Heat dissipation impeller structure for driving motor of deep-sea robot

Abstract

The invention discloses a heat dissipation impeller structure for a driving motor of a deep-sea robot, which comprises an impeller, the impeller is arranged on a rotating shaft of the driving motor of the deep-sea robot, a rotor unit comprises a plurality of rotor modules, the plurality of rotor modules are arranged on the rotating shaft at intervals along the axial direction, and the impeller is arranged between at least one group of adjacent two rotor modules; the impeller adopts an orthogonal design method to optimize the blade number and the wing shape. A single rotor module and a single impeller are axially connected in series, and the coaxial design can keep the rotating speeds of the impeller and the rotor module synchronous, so that the heat dissipation power of the impeller and the power of a driving motor of the deep-sea robot form a positive correlation relationship; due to the fact that the multiple impellers are adopted and are independent of one another, on one hand, the flowing speed of cooling oil can be increased, and the heat dissipation efficiency is improved; on the other hand, the maintainability of the impeller is improved, and only the corresponding impeller needs to be replaced during maintenance; an orthogonal design method is adopted to optimize the number of impeller blades and optimize the impeller wing shape at the same time, so that the impeller efficiency is maximized.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea motors, and more specifically, to a heat dissipation impeller structure for a deep-sea robot drive motor. Background Art

[0002] In order to ensure the normal operation of deep-sea motors in the deep sea, they need to be filled with cooling oil to ensure the balance of internal and external pressures. Compared with air-type motors, the presence of cooling 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 motor, such as Figure 1a-1c As shown. Among them, stator overheating may cause the epoxy resin used for insulation to peel off, further leading to problems such as stator and rotor jamming and insulation layer damage; while rotor overheating causes permanent magnet performance degradation and there is also a risk of irreversible demagnetization. Therefore, it is necessary to improve the heat dissipation performance of deep-sea motors by designing the impeller structure. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a heat dissipation impeller structure for a deep-sea robot drive motor.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A heat dissipation impeller structure for a deep-sea robot drive motor comprises an impeller, wherein the impeller is arranged on the rotating shaft of the deep-sea robot drive motor, the rotating shaft is provided with a rotor unit, the rotor unit comprises a plurality of rotor modules, the plurality of rotor modules are arranged on the rotating shaft at intervals along the axial direction, and an impeller is arranged between at least two adjacent rotor modules; the impeller adopts an orthogonal design method to optimize the number of blades and the wing shape.

[0006] Furthermore, the impeller adopts an orthogonal design method to optimize the number of blades and the wing shape thereof, comprising the following steps:

[0007] Step S1, defining the impeller blade outlet placement angle as a multi-time function of the radius, selecting impeller optimization parameters and listing an orthogonal table, and setting the impeller optimization target;

[0008] Step S2, performing three-dimensional modeling and conducting simulation tests;

[0009] Step S3, analyzing the rated efficiency range according to the simulation test data and the orthogonal table;

[0010] Step S4, selecting the optimal parameters according to the range analysis structure.

[0011] Further, step S1 includes the following steps:

[0012] Step S101, define the blade outlet placement angle as an n-th function of the radius:

[0013] (1)

[0014] In formula (1), is the placement angle at the hub, r is the relative radius from the hub to the rim, and is the outlet placement angle parameter, n is a natural number;

[0015] Step S102, determine the optimization parameters, set n=3, the parameters are the number of blades m, the blade outlet placement angle parameter , and , a total of 4 parameters, marked as factor A, factor B, factor C and factor D, each factor has 5 levels, and an orthogonal table is listed;

[0016] Step S103, select the optimization target, the optimization target is the impeller efficiency ;

[0017] (2)

[0018] In formula (2), is the impeller inlet pressure, is the impeller outlet pressure, is the rotor torque of the impeller, is the rotor angular velocity of the impeller; Q is the flow rate of cooling oil flowing per unit time.

[0019] Furthermore, in step S2, the tetrahedral unstructured grid is used for meshing, and the standard Effect of turbulence model on three-dimensional incompressible viscous cooling oil Solve equations.

[0020] Furthermore, the deep-sea robot drive motor includes a casing, a rotating shaft, a rotor unit, and a plurality of modular stators. A cavity is provided in the casing, and the cavity is used for cooling oil to circulate therein. The rotating shaft is axially arranged in the casing, and the rotor unit is arranged on the rotating shaft. The plurality of modular stators are axially spaced on the inner wall of the casing and are arranged corresponding to the rotor units.

[0021] Furthermore, a heat dissipation cavity is formed in the sandwiched area between two adjacent modular stators, and a heat dissipation channel is arranged between each modular stator and the rotor unit. The heat dissipation channel and the heat dissipation cavity are connected, and the heat dissipation channel and the heat dissipation cavity are used for cooling oil to flow through.

