Deep-sea robot driving motor with multiple modular stators

Abstract

The invention relates to the technical field of motors, and discloses a deep-sea robot driving motor with multiple modular stators, the deep-sea robot driving motor comprises a casing, a rotor unit and multiple modular stators, a cavity is arranged in the casing, and cooling oil circularly flows in the cavity; a rotating shaft is arranged in the machine shell in the axial direction, the rotor unit is arranged on the rotating shaft, the multiple modular stators are arranged on the inner wall of the machine shell at intervals in the axial direction and correspond to the rotor unit, a heat dissipation cavity channel is formed in a clamping area between every two adjacent modular stators, and a heat dissipation channel is formed between each modular stator and the rotor unit. And the heat dissipation channel is communicated with the heat dissipation cavity channel and is used for allowing cooling oil to flow through. According to the invention, the cooling oil only needs to circularly flow in the cavity, so that effective heat dissipation and cooling can be carried out on the modular stator; therefore, on the basis that the weight of the deep-sea robot driving motor does not need to be obviously increased, the problem that the epoxy resin for insulation is stripped due to overheating of the modular stator can be effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a deep-sea robot driving motor with multiple modular stators. Background Art

[0002] Deep-sea robot drive motors are widely used in underwater equipment such as deep-sea pipeline inspection robots, submarine cable inspection robots, deep-sea cable laying robots and deep-sea cleaning robots. In order to ensure normal operation in the deep sea, deep-sea robot drive motors need to be filled with oil to ensure the balance of internal and external pressures. Compared with air motors, the presence of oil will introduce oil friction loss. Although this loss decreases as the oil viscosity coefficient decreases after the temperature rises, it will still significantly increase the temperature of various components of the deep-sea robot drive motor. In particular, in order to output a larger torque, the high-power deep-sea robot drive motor usually sets the stator unit to a stator with a larger radial size. Overheating of a stator with a larger radial size can easily cause the epoxy resin used for insulation to peel off, resulting in stator and rotor jamming and insulation layer damage. In order to effectively cool the stator with a larger radial size to solve the overheating problem, the related technology usually configures an independent and relatively complex cooling system for the high-power deep-sea robot drive motor, thereby realizing forced cooling of the deep-sea robot drive motor; but this additional complex cooling system significantly increases the weight of the deep-sea robot drive motor, which is not suitable for underwater equipment with high payload capacity requirements. Summary of the invention

[0003] In view of this, the present invention provides a deep-sea robot drive motor with multiple modular stators to solve the problem that a high-power deep-sea robot drive motor needs to be configured with an independent and relatively complex cooling system, resulting in a significant increase in weight.

[0004] The present invention provides a deep-sea robot driving motor with multiple modular stators, comprising: The casing has a cavity therein, and the cavity is used for cooling oil to circulate therein; A rotating shaft, axially arranged in the housing; A rotor unit, disposed on the rotating shaft; A plurality of modular stators are axially spaced apart on the inner wall of the casing and are arranged corresponding to the rotor unit. A heat dissipation cavity is formed in the sandwiched area between two adjacent modular stators. A heat dissipation channel is arranged between each modular stator and the rotor unit. The heat dissipation channel is connected to the heat dissipation cavity. The heat dissipation channel and the heat dissipation cavity are used for cooling oil to flow through.

[0005] A deep-sea robot driving motor with multiple modular stators according to the present invention has at least the following beneficial effects: By circulating cooling oil in the cavity, the pressure balance inside and outside the casing can be ensured, and the cooling oil can be circulated in sequence through the heat dissipation channels and heat dissipation cavities arranged alternately along the axial direction. The cooling oil can enter the heat dissipation cavity through the heat dissipation channel to increase the contact and heat dissipation area with the side surface of the modular stator along the axial direction, and take away the heat when flowing into the next heat dissipation channel, so that the circulating cooling oil contacts the inner surface of the modular stator and the side surface along the axial direction and takes away the heat from the surface of the modular stator to dissipate heat and cool the modular stator; because multiple modular stators are arranged at intervals along the axial direction, and each modular stator can cooperate with the rotor unit to make the shaft output torque, when the assembly is achieved The deep-sea robot drive motor with a single radially larger stator outputs substantially the same torque, while reducing the radial size of the modular stator and increasing the overall axial size of the multiple modular stators, increasing the contact and heat dissipation area between the inner surface of the modular stator and the side surface along the axial direction and the cooling oil, so that the modular stator can be effectively cooled and cooled by circulating the cooling oil in the cavity, thereby effectively avoiding the problem of overheating of the modular stator and causing the epoxy resin used for insulation to peel off without significantly increasing the weight of the deep-sea robot drive motor with multiple modular stators, and is particularly suitable for underwater equipment with high payload capacity requirements. At the same time, multiple modular stators arranged at intervals along the axial direction are independent of each other, so that when one of the modular stators is damaged, the remaining modular stators can still operate normally, improving the reliability of the deep-sea robot drive motor with multiple modular stators, and meeting the needs of long-term high-reliability operation in the deep sea.

