EP3433496A1 - Pompe à entraînement magnétique - Google Patents

Pompe à entraînement magnétique

Info

Publication number
EP3433496A1
EP3433496A1 EP17717633.6A EP17717633A EP3433496A1 EP 3433496 A1 EP3433496 A1 EP 3433496A1 EP 17717633 A EP17717633 A EP 17717633A EP 3433496 A1 EP3433496 A1 EP 3433496A1
Authority
EP
European Patent Office
Prior art keywords
chamber
pump
bearing
impeller
fluid
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17717633.6A
Other languages
German (de)
English (en)
Other versions
EP3433496B1 (fr
Inventor
Thomas Eschner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Klaus Union GmbH and Co KG
Original Assignee
Klaus Union GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Klaus Union GmbH and Co KG filed Critical Klaus Union GmbH and Co KG
Publication of EP3433496A1 publication Critical patent/EP3433496A1/fr
Application granted granted Critical
Publication of EP3433496B1 publication Critical patent/EP3433496B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D13/00Pumping installations or systems
    • F04D13/02Units comprising pumps and their driving means
    • F04D13/021Units comprising pumps and their driving means containing a coupling
    • F04D13/024Units comprising pumps and their driving means containing a coupling a magnetic coupling
    • F04D13/026Details of the bearings
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D13/00Pumping installations or systems
    • F04D13/02Units comprising pumps and their driving means
    • F04D13/021Units comprising pumps and their driving means containing a coupling
    • F04D13/024Units comprising pumps and their driving means containing a coupling a magnetic coupling
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D13/00Pumping installations or systems
    • F04D13/02Units comprising pumps and their driving means
    • F04D13/021Units comprising pumps and their driving means containing a coupling
    • F04D13/024Units comprising pumps and their driving means containing a coupling a magnetic coupling
    • F04D13/025Details of the can separating the pump and drive area
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D13/00Pumping installations or systems
    • F04D13/02Units comprising pumps and their driving means
    • F04D13/021Units comprising pumps and their driving means containing a coupling
    • F04D13/024Units comprising pumps and their driving means containing a coupling a magnetic coupling
    • F04D13/027Details of the magnetic circuit
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D13/00Pumping installations or systems
    • F04D13/02Units comprising pumps and their driving means
    • F04D13/06Units comprising pumps and their driving means the pump being electrically driven
    • F04D13/0606Canned motor pumps
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00Details, component parts, or accessories
    • F04D29/04Shafts or bearings, or assemblies thereof
    • F04D29/046Bearings
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00Details, component parts, or accessories
    • F04D29/06Lubrication
    • F04D29/061Lubrication especially adapted for liquid pumps
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00Details, component parts, or accessories
    • F04D29/08Sealings
    • F04D29/10Shaft sealings
    • F04D29/106Shaft sealings especially adapted for liquid pumps
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00Details, component parts, or accessories
    • F04D29/40Casings; Connections of working fluid
    • F04D29/42Casings; Connections of working fluid for radial or helico-centrifugal pumps
    • F04D29/426Casings; Connections of working fluid for radial or helico-centrifugal pumps especially adapted for liquid pumps
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04DNON-POSITIVE-DISPLACEMENT PUMPS
    • F04D29/00Details, component parts, or accessories
    • F04D29/58Cooling; Heating; Diminishing heat transfer
    • F04D29/586Cooling; Heating; Diminishing heat transfer specially adapted for liquid pumps

