CN103511173B - Top cover arrangement has the water turbine of four servomotors - Google Patents
Top cover arrangement has the water turbine of four servomotors Download PDFInfo
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- CN103511173B CN103511173B CN201310436347.6A CN201310436347A CN103511173B CN 103511173 B CN103511173 B CN 103511173B CN 201310436347 A CN201310436347 A CN 201310436347A CN 103511173 B CN103511173 B CN 103511173B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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Abstract
The invention discloses the water turbine that a kind of top cover arrangement has four servomotors, belong to mixed-flow and axial flow hydraulic turbine technical field.The present invention is provided with regulating ring of wicket gate and four servomotors in the top cover upper planar surface of water turbine, and four servomotors are arranged around the outward edge of regulating ring of wicket gate respectively in four quadrants of top cover upper planar surface; Divide demifacet flange to be provided with servomotor bearing near wall place, machine hole at the top cover of water turbine, one end of servomotor is connected on servomotor bearing, and the other end is connected on the edge of regulating ring of wicket gate, and the turnover oil pipe that four servomotors cheats with machine below interior floor is respectively connected.The present invention is meeting power station 2.5MPa operation oil pressure, and servomotor is close to machine hole wall, the maintainer that is more convenient for enters in top cover from top cover enter hole and overhauls unit, makes an inspection tour the critical components such as servomotor turnover oil pipe in unit running process; Decrease and servomotor hole lining is set in the concrete of machine hole, do not need to re-start strength check to concrete.
Description
Technical field
The present invention relates to mixed-flow and axial flow hydraulic turbine, especially top cover arrangement has the water turbine of four servomotors.
Background technique
Water guide mechanism servo for hydroturbine setting type is more, and the typical structure that Francis turbine adopts both at home and abroad at present has: it is first-class that two straight-cylinder servomotor is arranged in machine hole, two straight-cylinder servomotor is arranged on top cover, annular servomotor is arranged in top cover.
At present, adopt maximum servomotor arrangements to be arranged in by two straight-cylinder servomotor in machine hole, this setting type structure be simple, easily manufacture, reliable.Arrange two servomotors in the parallel direction of turbine chamber back boxing, servomotor is hydraulic operation, two guiding straight-cylinder servomotor, for operating gate linkage, servomotor bearing is arranged in machine hole, has saved space in machine hole, is conducive to operator and patrols and examines and keep in repair in machine hole; Traditional straight-cylinder servomotor is generally provided with locking device and stroke sensor, prevents stator from being washed open by water and converting servomotor stroke signal to electrical signal and flows to computer.
Servomotor arrangement more is in addition that servomotor is arranged on top cover, adopts two straight-cylinder servomotor to be arranged on top cover respectively and adopts annular servomotor to be arranged on top cover.Two straight-cylinder servomotor to be arranged on top cover i.e. servomotor bearing and, below servomotor, to be bolted on top cover, and it is interior identical that operating principle and two straight-cylinder servomotor are arranged in machine hole; This arrangement is suitable for operating the larger unit of oil pressure, because operation oil pressure more greatly can must be less by servomotor size design, enough spaces patrolled and examined and keep in repair can be reserved in machine hole, and can make top cover has enough areas enter hole is set, allow maintainer enter top cover internal overhaul unit.Adopt annular servomotor to be arranged on top cover, annular servomotor difficulty of processing is large, and easy leakage of oil in running, performance can not be guaranteed, and seldom adopts at present.
Summary of the invention
Goal of the invention of the present invention is: for above-mentioned Problems existing, a kind of top cover arrangement is provided to have the water turbine of four servomotors, the space above top cover has been saved while meeting power station 2.5MPa operation oil pressure, servomotor is close to machine hole wall, the maintainer that is more convenient for enters in top cover from top cover enter hole and overhauls unit, and in unit running process, make an inspection tour the critical components such as servomotor turnover oil pipe; Decrease and servomotor hole lining is set in the concrete of machine hole, do not need to re-start strength check to concrete, saved cost and manufacturing cycle.