[0006] In an optional embodiment, the modular stator is provided with heat dissipation holes extending through the axial direction, and the heat dissipation holes are used for cooling oil to flow through.

[0007] In an optional embodiment, the modular stator includes a plurality of separately arranged stator modules, the plurality of stator modules are circumferentially spaced apart and arranged on the inner wall of the housing, and the heat dissipation through hole is formed in the sandwiched area between two circumferentially adjacent stator modules; And / or, the size of the heat dissipation through hole along the circumferential direction is set to 0.007 to 0.016.

[0008] In an optional embodiment, the modular stator is connected to the inner wall of the casing via a thermal bridge, and the thermal conductivity of the thermal bridge is greater than the thermal conductivity of the cooling oil.

[0009] In an optional embodiment, the thermal bridge is provided with a plurality of first through holes at intervals along the circumferential direction, and the first through holes penetrate the thermal bridge along the axial direction.

[0010] In an optional embodiment, three modular stators are provided, and the three modular stators are arranged in sequence at intervals of 120° along the circumferential direction.

[0011] In an optional embodiment, the rotor unit includes rotor modules having the same number as the modular stators, and the plurality of rotor modules are axially spaced apart on the rotating shaft; the sandwich area between the outer surface of the rotor module and the corresponding inner surface of the modular stator forms the heat dissipation channel.

[0012] In an optional embodiment, an impeller is disposed between at least one group of two adjacent rotor modules, and the impeller is disposed on the rotating shaft.

[0013] In an optional embodiment, the ratio of the outer diameter of the impeller to the outer diameter of the modular stator is 0.7 to 0.9.

[0014] In an optional embodiment, the housing is provided with an oil inlet and an oil outlet at two ends along the axial direction, respectively, and a hydraulic pump is connected between the oil inlet and the oil outlet through a pipeline; And / or, one end of the cavity along the axial direction passes through the housing to form an opening, and the opening is covered with an end cover; And / or, a ratio of a distance between two adjacent modular stators along the axial direction to a size of the modular stator along the axial direction is 0.8 to 1.2. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is a cutaway front structural view of a deep-sea robot driving motor with multiple modular stators according to an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the side view of the modular stator.

[0017] Description of reference numerals: 100- housing, 110- cavity, 120- oil inlet, 130- oil outlet, 140- internal threaded hole; 200-rotating shaft; 300-modular stator, 310-heat dissipation channel, 320-heat dissipation through hole, 330-stator module, 331-first through hole, 340-heat dissipation cavity; 400- rotor module; 500-Impeller; 600-end cap. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0019] In the description of this embodiment, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this embodiment and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting this embodiment. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0020] In the description of this embodiment, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0021] In order to output a larger torque, a high-power deep-sea robot drive motor usually sets the stator unit to a stator with a larger radial size. Overheating of a stator with a larger radial size can easily cause the epoxy resin used for insulation to peel off, resulting in the stator and rotor being stuck and the insulation layer being damaged. In the related art, in order to effectively cool the stator with a larger radial size to solve the overheating problem, an independent and relatively complex cooling system is usually configured for the high-power deep-sea robot drive motor, thereby achieving forced cooling of the deep-sea robot drive motor. However, this additional complex cooling system significantly increases the weight of the deep-sea robot drive motor, which is not suitable for underwater equipment with higher payload capacity requirements. In order to solve the above technical defects, a deep-sea robot drive motor with multiple modular stators according to an embodiment of the present invention is provided.

[0022] Combine the following Figure 1 and Figure 2 , describing an embodiment of the present invention.