Definitions

  • the invention relates to a magnetic coupling pump.
  • Magnetic clutch pumps use the attraction and repulsion forces between permanent magnets in both coupling halves for non-contact and slip-free torque transmission.
  • the drive power is transmitted by an electric motor via a drive shaft, which is connected to an outer rotor, on a pump-side magnets bearing rotor (inner rotor) non-contact and slipping.
  • the rotor drives an impeller via a pump shaft.
  • the pump shaft is supported by a lubricated by the fluid flow storage in the housing of the pump. Between the two rotors a split pot is arranged. The split pot separates the conveying fluid from the environment.
  • magnetic coupling pumps In the case of magnetic coupling pumps, the delivery fluid is therefore separated from the environment exclusively by means of static seals, so that leakage of the delivery fluid into the environment is prevented particularly reliably. Therefore, magnetic coupling pumps are often used in the field of chemistry and petrochemistry.
  • the storage is lubricated in the case of magnetic coupling pumps by the pumping fluid of the pump, wherein a partial flow of the conveying fluid required for this purpose is taken from the impeller chamber at a point of high pressure, which increases undergoes lubricating storage and passes through the bearing in the impeller chamber and in the enclosed by the split pot clutch chamber. Through a drainage hole, which connects the clutch chamber with a low pressure point in the impeller chamber, the delivery fluid is returned to the impeller chamber.
  • the conveying fluid emerging into the clutch chamber via the bearing simultaneously cools the containment shell and dissipates the heat generated there by eddy currents.
  • a magnetic coupling pump according to the invention comprises:
  • the clutch chamber is (almost) closed fluid-tight with respect to the impeller chamber.
  • the magnetic coupling pump according to the invention has the advantage that sufficient lubrication of the bearing is ensured even over a relatively long period of time when the pump is operating in dry running and no further conveying fluid can be conveyed through the channel for storage.
  • the clutch chamber is closed fluid-tight with respect to the impeller chamber, i. at most, a low return of the Forderfluids from the clutch chamber is carried out directly into the impeller, the fluid flows from the storage area much slower.
  • the storage remains sufficiently lubricated over a much longer period, even if no delivery fluid is replenished via the channel.
  • the delivery fluid passes through the storage not only in the clutch chamber, but also in the impeller chamber.
  • the delivery fluid also passes back into the impeller chamber without the usual emptying of the clutch chamber from emptying, so that a circulation of the Forderfluid serving as a lubricant during normal operation of the invention Pump is guaranteed.
  • the conveying fluid exiting via the bearing in the impeller chamber is replenished from the coupling chamber.
  • the delivery fluid present in the clutch chamber is sufficient to maintain lubrication for an extended period of time (up to an hour or more) until the pump runs dry and the pump is turned off.
  • the containment shell consists of a non-metallic material.
  • the reduced by the inventive closure of the clutch chamber with respect to the impeller circulation of the Forderfluids is thus unproblematic in terms of cooling in combination with the non-metallic material of the split pot.
  • the containment shell of technical ceramics or plastic, such as PEEK.
  • Plastic cans are characterized by their low weight and low sensitivity to breakage and easy handling.
  • Canned ceramic cans e.g., SiC
  • At least one throttle element is provided which throttles the flow of the Forderfluids through the channel.
  • the throttle element can, for example, cover or close the inlet-side opening of the channel to the impeller chamber.
  • the throttle element may, for example, be disc-shaped and attached to the ring, so that it partially covers the opening of the channel.
  • an annular disk fastened to the ring can form the throttle element, which at the same time closes an emptying bore formed in the ring, which is originally provided for connecting the coupling chamber to the impeller chamber.
  • the parts of a conventional magnetic coupling pump with little effort for a pump designed according to the invention are used. Only the attachment of the additional annular disc is required, preferably in combination with the use of a non-metallic containment shell.
  • the annular disc partially closes the channel to reduce the cross section for throttling the fluid flow, and the drain hole completely.
  • the throttling element is disposed in the upstream so that the flow of the conveying fluid through the channel is throttled.
  • the throttle element is for this purpose designed such that particles must move radially inwardly against the centrifugal force in the channel to get into the clutch chamber.
  • the partial flow of the delivery fluid, which passes from the impeller chamber to the bearing for lubrication of the bearing in the clutch chamber, is significantly reduced by the throttle element, whereby the entry of particles is reduced in solids loading of the fluid flow into the containment shell.
  • the pump shaft has no fluid connection between the impeller chamber and the clutch chamber.
  • the pump shaft has an axial through hole to ensure sufficient circulation of the conveying fluid from the pressure side of the impeller chamber via the bearing in the coupling chamber and through the pump shaft back to the suction side of the impeller chamber for the purpose of sufficient cooling of the split pot. Due to the lack of fluid connection via the pump shaft, the circulation is inventively reduced and thereby achieved that the clutch chamber remains filled with conveying fluid in the dry run for as long as possible in order to maintain the lubrication.
  • the pump shaft may be formed as a solid body. But it is also possible that the pump shaft is designed as a hollow shaft which is closed at least one end.
  • a preferred embodiment provides that a return of the delivery fluid from the clutch chamber into the impeller chamber via the storage.
  • the return of the delivery fluid from the Coupling chamber in the impeller can be carried out exclusively on the storage. As a result, adequate lubrication of the storage over a longer period is ensured, even if the pump operates in dry running and no further fluid can be conveyed through the channel for storage.