The technical solution used in the present invention is as follows:
Top cover arrangement of the present invention has the water turbine of four servomotors, is provided with regulating ring of wicket gate and four servomotors in the top cover upper planar surface of water turbine, and wherein four servomotors are arranged around the outward edge of regulating ring of wicket gate respectively in four quadrants of top cover upper planar surface; Demifacet flange is divided to be provided with servomotor bearing near wall place, machine hole at the top cover of water turbine, one end of described servomotor is connected on servomotor bearing, the other end is connected on the edge of regulating ring of wicket gate, and the turnover oil pipe that described four servomotors are cheated with machine below interior floor is respectively connected.
Owing to have employed said structure, four servomotors are arranged in four quadrants of top cover upper planar surface, and around the outward edge of regulating ring of wicket gate, decrease and servomotor hole lining is set in the concrete of machine hole.Wherein servomotor bearing and top cover divide demifacet Flange joint, the layout of this form does not need motivation to cheat concrete, therefore do not need to re-start strength check to concrete, cost and manufacturing cycle are saved, 4 servomotors cheat respectively by metallic hose and machine in turnover oil pipe below floor be connected, during unit operation, two parallel servomotor reverse operations, drive control ring to open or close movable guide vane.Top cover arrangement of the present invention has the water turbine of four servomotors, the space above top cover has been saved while meeting power station 2.5MPa operation oil pressure, 4 servomotors are arranged in outside control ring maximum diameter, each servomotor divides demifacet as brace foundation using top cover, at utmost save the space on top cover, easy access personnel enter in top cover from top cover enter hole and overhaul unit, and transported by the bearing cooler of dismounting from top cover enter hole under the prerequisite not dismantling top cover, and in unit running process, make an inspection tour the critical components such as servomotor turnover oil pipe; Decrease and servomotor hole lining is set in the concrete of machine hole, do not need to re-start strength check to concrete, saved cost and manufacturing cycle.
Top cover arrangement of the present invention has the water turbine of four servomotors, described servomotor bearing is two, lay respectively on " Y " axle direction of top cover upper planar surface four quadrants, the edge of described regulating ring of wicket gate is provided with four lug rings, one end of described servomotor is connected on servomotor bearing nearby, and the other end of described servomotor is connected on corresponding lug ring.
Owing to have employed said structure, two servomotor bearings are positioned at top cover and divide demifacet flange near wall place, machine hole, also on " Y " axle direction be namely positioned in top cover upper planar surface four quadrants, lug ring on regulating ring of wicket gate is corresponding with servomotor and coordinate, make one end of servomotor can be connected on this lug ring, servomotor is made servomotor bearing to be supporting base, bear the support force of servomotor, therefore just do not need to re-start strength check to concrete, and by controlling the servomotor outside regulating ring of wicket gate edge, make the servomotor reverse operation that same servomotor bearing connects, thus cooperatively interact between the servomotor that two servomotor bearings connect, make the circumferentially same of regulating ring of wicket gate, be subject to same peripheral force, thus the control realized movable guide vane unlatching or closedown, in the present invention, servomotor is close to machine hole wall, the maintainer that is more convenient for enters in top cover from top cover enter hole and overhauls unit, and in unit running process, make an inspection tour the critical components such as servomotor turnover oil pipe, decrease and servomotor hole lining is set in the concrete of machine hole, do not need to re-start strength check to concrete, saved cost and manufacturing cycle.
Top cover arrangement of the present invention has the water turbine of four servomotors, described servomotor comprises the servomotor of locking ingot and the servomotor of not locking ingot, the bar head side of the servomotor of described lock ingot is provided with lock ingot switch, wherein top cover upper planar surface first, be furnished with the servomotor of the not locking ingot of servomotor and second of the first not locking ingot be parallel to each other in third quadrant; Top cover upper planar surface second, be furnished with the servomotor of the first locking ingot be parallel to each other and the servomotor of the second locking ingot in fourth quadrant, the servomotor of the described first not locking ingot and the servomotor of the first locking ingot are connected on same servomotor bearing, and the servomotor of the described second not locking ingot and the servomotor of the second locking ingot are connected on another servomotor bearing.