[0023] According to an embodiment of the present invention, a deep-sea robot drive motor with multiple modular stators is provided, including a housing 100, a rotor unit and multiple modular stators 300. The housing 100 is provided with a cavity 110, and the cavity 110 is used for cooling oil to circulate therein; a rotating shaft 200 is axially arranged in the housing 100, and the rotor unit is arranged on the rotating shaft 200. Multiple modular stators 300 are axially spaced on the inner wall of the housing 100 and are arranged corresponding to the rotor unit. The sandwiched area between two adjacent modular stators 300 forms a heat dissipation cavity 340. A heat dissipation channel 310 is provided between each modular stator 300 and the rotor unit. The heat dissipation channel 310 is connected to the heat dissipation cavity 340, and the heat dissipation channel 310 and the heat dissipation cavity 340 are used for cooling oil to flow through. It can be understood that the axial direction mentioned in the text refers to Figure 1 The axial direction in the text, that is, the axial direction mentioned in the text refers to the axial direction of the rotating shaft 200, the radial direction mentioned in the text refers to the radial direction of the rotating shaft 200, and the circumferential direction mentioned in the text refers to the circumferential direction of the rotating shaft 200.

[0024] The deep-sea robot driving motor with multiple modular stators of this embodiment can ensure the pressure balance inside and outside the casing 100 by circulating cooling oil in the cavity 110, and can make the cooling oil circulate in sequence through the heat dissipation channels 310 and the heat dissipation cavities 340 arranged alternately and spaced along the axial direction. The cooling oil can enter the heat dissipation cavity 340 through the heat dissipation channel 310 to increase the contact and heat dissipation area with the axial side surface of the modular stator 300, and take away the heat when flowing into the next heat dissipation channel 310, so as to realize the circulating cooling oil contacting with the inner surface and the axial side surface of the modular stator 300 and taking away the heat from the surface of the modular stator 300 to dissipate heat and cool the modular stator 300; because the multiple modular stators 300 are arranged at intervals along the axial direction, and each modular stator 300 can contact the rotor The units work together to make the rotating shaft 200 output torque, and on the basis of achieving the torque substantially the same as that of the deep-sea robot drive motor equipped with a single stator with a larger radial size, the radial size of the modular stator 300 is reduced while the axial size of the whole composed of multiple modular stators 300 is increased, and the contact and heat dissipation area between the inner surface of the modular stator 300 and the side surface along the axial direction and the cooling oil is increased, so that the modular stator 300 can be effectively cooled and cooled by circulating the cooling oil in the cavity 110, thereby effectively avoiding the problem of overheating of the modular stator 300 and causing the epoxy resin used for insulation to peel off without significantly increasing the weight of the deep-sea robot drive motor with multiple modular stators of this embodiment, and is particularly suitable for underwater equipment with high payload capacity requirements. At the same time, multiple modular stators 300 arranged at intervals along the axial direction are independent of each other, so that when one of the modular stators 300 is damaged, the remaining modular stators 300 can still operate normally, improving the reliability of the deep-sea robot drive motor with multiple modular stators of this embodiment, and meeting the requirements of long-term high-reliability operation in the deep sea.

[0025] Specifically, the ratio of the spacing between two adjacent modular stators 300 along the axial direction to the size of the modular stator 300 along the axial direction is 0.8 to 1.2; multiple deep-sea robot drive motors with the same other dimensional parameters and the only difference being the ratio of the spacing between two adjacent modular stators 300 along the axial direction to the size of the modular stator 300 along the axial direction are selected for simulation tests to obtain the heat dissipation performance and weight of each deep-sea robot drive motor; the information of the specific deep-sea robot drive motors is shown in Table 1 below: Table 1