  • the return of the delivery fluid from the clutch chamber in the impeller chamber is in the storage area, so that the storage is sufficiently lubricated over a much longer period of time, even if no delivery fluid is replenished via the channel.
  • the delivery fluid thus returns to the impeller chamber, so that a circulation of the delivery fluid serving as a lubricant during normal operation of the pump according to the invention is ensured.
  • dry running the conveying fluid exiting via the bearing in the impeller chamber is replenished from the coupling chamber.
  • the delivery fluid present in the clutch chamber is sufficient for a longer period of time (up to an hour or more) to maintain lubrication.
  • the pump can be switched off without damage, as soon as the dry running of the pump is noticed.
  • the return of the conveying fluid from the clutch chamber into the impeller chamber via a radial bearing gap in the storage takes place.
  • the radial bearing gap is preferably located between the bearing elements of the bearing so that lubrication is ensured even when the pump is running dry.
  • the radial bearing gap is arranged impeller side in the storage.
  • the radial bearing gap throttles the return of the conveying fluid from the clutch chamber into the impeller chamber.
  • the radial bearing gap in the impeller-side radial bearing of the bearing preferably has no lubricating groove in order to further restrict the return of the conveying fluid. Since rinsing of the bearing does not occur when the feed fluid is loaded with solids, the entry of particles into the Clutch chamber can be reduced by the throttle element described above and below.
  • lubrication are arranged on the coupling side in the storage.
  • the coupling-side radial bearing of the bearing may have lubrication grooves, by which a flushing between the bearing elements is ensured. This is especially important in the case of solids loading of the delivery fluid in order to nevertheless ensure a high durability of the storage.
  • FIGS. show a particularly preferred embodiment of the invention.
  • the invention is not limited to the embodiment shown.
  • the invention includes, as far as is technically feasible, any combination of the technical features that are listed in the claims or described in the description as being relevant to the invention.
  • FIG. 1 sectional view of a magnetic coupling pump according to the invention.
  • FIG. 1 shows a magnetic coupling pump 10 according to the invention in a possible embodiment.
  • the magnetic coupling has a housing 12 with a ring 16.
  • the housing 12 includes an impeller chamber 14 for receiving a delivery fluid which is drawn through an inlet 44 and an outlet 46 is ejected.
  • the pump 10 comprises a containment shell 18, wherein the containment shell 18 and the ring 16 enclose a coupling chamber 20.
  • the ring 16 separates the clutch chamber 20 from the impeller chamber 14.
  • the containment shell 18 is made of a non-metallic material, so that there occurs no heat generation due to eddy currents.
  • a pump shaft 22 extends from the impeller chamber 14 through a central opening provided in the ring 16 into the clutch chamber 20.
  • An impeller 24 is attached to the pump shaft 22.
  • a rotor 50 equipped with permanent magnets is arranged at the other end of the shaft 22 at the other end of the shaft 22.
  • the pump 10 has a bearing 26, for example in the form of a sliding bearing with ceramic bearing elements, which is supported by the ring 16.
  • a channel 28 for supplying a partial flow of the conveying fluid from the impeller chamber 14 to the bearing 26 for the purpose of lubrication is provided in the ring 16.
  • the ring 16 has a drain hole 30, which is originally provided for emptying the clutch chamber 20 in the impeller chamber 14.
  • the impeller chamber 14 facing the opening of the drain hole 30 is closed by a disc-shaped member 32.
  • the coupling chamber 20 is closed fluid-tight with respect to the impeller chamber 14.
  • the radial bearing gap 52 is disposed between the bearing elements of the impeller-side radial bearing 26b of the bearing 26, which provides lubrication between the bearing elements even when the pump is running dry ensured.
  • the radial bearing gap 52 throttles the recirculation of the delivery fluid from the clutch chamber 20 into the impeller chamber 14.
  • the impeller side radial bearing 26b of the bearing 26 has no lubrication groove to restrict the recirculation of the delivery fluid.
  • a lubrication groove 54 can be seen, which ensures sufficient flushing between the bearing elements.
  • the impeller 24 has a hollow cylindrical portion 42 extending in the axial direction of the pump shaft 22 and adjacent to the disk-shaped member 32.
  • a throttle element 34 is provided which is disposed between the impeller cannister 14 and the opening 36 of the channel 28.
  • the restrictor 34 prevents accumulation of particulates in the clutch chamber upon solids loading of the fluid stream.
  • the throttle element 34 throttles the flow of the conveying fluid through the channel 28.
  • the throttle element 34 is formed on the disk-shaped element 32 and covers the channel opening 36 from. According to the invention, the throttle element 34 rests against the channel opening 36 such that the Forderfluid can flow into the region between the throttle element 34 and the channel opening 36.
  • the throttle element 34 has on its outer circumference a chamfer 38, which is arranged on the side facing away from the impeller 24 side of the element 32. The result is a gap 48 between throttle element 34 and ring 16 can flow through the Forderfluid in the channel 28.
  • the throttle element 34 thus causes particles to move radially inwardly against the centrifugal force into the channel 28 to enter the clutch chamber 20.
  • the partial flow of the delivery fluid which passes from the impeller chamber 14 to the bearing 26 for the purpose of lubricating the bearing 26 in the clutch chamber, is significantly reduced by the throttle element 34, whereby the entry of particles in solids loading of the fluid flow is reduced in the split pot 18.
  • the throttling element 34 thus effects a throttling of the flow of conveying fluid through the channel 28.
  • the pump shaft 22 of the magnetic coupling pump 10 is designed such that it does not establish fluid communication between the clutch chamber 20 and the impeller chamber 14.
  • the pump shaft 22 is formed as a solid body.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)

