Motor heat dissipation structure, motor heat dissipation control method and robot

Abstract

The present application relates to a motor heat dissipation structure, a motor heat dissipation control method, and a robot. The motor heat dissipation structure includes a stator assembly, a nozzle, an exhaust device, and an insulating sealing layer. The stator core is provided with a plurality of mounting slots, and the two ends of the coil winding are located in the mounting slots. The insulating sealing layer, the machine base, and the stator core are sealed and matched so that each mounting slot corresponds to a sealed heat dissipation cavity. The insulating sealing layer is provided with a liquid inlet, an air inlet, and an air outlet corresponding to each heat dissipation cavity. One end of the nozzle is connected to the liquid inlet, and the other end extends into the heat dissipation cavity. When the droplet-shaped coolant sprayed by the nozzle contacts the coil winding, the coolant can absorb heat and vaporize. The exhaust device can make the external gas flow in sequence along the air inlet, the heat dissipation cavity, and the air outlet, and take away the coolant and gas in the form of a gas-liquid mixture in the heat dissipation cavity. The motor heat dissipation structure, motor heat dissipation control method, and robot provided by the present application solve the problem of poor cooling effect of the motor cooling solution.

Description

Technical Field

[0001] The present application relates to the technical field of motor thermal management devices, and in particular to a motor heat dissipation structure, a motor heat dissipation control method, and a robot. Background Art

[0002] In the technical field of humanoid robots, joint motors are the main power source for humanoid robots to complete various movements. However, while the joint motors output sufficient torque, the coil windings of the joint motors will generate a large amount of heat when cutting the magnetic lines of force. If they can be effectively cooled, the output power of the joint motors can even exceed the rated power. However, if the heat cannot be dissipated in time, the output power of the joint motors will be greatly reduced, and their performance and lifespan will be affected.

[0003] Currently, the most commonly used solution is to cool the metal shell outside the coil winding. However, there is also an assembly gap between the metal shell and the coil winding, and the assembly gap will cause the contact thermal resistance between the two to be very large, which directly leads to the poor cooling effect of the above cooling solution. Summary of the Invention

[0004] Based on this, it is necessary to provide a motor heat dissipation structure, a motor heat dissipation control method and a robot to solve the problem of poor cooling effect of existing motor cooling solutions.

[0005] The motor heat dissipation structure provided in the present application includes a stator assembly, a nozzle, an exhaust device and an insulating sealing layer. The stator assembly includes a stator core, a coil winding and a machine base. The stator core is provided with a plurality of mounting grooves evenly distributed along the circumference of the stator assembly. The two ends of the coil winding arranged along the circumference of the stator assembly are located in the mounting grooves. The insulating sealing layer, the machine base and the stator core are sealed and matched so that each mounting groove forms a sealed heat dissipation cavity respectively; the insulating sealing layer is provided with a liquid inlet, an air inlet and an air outlet corresponding to each heat dissipation cavity, one end of the nozzle is connected to the liquid inlet, and the other end extends into the heat dissipation cavity. When the droplet-shaped coolant sprayed from the nozzle contacts the coil winding, the coolant can absorb heat and vaporize; the exhaust device can make the external gas circulate along the air inlet, the heat dissipation cavity and the air outlet in sequence, and take away the coolant and gas in the form of a gas-liquid mixture in the heat dissipation cavity.

[0006] In one embodiment, the extension direction of the air inlet and the extension direction of the air outlet are parallel and staggered.

[0007] In one embodiment, the extending direction of the air inlet and the extending direction of the air outlet are arranged at an angle.

[0008] In one embodiment, the inner wall of the heat dissipation cavity is provided with a spiral guide vane, which spirally extends from one end where the air inlet is located to one end where the air outlet is located, so that the gas can form a vortex in the heat dissipation cavity.