[0026] After analyzing the simulation test results, it is found that: the heat dissipation performance of the deep-sea robot drive motor numbered ② is basically the same as that of the deep-sea robot drive motor numbered ①, and the weight of the deep-sea robot drive motor numbered ② is slightly increased compared with the weight of the deep-sea robot drive motor numbered ①; the heat dissipation performance of the deep-sea robot drive motor numbered ③ is significantly improved compared with the heat dissipation performance of the deep-sea robot drive motor numbered ②, and the weight of the deep-sea robot drive motor numbered ③ is slightly increased compared with the weight of the deep-sea robot drive motor numbered ②; the heat dissipation performance of the deep-sea robot drive motor numbered ④ is improved compared with the heat dissipation performance of the deep-sea robot drive motor numbered ③, but the improvement is not as good as the heat dissipation performance of the deep-sea robot drive motor numbered ③ compared with the deep-sea robot drive motor numbered ②. The improvement in the heat dissipation performance of the deep-sea robot drive motor is as high as that of the deep-sea robot drive motor numbered ②, and the weight of the deep-sea robot drive motor numbered ⑤ is slightly increased relative to the weight of the deep-sea robot drive motor numbered ④; the heat dissipation performance of the deep-sea robot drive motor numbered ⑤ is improved relative to the heat dissipation performance of the deep-sea robot drive motor numbered ④, but the improvement is not as high as the improvement in the heat dissipation performance of the deep-sea robot drive motor numbered ③ relative to the heat dissipation performance of the deep-sea robot drive motor numbered ②, and the weight of the deep-sea robot drive motor numbered ⑤ is slightly increased relative to the weight of the deep-sea robot drive motor numbered ④; the heat dissipation performance of the deep-sea robot drive motor numbered ⑥ is basically the same as that of the deep-sea robot drive motor numbered ⑤, and the weight of the deep-sea robot drive motor numbered ⑥ is slightly increased relative to the weight of the deep-sea robot drive motor numbered ⑤.

[0027] Specifically, the modular stator 300 is provided with heat dissipation holes 320 along the axial direction, and the heat dissipation holes 320 are used for cooling oil to flow through. The heat dissipation holes 320 increase the contact and heat dissipation area between the circulating cooling oil and the surface of the modular stator 300, ensuring that the heat of the modular stator 300 is fully taken away during the circulation of the cooling oil to achieve effective cooling.

[0028] The specific structure of the modular stator 300 of this embodiment is described in detail below.

[0029] like Figure 2As shown, in some embodiments, the modular stator 300 includes a plurality of separately arranged stator modules 330, and the plurality of stator modules 330 are arranged at intervals along the circumferential direction on the inner wall of the housing 100, and the heat dissipation through hole 320 is formed in the sandwiched area between two circumferentially adjacent stator modules 330. By splitting the modular stator 300 into a plurality of mutually independent stator modules 330, when one of the stator modules 330 is damaged, the remaining stator modules 330 can still operate normally, thereby improving the reliability of the deep-sea robot drive motor with a plurality of modular stators of this embodiment, and meeting the requirements of long-term high-reliability operation in the deep sea. At the same time, by forming heat dissipation holes 320 in the clamping areas of the end faces of two circumferentially adjacent stator modules 330, it is convenient to obtain a modular stator 300 with heat dissipation holes 320 without the aid of tools such as a drilling machine, thereby reducing manufacturing costs, and the cooling oil can be in contact with the inner surface, the axial side surface and the circumferential end surface of each stator module 330 during circulation, thereby increasing the contact and heat dissipation area between the cooling oil and the surface of the stator module 330, improving the heat dissipation efficiency, and ensuring that the problem of overheating of the modular stator 300 causing the epoxy resin used for insulation to peel off is avoided without significantly increasing the weight of the deep-sea robot drive motor with multiple modular stators in this embodiment.

[0030] It should be noted that the stator module 330 is wound with coils, and when the cooling oil circulates in the cavity 110 , the cooling oil also comes into contact with the windings, taking away the heat from the surface of the windings.

[0031] In order to reduce the manufacturing cost and processing difficulty on the basis of increasing the contact and heat dissipation area between the cooling oil and the modular stator 300, specifically, four stator modules 330 are provided. Of course, in specific applications, the number of stator modules 330 can be reasonably increased or decreased according to the cooling performance requirements of the deep-sea robot drive motor. For example, in other embodiments, the stator modules 330 are provided with two, three, five or other numbers.

[0032] Specifically, three modular stators 300 are provided, and the three modular stators 300 are arranged in sequence at intervals of 120° along the circumferential direction; so that the three modular stators 300 work together with the rotor unit to form a "three-phase motor" similar to the three-phase motor, so that the rotating shaft 200 outputs a larger torque, ensuring that the radial size of the modular stator 300 is further reduced on the basis of achieving basically the same torque as the deep-sea robot drive motor equipped with a single stator with a larger radial size, so as to better dissipate the heat of the modular stator 300.

[0033] In specific applications, the number of modular stators 300 may be reasonably increased or decreased according to actual power requirements. For example, in other embodiments, the number of modular stators 300 is two, four, five, six, or other numbers.