Abstract

L'invention concerne une pompe à entraînement magnétique (10) comprenant: - un carter (12) rempli au moins en partie par un fluide de refoulement; - une chambre de rotor (14) entourée par le carter (12); - un arbre de pompe (22); - un rotor (24) monté dans la chambre de rotor (14) sur l'arbre de pompe(22); - un palier (26) qui soutient l'arbre de pompe (22) dans le carter (12); - une chemise d'entrefer (18) qui entoure la chambre d'accouplement (20); - un rotor (50) qui est monté dans la chambre d'accouplement (20) sur l'arbre de pompe (22); - une bague (16) maintenue dans le carter, qui soutient le palier (26) et sépare la chambre de rotor (14) de la chambre d'accouplement (20); - un canal (28) ménagé dans la bague (16), destiné à refouler un courant partiel du fluide de refoulement, de la chambre de rotor (14) jusqu'au palier (26) à des fins de lubrification dudit palier (26), au moins une partie du fluide de refoulement qui sort du palier (26) parvenant dans la chambre d'accouplement (20). L'invention vise à perfectionner une telle pompe à entraînement magnétique, de manière à pouvoir garantir une lubrification sûre et fiable du palier (26) de l'arbre de pompe (22) sur une certaine période, même lorsque la pompe (10) fonctionne à sec, c.-à-d. lorsqu'elle continue de fonctionner alors qu'il ne reste plus de fluide de refoulement côté aspiration de la pompe (10). A cet effet, selon l'invention, la chambre d'accouplement (20) est fermée de manière étanche aux fluides par rapport à la chambre de rotor (14).
EP17717633.6A 2016-03-22 2017-03-22 Pompe a accouplement magnetique Active EP3433496B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016105309.0A DE102016105309A1 (de) 2016-03-22 2016-03-22 Magnetkupplungspumpe
PCT/EP2017/056881 WO2017162775A1 (fr) 2016-03-22 2017-03-22 Pompe à entraînement magnétique

Publications (2)

Publication Number Publication Date
EP3433496A1 true EP3433496A1 (fr) 2019-01-30
EP3433496B1 EP3433496B1 (fr) 2022-01-26

Family

ID=58548657

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17717633.6A Active EP3433496B1 (fr) 2016-03-22 2017-03-22 Pompe a accouplement magnetique

Country Status (7)

Country Link
US (1) US10830240B2 (fr)
EP (1) EP3433496B1 (fr)
CN (1) CN109072927B (fr)
DE (1) DE102016105309A1 (fr)
ES (1) ES2911510T3 (fr)
RU (1) RU2746491C2 (fr)
WO (1) WO2017162775A1 (fr)