Owing to have employed said structure, water-turbine top cover arranges 4 servomotors, every quadrant arranges 1 servomotor, the first, third quadrant is arranged with the servomotor of 2 not locking ingots in parallel, the second, fourth quadrant be arranged in parallel the servomotor of 2 locking ingots, servomotor be hydraulic operation wave straight-cylinder servomotor, for operating gate linkage.On the bar head side of the servomotor of two lock ingots, be provided with lock ingot switch wherein, so that guide vanes of water turbine is reliably locked ingot in closed position, and prevent misoperation from starting shooting.Two servomotors that same servomotor bearing connects, when stator opens and closes, it uses direction contrary all the time; And first, the servomotor of third quadrant, its traffic direction is then identical all the time, the second, the servomotor of fourth quadrant, its traffic direction is also identical all the time, guarantee that the active force of four servomotors can circumferentially same on regulating ring of wicket gate of active force, therefore drive control rings to open by 4 servomotors or close movable guide vane.
Top cover arrangement of the present invention has the water turbine of four servomotors, what described servomotor adopted hydraulic operation waves straight-cylinder servomotor, described servomotor comprises being sealed by servomotor cylinder, front end housing and back cylinder cover and forms cylinder body, and is sealed the piston assembly of driving a vehicle by piston, piston rod and piston in combination; The inwall of described piston assembly and cylinder body forms motive sealing, and the termination of described piston rod is provided with the bar head be connected on lug ring.
Owing to have employed said structure, oil outlet tube control piston group by entering below floor in machine hole reciprocates relative to cylinder body, thus realize the flexible utilization of piston rod, piston rod is by bar head, can be connected on the lug ring on regulating ring of wicket gate edge, thus when can guarantee that waving straight-cylinder servomotor stretches, the driving to regulating ring of wicket gate can be realized, thus realize the control to stator.
Top cover arrangement of the present invention has the water turbine of four servomotors, described piston is connected with adopting snap ring between piston rod, be threaded connection between the termination of described piston rod and bar head, the cylindrical of described piston arranges twice square ring, and the sealing of described piston in combination comprises is located at polytetrafluoroethylene ring in twice square ring and O-ring seals respectively.
Owing to have employed said structure, piston is connected with piston rod snap ring.Piston rod adopts with bar head and is threaded, and it is locked with M120X6 nut, guarantee that the structure of whole piston assembly is surely leaned on, avoid the generation landing in using process, the cylindrical of piston arranges twice GSF hole square ring, this hole square ring is made up of wear-resistant teflon (PTFE) ring and O-ring seals, can effectively prevent from altering oil in servomotor between two chambeies, and servomotor front end housing is equipped with self oiling bearing and the molded rubber seal ring of guiding.
Top cover arrangement of the present invention has the water turbine of four servomotors, the back cylinder cover of described servomotor is provided with otic placode, described otic placode is connected on servomotor bearing by pin and axle sleeve, and the bar head on described servomotor is connected on the lug ring of regulating ring of wicket gate by servomotor pin.
Owing to have employed said structure, servomotor is connected by pin and axle sleeve with between servomotor bearing, make on servomotor and can opposing oscillatory between servomotor bearing, in like manner, bar head on servomotor is connected on the lug ring of regulating ring of wicket gate by servomotor pin, and when servomotor occurs flexible, the two ends of servomotor can swing relative to tie point, avoid the phenomenons such as stuck occur, guarantee the control that stator is opened and closed.
In sum, owing to have employed technique scheme, the invention has the beneficial effects as follows:
1, top cover arrangement of the present invention has the water turbine of four servomotors, the space above top cover has been saved while meeting power station 2.5MPa operation oil pressure, servomotor is close to machine hole wall, the maintainer that is more convenient for enters in top cover from top cover enter hole and overhauls unit, and in unit running process, make an inspection tour the critical components such as servomotor turnover oil pipe;
2, top cover arrangement of the present invention has the water turbine of four servomotors, decreases and arrange servomotor hole lining in the concrete of machine hole, do not need to re-start strength check to concrete, saved cost and manufacturing cycle.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is the hydraulic turbine structure schematic diagram that top cover arrangement of the present invention has four servomotors;
Fig. 2 is the annexation figure of servomotor bearing and top cover in the present invention;
Fig. 3 is the P direction view in Fig. 2.