[0034] Specifically, the ratio of the circumferential size of the heat dissipation through hole 320 to the outer diameter of the modular stator 300 is set to 0.007 to 0.016; a plurality of deep-sea robot drive motors with the same other size parameters and the only difference being the ratio of the circumferential size of the heat dissipation through hole 320 to the outer diameter of the modular stator 300 are selected for simulation tests to obtain the heat dissipation performance of each deep-sea robot drive motor and the strength of the corresponding modular stator 300; the information of the specific selected deep-sea robot drive motors is shown in Table 2 below: Table 2

[0035] After analyzing the simulation test results, it is found that: the heat dissipation performance of the deep-sea robot drive motor numbered ② is basically the same as that of the deep-sea robot drive motor numbered ①, and the strength of the modular stator 300 of the deep-sea robot drive motors numbered ① and ② is high and basically the same; the heat dissipation performance of the deep-sea robot drive motor numbered ③ is good, and the heat dissipation performance of the deep-sea robot drive motor numbered ② is significantly improved, and the strength of the modular stator 300 numbered ③ is high; the heat dissipation performance of the deep-sea robot drive motor numbered ④ is slightly improved compared with the heat dissipation performance of the deep-sea robot drive motor numbered ③, and the modular stator 300 of the deep-sea robot drive motor numbered ④ is 00 is slightly lower in strength than that of the deep-sea robot drive motor numbered ③ but there is no obvious difference; the heat dissipation performance of the deep-sea robot drive motor numbered ⑤ is slightly improved compared with the heat dissipation performance of the deep-sea robot drive motor numbered ④, and the strength of the modular stator 300 of the deep-sea robot drive motor numbered ⑤ is slightly lower than that of the deep-sea robot drive motor numbered ④ but there is no obvious difference; the heat dissipation performance of the deep-sea robot drive motor numbered ⑥ is slightly improved compared with the heat dissipation performance of the deep-sea robot drive motor numbered ⑤, and the strength of the modular stator 300 of the deep-sea robot drive motor numbered ⑥ is significantly lower than that of the deep-sea robot drive motor numbered ⑤.

[0036] In some embodiments, the modular stator 300 is connected to the inner wall of the casing 100 via a thermal bridge, and the thermal conductivity of the thermal bridge is greater than the thermal conductivity of the cooling oil. Because the thermal conductivity of the thermal bridge is much greater than the thermal conductivity of the cooling oil, the heat of the radial outer surface of the modular stator 300 can be transferred to the casing 100 and cooled by heat exchange with the low-temperature seawater in the deep sea. In the process of circulation of the cooling oil, the radial inner and outer surfaces, the axial side surfaces and the circumferential end surfaces of the stator module 330 are cooled by heat exchange, thereby improving the heat dissipation efficiency and ensuring that the problem of overheating of the modular stator 300 causing peeling of the epoxy resin used for insulation is avoided without significantly increasing the weight of the deep-sea robot drive motor with multiple modular stators of this embodiment. At the same time, because this embodiment can reduce the radial size of the modular stator 300 while increasing the axial size of the whole composed of multiple modular stators 300 on the basis of achieving a torque basically the same as the output of a deep-sea robot drive motor equipped with a single stator with a larger radial size, that is, increasing the axial size of the thermal bridge, the heat dissipation area of ​​the radial outer surface of the modular stator 300 in contact with the seawater can be increased, thereby improving the heat dissipation efficiency.

[0037] Specifically, the thermal bridge is provided with a plurality of first through holes 331 at intervals along the circumferential direction, and the first through holes 331 penetrate the thermal bridge in the axial direction. The first through holes 331 increase the contact and heat dissipation area between the circulating cooling oil and the radial outer surface of the modular stator 300, ensuring that the heat of the modular stator 300 is fully taken away during the circulation of the cooling oil to achieve effective temperature reduction and cooling.

[0038] The specific structure of the rotor unit of this embodiment is described in detail below.