[0022] Furthermore, 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, and the sandwiched area between the outer surface of the rotor module and the inner surface of the corresponding modular stator forms the heat dissipation channel.

[0023] The beneficial effects of the present invention are:

[0024] 1. In the present invention, by axially connecting a single rotor module and a single impeller in series, the coaxial design can keep the rotation speed of the impeller and the rotor module synchronized, so that the heat dissipation power of the impeller is positively correlated with the power of the deep-sea robot driving motor.

[0025] 2. In the present invention, by adopting multiple impellers, and the multiple impellers are independent of each other, on the one hand, the flow rate of cooling oil can be accelerated and the heat dissipation efficiency can be improved. The number of impellers can be designed according to the maximum power of the deep-sea robot driving motor; on the other hand, the maintainability of the impeller is improved. During maintenance, only the corresponding impeller needs to be replaced. At the same time, the scalability of the impeller is also increased, and it can be adapted to deep-sea motors with higher heat dissipation requirements by axially connecting more impellers in series.

[0026] 3. The present invention adopts an orthogonal design method to optimize the number of impeller blades while optimizing the impeller airfoil shape to maximize the impeller efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1a A temperature curve diagram of the stator core yoke of a deep-sea motor in the prior art during operation;

[0028] Figure 1b A temperature curve diagram of a permanent magnet of a deep-sea motor in operation in the prior art;

[0029] Figure 1c A temperature curve diagram of the stator winding of a deep-sea motor in operation in the prior art;

[0030] Figure 2a This is a schematic diagram of an impeller structure with 3 blades in this embodiment;

[0031] Figure 2b This is a schematic diagram of an impeller structure with 4 blades in this embodiment;

[0032] Figure 2c This is a schematic diagram of an impeller structure with 5 blades in this embodiment;

[0033] Figure 3a A schematic diagram of the structure of the impeller rim wing in this embodiment;

[0034] Figure 3b A schematic diagram of the structure of the wing shape in the impeller wheel in this embodiment;

[0035] Figure 3c A schematic diagram of the structure of the impeller hub wing in this embodiment;

[0036] Figure 4 Schematic diagram of the structure of the deep-sea robot driving motor in this embodiment.

[0037] Reference numerals: rotating shaft 1 , rotor module 2 , impeller 3 , casing 4 , cavity 401 , modular stator 5 , heat dissipation channel 501 , heat dissipation cavity 502 . DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Embodiment: A deep-sea robot drive motor, such as Figure 4 As shown, it includes a casing 4, a rotating shaft 1, a rotor unit and a plurality of modular stators 5. A cavity 401 is provided in the casing 4, and the cavity 401 is used for cooling oil to circulate therein. The rotating shaft 1 is axially arranged in the casing 4, and the rotor unit is arranged on the rotating shaft 1. A plurality of modular stators 5 are axially spaced and arranged on the inner wall of the casing 4, and are arranged corresponding to the rotor units. A heat dissipation cavity 502 is provided in the sandwiched area between two adjacent modular stators 5. A heat dissipation channel 501 is provided between each modular stator 5 and the rotor unit. The heat dissipation channel 501 is connected to the heat dissipation cavity 502, and the heat dissipation channel 501 and the heat dissipation cavity 502 are used for cooling oil to flow through.

[0040] The deep-sea robot driving motor of this embodiment can ensure the pressure balance inside and outside the casing 4 by circulating cooling oil in the cavity 401, and can also make the cooling oil circulate in sequence through the heat dissipation channels 501 and the heat dissipation cavity 502 that are arranged alternately in the axial direction. The cooling oil can enter the heat dissipation cavity 502 through the heat dissipation channel 501 to increase the contact and heat dissipation area with the axial side surface of the modular stator 5, and take away the heat when flowing into the next heat dissipation channel 501, so as to achieve the circulating cooling oil contacting the inner surface and the axial side surface of the modular stator 5 and taking away the heat from the surface of the modular stator 5 to dissipate heat and cool the modular stator 5; because the multiple modular stators 5 are arranged at intervals in the axial direction, and each modular stator 5 can cooperate with the rotor unit to make the rotating shaft 1 output torque, so as to achieve the radial size of the modular stator 5 on the basis of outputting basically the same torque.