Families Citing this family (10)

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Publication number Priority date Publication date Assignee Title
DE102017206089B4 (de) * 2017-04-10 2020-01-16 BSH Hausgeräte GmbH Nassläufer-Pumpe und Haushaltsgerät
WO2019237689A1 (fr) * 2018-06-15 2019-12-19 广东威灵电机制造有限公司 Ensemble pompe et lave-vaisselle
GB2581339A (en) * 2019-02-08 2020-08-19 Hmd Seal/Less Pumps Ltd Containment shell for a magnetic pump
DE102019002392A1 (de) 2019-04-02 2020-10-08 KSB SE & Co. KGaA Wärmesperre
CN110410334A (zh) * 2019-06-29 2019-11-05 浙江威肯特智能机械有限公司 一种沥青泵
DE102019005095A1 (de) * 2019-07-23 2021-01-28 KSB SE & Co. KGaA Pumpenanordnung mit einem Schmier- und Kühlsystem
CN110848260B (zh) * 2019-11-18 2021-01-12 上海凯士比泵有限公司 一种用于滑动轴承上的自润滑系统
CN110748491B (zh) * 2019-12-11 2024-05-14 杨华标 物联智能磁电驱动泵
CN116498593B (zh) * 2023-05-11 2024-05-24 甘肃莱德尔流体节能科技开发有限公司 一种可空载可输送含颗粒和少量气体的三相流磁力泵
CN117386633B (zh) * 2023-12-12 2024-03-01 烟台恒邦泵业有限公司 一种无泄漏磁力旋转喷射泵

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CH444424A (fr) * 1963-05-15 1967-09-30 Stulens Jean Louis Pompe de circulation, notamment pour installations de chauffage central
JPS54100503A (en) * 1978-01-25 1979-08-08 Hitachi Ltd Pump
JPS5958197A (ja) * 1982-09-28 1984-04-03 Nikkiso Co Ltd キヤンドモ−タポンプ
DE3513832A1 (de) * 1985-04-17 1986-10-23 Stuebbe Asv Gmbh Kreiseleintauchpumpe
DE3622269A1 (de) * 1986-07-03 1988-01-14 Richard Halm Spaltrohrmotorpumpe
DE3943273C2 (de) * 1989-12-29 1996-07-18 Klaus Union Armaturen Horizontal angeordnete Kreiselpumpe mit Spaltrohrmagnetkupplung
DE4009199A1 (de) * 1990-03-22 1991-09-26 Rheinhuette Gmbh & Co Trockenlaufsicherung fuer magnetkupplungspumpen
RU2018717C1 (ru) * 1991-05-06 1994-08-30 Нагула Петр Константинович Герметичный насосный агрегат
US5256038A (en) * 1991-11-12 1993-10-26 Sundstrand Corp. Canned motor pump
JP3356480B2 (ja) * 1993-03-18 2002-12-16 株式会社日本触媒 無漏洩ポンプ
DE29610799U1 (de) * 1996-06-20 1997-02-27 Klaus Union Armaturen Hydrodynamisches Gleitlager für einen Läufer einer Pumpe
DE19639098A1 (de) * 1996-09-24 1998-03-26 Wilo Gmbh Motorpumpe mit gekühltem Frequenzumformer
DE10024955A1 (de) * 2000-05-22 2001-11-29 Richter Chemie Tech Itt Gmbh Kreiselpumpe mit Magnetkupplung
RU57846U1 (ru) * 2005-05-24 2006-10-27 Закрытое акционерное общество "Гидрогаз" Герметичный насос
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CA2944273A1 (fr) * 2015-11-02 2017-05-02 Sulzer Management Ag Module d'entrainement de pompe destine a transporter un fluide de traitement

Also Published As

Publication number Publication date
CN109072927B (zh) 2021-03-12
RU2746491C2 (ru) 2021-04-14
EP3433496B1 (fr) 2022-01-26
WO2017162775A1 (fr) 2017-09-28
RU2018136882A (ru) 2020-04-22
US10830240B2 (en) 2020-11-10
RU2018136882A3 (fr) 2020-06-23
CN109072927A (zh) 2018-12-21
DE102016105309A1 (de) 2017-09-28
US20190113038A1 (en) 2019-04-18
ES2911510T3 (es) 2022-05-19

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