[0039] like Figure 1As shown, in some embodiments, the rotor unit includes the same number of rotor modules 400 as the modular stator 300, and a plurality of the rotor modules 400 are arranged at intervals along the axial direction on the rotating shaft 200; the sandwiched area between the outer surface of the rotor module 400 and the corresponding inner surface of the modular stator 300 forms the heat dissipation channel 310. Compared with setting the rotor unit as an axially integral body, in this embodiment, by splitting the rotor unit into a plurality of rotor modules 400 arranged at intervals along the axial direction and independent of each other, the weight of the rotor unit can be reduced on the basis of realizing the basic functions of the deep-sea robot drive motor, which is particularly suitable for underwater equipment with high payload capacity requirements. On the second hand, the plurality of rotor modules 400 arranged at intervals along the axial direction are independent of each other, so that when one of the rotor modules 400 is damaged, the remaining rotor modules 400 can still operate normally, thereby improving the reliability of the deep-sea robot drive motor with multiple modular stators in this embodiment, and meeting the requirements of long-term high-reliability operation in the deep sea. On the third aspect, because the sandwich area between two adjacent rotor modules 400 also constitutes a part of the heat dissipation cavity 340, the cooling oil can enter the heat dissipation cavity 340 through the heat dissipation channel 310 to increase the contact and heat dissipation area with the axial side surface of the rotor module 400, and take away the heat when flowing into the next heat dissipation channel 310; it is only necessary to circulate the cooling oil in the cavity 110 to effectively dissipate heat and cool the rotor module 400, thereby avoiding adverse phenomena caused by overheating of the rotor module 400.

[0040] Specifically, an impeller 500 is disposed between at least one group of two adjacent rotor modules 400, and the impeller 500 is disposed on the rotating shaft 200. By means of the gap space left between two adjacent rotor modules 400, an impeller 500 is additionally disposed on the portion of the rotating shaft 200 located in the gap space. During the operation of the deep-sea robot driving motor with multiple modular stators of this embodiment, the impeller 500 rotates with the rotating shaft 200 to accelerate the flow of cooling oil and further improve the heat dissipation efficiency.

[0041] Specifically, the ratio of the outer diameter of the impeller 500 to the outer diameter of the modular stator 300 is 0.7 to 0.9. A plurality of deep-sea robot drive motors with the same other dimensional parameters and different only in the ratio of the outer diameter of the impeller 500 to the outer diameter of the modular stator 300 are selected for simulation tests to obtain the heat dissipation performance of each deep-sea robot drive motor; the information of the specific deep-sea robot drive motors is shown in Table 3 below: Table 3

[0042] After analyzing the simulation test results, it is found that: the heat dissipation performance of the deep-sea robot drive motor numbered ② is basically the same as that of the deep-sea robot drive motor numbered ①; the heat dissipation performance of the deep-sea robot drive motor numbered ③ is significantly improved compared with the heat dissipation performance of the deep-sea robot drive motor numbered ②; the heat dissipation performance of the deep-sea robot drive motor numbered ④ is improved compared with the heat dissipation performance of the deep-sea robot drive motor numbered ③, but the improvement is not as good as the improvement of the heat dissipation performance of the deep-sea robot drive motor numbered ③ relative to the heat dissipation performance of the deep-sea robot drive motor numbered ②; the heat dissipation performance of the deep-sea robot drive motor numbered ⑤ is equivalent to the heat dissipation performance of the deep-sea robot drive motor numbered ④, but the improvement is not as good as the improvement of the heat dissipation performance of the deep-sea robot drive motor numbered ③ relative to the heat dissipation performance of the deep-sea robot drive motor numbered ②; the heat dissipation performance of the deep-sea robot drive motor numbered ⑥ is basically the same as that of the deep-sea robot drive motor numbered ⑤.

[0043] Specifically, one end of the cavity 110 along the axial direction passes through the housing 100 to form an opening, and the opening is covered with an end cover 600. By providing the opening, it is convenient to assemble the rotor unit, the modular stator 300, the shaft 200 and other components into the cavity 110.

[0044] Specifically, the end surface of the opening facing the end cover 600 is provided with a plurality of internal threaded holes 140, and the end cover 600 is axially penetrated with through holes corresponding to the positions where the internal threaded holes 140 are provided, and the through holes are used for fastening screws to pass through, and the screws match the internal threaded holes 140. Compared with the method of assembling the end cover 600 to the housing 100 by welding, the end cover 600 is assembled to the opening of the housing 100 by threading the screws with the internal threaded holes 140 in this embodiment, which is convenient for assembly and removal of the end cover 600 for maintenance and overhaul.

[0045] More specifically, three rotor modules 400 are provided, and each rotor module 400 is provided with an impeller 500 on a side axially away from the end cover 600. The number of impellers 500 is consistent with the number of rotor modules 400, and the three impellers 500 accelerate the flow of cooling oil and further improve the heat dissipation efficiency.