Mark in figure: the servomotor of the locking ingot of 101-first, the servomotor of the locking ingot of 102-second, the servomotor of the not locking ingot of 201-first, the servomotor of the not locking ingot of 202-second, 3-regulating ring of wicket gate, 4-servomotor bearing, 5-push up cover upper planar surface, 6-divides demifacet flange.
Embodiment
All features disclosed in this specification, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.
Arbitrary feature disclosed in this specification (comprising any accessory claim, summary), unless specifically stated otherwise, all can be replaced by other equivalences or the alternative features with similar object.That is, unless specifically stated otherwise, each feature is an example in a series of equivalence or similar characteristics.
As shown in Figure 1, Figure 2 and Figure 3, top cover arrangement of the present invention has the water turbine of four servomotors, be provided with regulating ring of wicket gate 3 and four servomotors in the top cover upper planar surface 5 of water turbine, wherein four servomotors are arranged around the outward edge of regulating ring of wicket gate 3 respectively in four quadrants of top cover upper planar surface 5; Divide demifacet flange 6 to be provided with servomotor bearing 4 near wall place, machine hole at the top cover of water turbine, wherein said servomotor bearing 4 is two, lays respectively on " Y " axle direction of top cover upper planar surface 5 four quadrants; One end of described servomotor is connected on servomotor bearing 4, and the other end is connected on the edge of regulating ring of wicket gate 3, and the turnover oil pipe that described four servomotors are cheated with machine below interior floor is respectively connected.The edge of described regulating ring of wicket gate 3 is provided with four lug rings, and one end of described servomotor is connected on servomotor bearing 4 nearby, and the other end of described servomotor is connected on corresponding lug ring.Described servomotor comprises the servomotor of locking ingot and the servomotor of not locking ingot, the bar head side of the servomotor of described lock ingot is provided with lock ingot switch, what described servomotor adopted hydraulic operation waves straight-cylinder servomotor, described servomotor comprises being sealed by servomotor cylinder, front end housing and back cylinder cover and forms cylinder body, and is sealed the piston assembly of driving a vehicle by piston, piston rod and piston in combination, the inwall of described piston assembly and cylinder body forms motive sealing, the termination of described piston rod is provided with the bar head be connected on lug ring, described piston is connected with adopting snap ring between piston rod, be threaded connection between the termination of described piston rod and bar head, the cylindrical of described piston arranges twice square ring, the sealing of described piston in combination comprises is located at polytetrafluoroethylene ring in twice square ring and O-ring seals respectively, the back cylinder cover of described servomotor is provided with otic placode, described otic placode is connected on servomotor bearing by pin and axle sleeve, bar head on described servomotor is connected on the lug ring of regulating ring of wicket gate 3 by servomotor pin.Wherein top cover upper planar surface 5 first, be furnished with the servomotor 201 of the first not locking ingot be parallel to each other and the servomotor 202 of the second not locking ingot in third quadrant; Top cover upper planar surface 5 second, be furnished with the servomotor 101 of the first locking ingot be parallel to each other and the servomotor 102 of the second locking ingot in fourth quadrant, the servomotor 201 of the described first not locking ingot and the servomotor 101 of the first locking ingot are connected on same servomotor bearing 4, and the servomotor 202 of the described second not locking ingot and the servomotor 102 of the second locking ingot are connected on another servomotor bearing 4.The back cylinder cover of described servomotor is provided with otic placode, and described otic placode is connected on servomotor bearing by pin and axle sleeve, and the bar head on described servomotor is connected on the lug ring of regulating ring of wicket gate 3 by servomotor pin.