[0009] In one embodiment, the insulating sealing layer includes a first filling layer, a second filling layer and a third filling layer, the first filling layer and the second filling layer are arranged opposite to each other along the axial direction of the stator assembly, the third filling layer and the base are arranged opposite to each other along the radial direction of the stator assembly, and the third filling layer is arranged on the inner circumferential side of the stator assembly.

[0010] In one embodiment, the motor heat dissipation structure also includes a liquid inlet manifold, a liquid inlet branch pipe, an air outlet manifold and an air outlet branch pipe. The liquid inlet manifold is arranged on one side of the stator assembly. The liquid inlet manifold is annular and is connected to the corresponding liquid inlets through each liquid inlet branch pipe. The air outlet manifold and the liquid inlet manifold are arranged opposite to each other along the axial direction of the stator assembly. The air outlet manifold is annular and is connected to the corresponding air outlets through the air outlet branch pipe.

[0011] In one embodiment, the nozzle includes a tube portion and a ball head portion. One end of the tube portion is sealed and inserted and connected to the liquid inlet, and the other end extends into the heat dissipation cavity. The ball head portion is connected to the end of the tube portion extending into the heat dissipation cavity. The ball head portion is provided with a ball head cavity, and the side wall of the ball head cavity is provided with multiple densely distributed spray holes.

[0012] In one embodiment, along the spraying direction of the coolant in the spray hole, the flow area of the spray hole shows a trend of first decreasing and then increasing.

[0013] The present application also provides a motor heat dissipation control method, which uses the motor heat dissipation structure described in any one of the above embodiments to dissipate heat from a stator assembly. The control method includes the following steps:

[0014] The air extraction device and the nozzle are electrically connected respectively by using a controller;

[0015] The controller controls the nozzle to spray coolant toward the heat dissipation cavity, and a single spray time A satisfies that A is greater than or equal to 0.1 seconds and A is less than or equal to 2 seconds;

[0016] The controller controls the operation of the exhaust device to extract the coolant and gas in the form of a gas-liquid mixture in the heat dissipation cavity, and a single extraction time B satisfies that B is greater than or equal to 1 second and B is less than or equal to 5 seconds;

[0017] The interval time C from the end of nozzle spraying to the start of the exhaust device is greater than or equal to 2 seconds and less than or equal to 5 seconds;

[0018] The above steps are repeated several times in a row.

[0019] The present application also provides a robot, which includes the motor heat dissipation structure described in any one of the above embodiments.

[0020] Compared with the prior art, the motor heat dissipation structure, motor heat dissipation control method and robot provided by this application, the sealing cooperation between the insulating sealing layer and the machine base and the stator core enables each installation slot to form an independent heat dissipation cavity, and the nozzle breaks up the coolant and sprays it into the heat dissipation cavity through the liquid inlet. When the droplets come into contact with the high-temperature coil windings, they quickly absorb heat and vaporize. The vaporized coolant and the residual coolant are driven by the exhaust device and discharged from the air outlet along with the air flow. Obviously, compared with the prior art, the traditional solution relies on the metal shell to dissipate heat indirectly, while the present solution directly sprays the heat source, i.e. the coil winding, with a sealed heat dissipation cavity to perform phase change cooling, thereby eliminating the influence of contact thermal resistance and greatly improving the heat dissipation efficiency.

[0021] Furthermore, by combining the coolant vaporization heat absorption with forced airflow circulation, the vaporized coolant can be discharged from the heat dissipation cavity in a timely manner, so that the motor heat dissipation device can reduce the coolant consumption while ensuring the timely heat dissipation, thereby maintaining the stable operation of the motor under high power output and extending the service life of the motor.

[0022] Furthermore, an air inlet connected to the heat dissipation cavity is provided on the insulating sealing layer, so that while ensuring that the gaseous coolant is discharged from the heat dissipation cavity through the air outlet, the external gas can be replenished into the heat dissipation cavity in time, so that the heat dissipation cavity will not produce excessive negative pressure deformation due to the suction action of the exhaust device. In this way, damage to the insulating sealing layer caused by the negative pressure environment is avoided, and the sealing and service life of the motor heat dissipation structure are improved.