[0046] In some embodiments, the housing 100 is provided with an oil inlet 120 and an oil outlet 130 at both ends of the housing 100 in the axial direction, and a hydraulic pump is connected to the oil inlet 120 and the oil outlet 130 through a pipeline. By providing the oil inlet 120 and the oil outlet 130 at both ends of the housing 100 in the axial direction, the cooling oil circulates through the cavity 110 in the axial direction under the pumping action of the hydraulic pump, and dissipates heat for the multiple modular stators 300 arranged at intervals in the axial direction; specifically, the oil outlet 130 is provided at the end cover 600.

[0047] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the present invention.

Claims

1. A deep-sea robot drive motor with multiple modular stators, characterized in that: include: A casing (100) is provided with a cavity (110) therein, wherein the cavity (110) is used for cooling oil to circulate therein; A rotating shaft (200) is axially arranged inside the housing (100); A rotor unit, arranged on the rotating shaft (200); A plurality of modular stators (300) are arranged at intervals along the axial direction on the inner wall of the housing (100) and are arranged corresponding to the rotor unit; a heat dissipation cavity (340) is formed in a sandwiched area between two adjacent modular stators (300); a heat dissipation channel (310) is arranged between each modular stator (300) and the rotor unit; the heat dissipation channel (310) and the heat dissipation cavity (340) are in communication; and the heat dissipation channel (310) and the heat dissipation cavity (340) are used for cooling oil to flow through.

2. A deep-sea robot drive motor with multiple modular stators according to claim 1, characterized in that: The modular stator (300) is provided with a heat dissipation through hole (320) extending through the axial direction, and the heat dissipation through hole (320) is used for cooling oil to flow through.

3. The deep-sea robot drive motor with multiple modular stators according to claim 2, characterized in that: The modular stator (300) comprises a plurality of separately arranged stator modules (330), the plurality of stator modules (330) being arranged at intervals along the circumferential direction on the inner wall of the housing (100), and the heat dissipation through hole (320) being formed in the sandwiched area between two circumferentially adjacent stator modules (330); And / or, the ratio of the circumferential dimension of the heat dissipation through hole (320) to the outer diameter dimension of the modular stator (300) is set to 0.007 to 0.

016.

4. The deep-sea robot drive motor with multiple modular stators according to claim 1, characterized in that: The modular stator (300) is connected to the inner wall of the casing (100) via a thermal bridge, and the thermal conductivity of the thermal bridge is greater than the thermal conductivity of the cooling oil.

5. The deep-sea robot drive motor with multiple modular stators according to claim 4, characterized in that: The thermal bridge is provided with a plurality of first through holes (331) at intervals along the circumferential direction, and the first through holes (331) penetrate the thermal bridge along the axial direction.

6. The deep-sea robot drive motor with multiple modular stators according to claim 1, characterized in that: Three modular stators (300) are provided, and the three modular stators (300) are sequentially arranged at intervals of 120° along the circumferential direction.

7. A deep-sea robot drive motor with multiple modular stators according to any one of claims 1 to 6, characterized in that: The rotor unit comprises rotor modules (400) of the same number as the modular stators (300); a plurality of the rotor modules (400) are arranged at intervals along the axial direction on the rotating shaft (200); and the heat dissipation channel (310) is formed in a sandwiched area between the outer surface of the rotor module (400) and the inner surface of the corresponding modular stator (300).

8. The deep-sea robot driving motor with multiple modular stators according to claim 7, characterized in that: An impeller (500) is arranged between at least one group of two adjacent rotor modules (400), and the impeller (500) is arranged on the rotating shaft (200).

9. The deep-sea robot driving motor with multiple modular stators according to claim 8, characterized in that: The ratio of the outer diameter of the impeller (500) to the outer diameter of the modular stator (300) is 0.7 to 0.

9.

10. The deep-sea robot driving motor with multiple modular stators according to claim 1, characterized in that: An oil inlet (120) and an oil outlet (130) are respectively connected at two ends of the casing (100) in the axial direction, and a hydraulic pump is connected between the oil inlet (120) and the oil outlet (130) via a pipeline; And / or, one end of the cavity (110) along the axial direction passes through the housing (100) to form an opening, and the opening is covered with an end cover (600); And / or, the ratio of the distance between two adjacent modular stators (300) along the axial direction to the dimension of the modular stator (300) along the axial direction is 0.8 to 1.2.

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