[0041] Furthermore, the rotor unit includes the same number of rotor modules 2 as the modular stator 5, and the plurality of rotor modules 2 are axially spaced apart on the rotating shaft 1; the sandwiched area between the outer surface of the rotor module 2 and the inner surface of the corresponding modular stator 5 forms a heat dissipation channel 501. Compared with setting the rotor unit as an axially integral body, in this embodiment, by splitting the rotor unit into a plurality of axially spaced and independent rotor modules 2, on the one hand, the weight of the rotor unit can be reduced on the basis of realizing the basic functions of the deep-sea robot drive motor, and it is particularly suitable for underwater equipment with high payload capacity requirements. On the other hand, the plurality of axially spaced rotor modules 2 are independent of each other, so that when one of the rotor modules 2 is damaged, the remaining rotor modules 2 can still operate normally, thereby improving the reliability of the deep-sea robot drive motor of this embodiment, and meeting the requirements of long-term high-reliability operation in the deep sea. Thirdly, because the clamping area between two adjacent rotor modules 2 also constitutes a part of the heat dissipation cavity 502, the cooling oil can enter the heat dissipation cavity 502 through the heat dissipation channel 501 to increase the contact and heat dissipation area with the axial side surface of the rotor module 2, and take away the heat when flowing into the next heat dissipation channel 501; it is only necessary to circulate the cooling oil in the cavity 401 to effectively dissipate heat and cool the rotor module 2, thereby avoiding adverse phenomena caused by overheating of the rotor module 2.

[0042] Furthermore, an impeller 3 is provided between at least one group of two adjacent rotor modules 2, and the impeller 3 is provided on the rotating shaft 1. By means of the gap space left between two adjacent rotor modules 2, an impeller 3 is provided on the portion of the rotating shaft 1 located in the gap space. During the operation of the deep-sea robot driving motor in this embodiment, the impeller 3 rotates with the rotating shaft 1 to accelerate the flow of cooling oil, further improving the heat dissipation efficiency. By axially connecting a single rotor module 2 and a single impeller 3 in series, the coaxial design can keep the speed of the impeller 3 synchronized with that of the rotor module 2, so that the heat dissipation power of the impeller 3 is positively correlated with the power of the deep-sea robot driving motor.

[0043] At the same time, by adopting multiple impellers 3, and the multiple impellers 3 are independent of each other, on the one hand, the flow rate of the cooling oil can be accelerated and the heat dissipation efficiency can be improved. The number of impellers 3 can be designed according to the maximum power of the deep-sea robot drive motor; on the other hand, the maintainability of the impeller 3 is improved. During maintenance, only the corresponding impeller 3 needs to be replaced. At the same time, the scalability of the impeller 3 is also increased, and it can be adapted to deep-sea motors with higher heat dissipation requirements by axially connecting a larger number of impellers 3 in series.

[0044] Increasing the number of impellers 3 can increase the kinetic energy, pressure and flow rate of the cooling oil. The impeller 3 can be a multi-blade impeller such as a three-blade impeller, a four-blade impeller, a five-blade impeller, etc. Figure 2a-2cHowever, too many blades will increase the friction between the blades and the cooling oil, and will also cause the mass of the impeller 3 to increase, increase energy consumption, and reduce efficiency; at the same time, the wing shape of the impeller 3 (such as Figure 3a The impeller rim wing shape shown in Figure 3b The wing shape of the impeller wheel is shown in Figure 3c The impeller hub wing shape shown in the figure determines the performance of the impeller 3, and the blade outlet placement angle (the angle between the tangent direction of the blade and the axis) is a key parameter for determining the wing shape. Therefore, this embodiment proposes a heat dissipation impeller structure for a deep-sea robot drive motor, including a rotating shaft 1, a rotor module 2 and an impeller 3 using the above-mentioned arrangement, wherein the impeller 3 uses an orthogonal design method to optimize the number of blades and the wing shape.

[0045] Furthermore, the impeller 3 uses an orthogonal design method to optimize the number of blades and the wing shape thereof, including the following steps:

[0046] Step S1, defining the impeller 3 blade outlet placement angle as a multi-time function of the radius, selecting the impeller optimization parameters and listing the orthogonal table, and setting the impeller optimization target;

[0047] Wherein, step S1 specifically includes the following steps:

[0048] Step S101, define the blade outlet placement angle as an n-th function of the radius:

[0049] (1)

[0050] In formula (1), is the placement angle at the hub, r is the relative radius from the hub to the rim, and is the outlet placement angle parameter, and n is a natural number.

[0051] The number n can be calculated based on the word simulation transport time. Limit setting: the higher the number of n, the more optimization factors there are, the better the optimization effect, but the longer the running time t is; the value of n is set by comprehensively considering the optimization efficiency and simulation running time;

[0052] Step S102, determine the optimization parameters, set n=3, the parameter is the number of blades m, , blade outlet placement angle parameters , and , , , , a total of 4 parameters, marked as factor A, factor B, factor C and factor D, each factor selected 5 levels, listed in an orthogonal table (as shown in Table 1);

[0053] Step S103, select the optimization target, the optimization target is the impeller efficiency ;

[0054] (2)

[0055] In formula (2), is the impeller inlet pressure, is the impeller outlet pressure, is the rotor torque of the impeller, is the rotor angular velocity of the impeller; Q is the flow rate of cooling oil flowing per unit time.

