respectively, the interior port of cable interface is located in cable top connection (14), be equipped with third O type sealing washer between cable top connection (14) and the cable interface, the outer port of cable interface is located in cable lower clutch (15), the cable interface still is equipped with clamp plate outward with fixed cable top connection (14) and cable lower clutch (15).
8. The oil-immersed internal circulation permanent magnet synchronous motor according to claim 1, characterized in that: the oil passage of the oil outlet pipe (11) is connected with a filter (13).
CN202120296294.2U 2021-02-02 2021-02-02 Oil-immersed internal circulation permanent magnet synchronous motor Active CN214205252U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202120296294.2U CN214205252U (en) 2021-02-02 2021-02-02 Oil-immersed internal circulation permanent magnet synchronous motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202120296294.2U CN214205252U (en) 2021-02-02 2021-02-02 Oil-immersed internal circulation permanent magnet synchronous motor

Publications (1)

Publication Number Publication Date
CN214205252U true CN214205252U (en) 2021-09-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202120296294.2U Active CN214205252U (en) 2021-02-02 2021-02-02 Oil-immersed internal circulation permanent magnet synchronous motor

Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118040986A (en) * 2024-04-12 2024-05-14 西北工业大学 Air cooling and oil cooling combined underwater motor system and underwater equipment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118040986A (en) * 2024-04-12 2024-05-14 西北工业大学 Air cooling and oil cooling combined underwater motor system and underwater equipment

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