Top cover arrangement of the present invention has the water turbine of four servomotors, divides the close machine hole place of demifacet flange to exceed top cover upper planar surface certain distance at top cover, at the part fine finishing exceeded 4 unthreaded holes, adopts articulation hole bolt to connect servomotor bearing.Wherein servomotor nominal operation oil pressure is 2.5MPa, and by servomotor cylinder, front end housing, back cylinder cover, the assembling of lock ingot, piston, piston rod, piston in combination seals, bar is first-class forms.Piston is connected with piston rod snap ring.Piston rod adopts with bar head and is threaded, and locked with M120X6 nut.Outside piston arranges twice GSF hole square ring, and this hole square ring is made up of wear-resistant teflon (PTFE) ring and O-ring seals, can effectively prevent from altering oil in servomotor between two chambeies.Servomotor front end housing is equipped with self oiling bearing and the molded rubber seal ring of guiding.2 servomotor bar head sides are wherein equipped with respectively lock ingot switch, so that guide vanes of water turbine is reliably locked ingot in closed position, and prevent misoperation from starting shooting.Servomotor otic placode is connected with servomotor bearing with axle sleeve by servomotor pin, and servomotor the other end bar head is connected by the large earrings of servomotor pin and control ring.4 servomotors pass in and out oil pipe below floor in cheating respectively by metallic hose and machine and are connected, and during unit operation, two parallel servomotor reverse operations, drive control rings to open or closedown movable guide vane by 4 large earrings.
Adopt straight-cylinder servomotor in the present invention, the servomotor of this form and annular servomotor structure compared be simple, easily manufacture, reliable, repair and maintenance facilitates.Be arranged in by servomotor on top cover, servomotor bearing and top cover divide demifacet flange to be combined, and the layout of this form does not need motivation to cheat concrete, does not therefore need, re-starts strength check to concrete, saved cost and manufacturing cycle.The present invention adopt first, third quadrant and second, fourth quadrant be arranged in parallel 2 the straight-cylinder servomotors that to be arranged in parallel on top cover before the arrangement of 1 straight-cylinder servomotor is different from respectively, the space above top cover has been saved while meeting power station 2.5MPa operation oil pressure, servomotor is close to machine hole wall, the maintainer that is more convenient for enters in top cover from top cover enter hole and overhauls unit.
Top cover arrangement of the present invention has the water turbine of four servomotors, in use, the flexible of servomotor is controlled by the turnover oil pipe below floor in machine hole, can notify that two servomotor telescopic direction that same servomotor connects are contrary, then direction is identical for two servomotors be parallel to each other, thus when making servomotor active force on regulating ring of wicket gate, circumferentially same all at regulating ring of wicket gate of the push-pull effort formed, thus realize the rotation controlling regulating ring of wicket gate, then realize the control of the opening and closing of guide card.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature of disclosing in this manual or any combination newly, and the step of the arbitrary new method disclosed or process or any combination newly.
Claims (6)
1. top cover arrangement has the water turbine of four servomotors, it is characterized in that: be provided with regulating ring of wicket gate (3) and four servomotors in the top cover upper planar surface (5) of water turbine, wherein four servomotors are arranged around the outward edge of regulating ring of wicket gate (3) respectively in four quadrants on top cover upper planar surface (5); Demifacet flange (6) is divided to be provided with servomotor bearing (4) near wall place, machine hole at the top cover of water turbine, one end of described servomotor is connected on servomotor bearing (4), the other end is connected on the edge of regulating ring of wicket gate (3), and the turnover oil pipe that described four servomotors are cheated with machine below interior floor is respectively connected.
2. top cover arrangement as claimed in claim 1 has the water turbine of four servomotors, it is characterized in that: described servomotor bearing (4) is two, lay respectively on " Y " axle direction of top cover upper planar surface (5) four quadrants, the edge of described regulating ring of wicket gate (3) is provided with four lug rings, one end of described servomotor is connected on servomotor bearing (4) nearby, and the other end of described servomotor is connected on corresponding lug ring.
3. top cover arrangement as claimed in claim 2 has the water turbine of four servomotors, it is characterized in that: described servomotor comprises the servomotor of locking ingot and the servomotor of not locking ingot, the bar head side of the servomotor of described locking ingot is provided with lock ingot switch, wherein top cover upper planar surface (5) first, be furnished with the servomotor (201) of the first not locking ingot be parallel to each other and the servomotor (202) of the second not locking ingot in third quadrant; Top cover upper planar surface (5) second, be furnished with the servomotor (101) of the first locking ingot be parallel to each other and the servomotor (102) of the second locking ingot in fourth quadrant, the servomotor (201) of the described first not locking ingot and the servomotor (101) of the first locking ingot are connected on same servomotor bearing (4), and the servomotor (202) of the described second not locking ingot and the servomotor (102) of the second locking ingot are connected on another servomotor bearing (4).