[0056] Table 1 Orthogonal table

[0057]

[0058] Step S2, perform 3D modeling and conduct simulation tests using ANSYS; use tetrahedral unstructured grids for grid division, and use standard Effect of turbulence model on three-dimensional incompressible viscous cooling oil Equation solving;

[0059] Step S3, analyzing the rated efficiency range according to the simulation test data and the orthogonal table, as shown in Table 2-1, Table 2-2, Table 2-3 and Table 2-4;

[0060] Table 2-1 Range table (factor A)

[0061]

[0062] Table 2-2 Range table (factor B)

[0063]

[0064] Table 2-3 Range table (factor C)

[0065]

[0066] Table 2-4 Range table (factor D)

[0067]

[0068] Step S4, obtaining the range of the influence of each factor on the optimization target (impeller efficiency), and selecting the optimal parameters according to the range analysis results.

[0069] Maximize impeller efficiency by using energy consumption as a constraint In order to optimize the target (flow and pressure under unit power), the airfoil shape is optimized while optimizing the number of impeller blades.

[0070] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A heat dissipation impeller structure for a deep-sea robot driving motor, comprising an impeller (3), characterized in that: The impeller (3) is arranged on the rotating shaft (1) of the deep-sea robot driving motor, and the rotating shaft (1) is provided with a rotor unit, and the rotor unit includes a plurality of rotor modules (2), and the plurality of rotor modules (2) are arranged on the rotating shaft (1) at intervals along the axial direction, and an impeller (3) is arranged between at least two adjacent rotor modules (2); the impeller (3) adopts an orthogonal design method to optimize the number of blades and the wing shape of the impeller (3).

2. According to claim 1, a heat dissipation impeller structure for a deep-sea robot driving motor is characterized in that: The impeller (3) adopts an orthogonal design method to optimize the number of blades and the wing shape thereof, comprising the following steps: Step S1, defining the impeller (3) blade outlet placement angle as a multi-time function of the radius, selecting the impeller (3) optimization parameters and listing the orthogonal table, and setting the impeller (3) optimization target; Step S2, performing three-dimensional modeling and conducting simulation tests; Step S3, analyzing the rated efficiency range according to the simulation test data and the orthogonal table; Step S4, selecting the optimal parameters according to the range analysis structure.

3. According to claim 2, a heat dissipation impeller structure for a deep-sea robot drive motor is characterized in that: Step S1 includes the following steps: Step S101, define the blade outlet placement angle as an n-th function of the radius: (1) In formula (1), is the placement angle at the hub, r is the relative radius from the hub to the rim, and is the outlet placement angle parameter, n is a natural number; Step S102, determine the optimization parameters, set n=3, the parameters are the number of blades m, the blade outlet placement angle parameter , and , a total of 4 parameters, marked as factor A, factor B, factor C and factor D, each factor has 5 levels, and an orthogonal table is listed; Step S103, select the optimization target, the optimization target is the impeller efficiency ; (2) In formula (2), is the impeller inlet pressure, is the impeller outlet pressure, is the rotor torque of the impeller, is the rotor angular velocity of the impeller; Q is the flow rate of cooling oil flowing per unit time.

4. According to claim 2, a heat dissipation impeller structure for a deep-sea robot driving motor is characterized in that: In step S2, a tetrahedral unstructured grid is used for meshing, using the standard Effect of turbulence model on three-dimensional incompressible viscous cooling oil Solve equations.

5. The heat dissipation impeller structure for a deep-sea robot driving motor according to claim 1, characterized in that: The deep-sea robot driving motor comprises a housing (4), a rotating shaft (1), a rotor unit, and a plurality of modular stators (5); a cavity (401) is provided in the housing (4); the cavity (401) is used for cooling oil to circulate therein; the rotating shaft (1) is axially arranged in the housing (4); the rotor unit is arranged on the rotating shaft (1); and the plurality of modular stators (5) are axially spaced apart on the inner wall of the housing (4) and are arranged corresponding to the rotor units.

6. The heat dissipation impeller structure for a deep-sea robot driving motor according to claim 5, characterized in that: A heat dissipation cavity (502) is formed in the sandwiched area between two adjacent modular stators (5), a heat dissipation channel (501) is provided between each modular stator (5) and the rotor unit, the heat dissipation channel (501) and the heat dissipation cavity (502) are connected, and the heat dissipation channel (501) and the heat dissipation cavity (502) are used for cooling oil to flow through.

7. The heat dissipation impeller structure for a deep-sea robot driving motor according to claim 5, characterized in that: The rotor unit comprises rotor modules (2) of the same number as the modular stators (5); a plurality of the rotor modules (2) are arranged on the rotating shaft (1) at intervals along the axial direction; and the heat dissipation channel (501) is formed in the sandwiched area between the outer surface of the rotor module and the inner surface of the corresponding modular stator (5).

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