4. top cover arrangement as claimed in claim 3 has the water turbine of four servomotors, it is characterized in that: what described servomotor adopted hydraulic operation waves straight-cylinder servomotor, described servomotor comprises being sealed by servomotor cylinder, front end housing and back cylinder cover and forms cylinder body, and is sealed the piston assembly formed by piston, piston rod and piston in combination; The inwall of described piston assembly and cylinder body forms motive sealing, and the termination of described piston rod is provided with the bar head be connected on lug ring.
5. top cover arrangement as claimed in claim 4 has the water turbine of four servomotors, it is characterized in that: described piston is connected with adopting snap ring between piston rod, be threaded connection between the termination of described piston rod and bar head, the cylindrical of described piston arranges twice square ring, and the sealing of described piston in combination comprises is located at polytetrafluoroethylene ring in twice square ring and O-ring seals respectively.
6. top cover arrangement as claimed in claim 5 has the water turbine of four servomotors, it is characterized in that: the back cylinder cover of described servomotor is provided with otic placode, described otic placode is connected on servomotor bearing by pin and axle sleeve, and the bar head on described servomotor is connected on the lug ring of regulating ring of wicket gate (3) by servomotor pin.
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CN201310436347.6A CN103511173B (en) | 2013-09-24 | 2013-09-24 | Top cover arrangement has the water turbine of four servomotors |
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CN201310436347.6A CN103511173B (en) | 2013-09-24 | 2013-09-24 | Top cover arrangement has the water turbine of four servomotors |
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CN103511173B true CN103511173B (en) | 2016-01-27 |
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Families Citing this family (2)
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CN105927453B (en) * | 2016-06-16 | 2018-11-27 | 浙江国正安全技术有限公司 | A kind of adjustment device of Francis turbine |
CN109335996A (en) * | 2018-09-29 | 2019-02-15 | 东方电气集团东方电机有限公司 | A kind of lifting device for top cover and method |
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DE19717855C2 (en) * | 1997-04-23 | 2000-11-16 | Ver Energiewerke Ag | Device for adjusting the guide vanes of turbomachines, in particular water turbines |
JP2005048606A (en) * | 2003-07-30 | 2005-02-24 | Mitsubishi Heavy Ind Ltd | Water wheel and reversible pumpturbine |
CN101265872A (en) * | 2008-05-07 | 2008-09-17 | 天津市天发重型水电设备制造有限公司 | Hydroturbine possessing reel type valve servo |
CN101915197A (en) * | 2010-09-07 | 2010-12-15 | 中国葛洲坝集团股份有限公司 | Installation and adjustment method for cylindrical valve of water turbine |
CN203515928U (en) * | 2013-09-24 | 2014-04-02 | 东方电气集团东方电机有限公司 | Water turbine with top cover provided with four servomotors |
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2013
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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DE19717855C2 (en) * | 1997-04-23 | 2000-11-16 | Ver Energiewerke Ag | Device for adjusting the guide vanes of turbomachines, in particular water turbines |
JP2005048606A (en) * | 2003-07-30 | 2005-02-24 | Mitsubishi Heavy Ind Ltd | Water wheel and reversible pumpturbine |
CN101265872A (en) * | 2008-05-07 | 2008-09-17 | 天津市天发重型水电设备制造有限公司 | Hydroturbine possessing reel type valve servo |
CN101915197A (en) * | 2010-09-07 | 2010-12-15 | 中国葛洲坝集团股份有限公司 | Installation and adjustment method for cylindrical valve of water turbine |
CN203515928U (en) * | 2013-09-24 | 2014-04-02 | 东方电气集团东方电机有限公司 | Water turbine with top cover provided with four servomotors |
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