[0023] Furthermore, the coolant droplets can fully contact the coil winding surface within a confined space. Compared to direct liquid coolant flow, this reduces flow resistance and avoids waste caused by excessive flow or incomplete coverage caused by insufficient flow. Most importantly, the latent heat of the coolant—the amount of heat it absorbs during its phase transition to gas—is far greater than the sensible heat absorbed by the coolant's single-phase temperature rise. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 A partial cross-sectional view of a motor heat dissipation structure according to an embodiment of the present application;

[0026] Figure 2 A schematic diagram of a partial structure of a stator assembly according to an embodiment of the present application;

[0027] Figure 3A schematic diagram of the heat dissipation structure of a motor according to an embodiment of the present invention;

[0028] Figure 4 A cross-sectional view of a motor heat dissipation structure according to an embodiment of the present application;

[0029] Figure 5 A cross-sectional view of a motor heat dissipation structure according to another embodiment of the present application;

[0030] Figure 6 A three-dimensional diagram of the local structure of the motor heat dissipation structure of an embodiment provided in this application.

[0031] Figure numerals: 100, stator assembly; 110, stator core; 111, mounting groove; 112, heat dissipation cavity; 120, coil winding; 130, machine base; 200, nozzle; 210, pipe; 220, ball head; 221, ball head cavity; 222, injection hole; 300, insulating sealing layer; 310, first filling layer; 311, liquid inlet; 312, air inlet; 320, second filling layer; 321, air outlet; 330, third filling layer; 410, liquid inlet manifold; 420, liquid inlet branch pipe; 430, air outlet manifold; 440, air outlet branch pipe. DETAILED DESCRIPTION

[0032] See also Figures 1-6 In one embodiment, the motor heat dissipation structure includes a stator assembly 100, a nozzle 200, an exhaust device (not shown), an insulating sealing layer 300, a liquid inlet manifold 410, a liquid inlet branch pipe 420, an air outlet manifold 430, and an air outlet branch pipe 440. The stator assembly 100 includes a stator core 110, coil windings 120, and a base 130. The stator core 110 is constructed from laminated silicon steel sheets (electrical steel) and forms the primary portion of the magnetic circuit. The stator core 110 is used to guide the motor's main magnetic field and is arranged in a circular shape. The coil windings 120 are wound from insulated conductors (typically copper wire, although aluminum wire may be used for low-power or special applications). The coil windings 120 are embedded in mounting slots 111 of the stator core 110 according to a specific pattern. The base 130 is located on the outer periphery of the stator assembly 100 . The base 130 is usually made of cast iron, cast aluminum or welded steel plates. It is the mechanical skeleton of the entire motor and plays a role in supporting and fixing the entire stator assembly 100 .

[0033] The stator core 110 is provided with mounting slots 111 evenly distributed along the circumference of the stator assembly 100. The coil windings 120 are located (exposed) in the mounting slots 111 at both ends along the circumference of the stator assembly 100. The insulating sealing layer 300 is provided at both axial ends and the inner circumference of the stator assembly 100. In addition, the stator core 110, the insulating sealing layer 300 and the base 130 are sealed together so that each mounting slot 111 forms a corresponding sealed heat dissipation cavity 112.

[0034] Specifically, in one embodiment, Figure 3-Figure 6 As shown, the insulating sealing layer 300 includes a first filling layer 310, a second filling layer 320, and a third filling layer 330. The first filling layer 310 and the second filling layer 320 are arranged axially opposite each other along the stator assembly 100. The first filling layer 310 is arranged at the upper side in the figure, and the second filling layer 320 is arranged at the lower side in the figure. The third filling layer 330 and the base 130 are arranged radially opposite each other along the stator assembly 100, and the third filling layer 330 is arranged on the inner circumference of the stator assembly 100. Furthermore, the insulating sealing layer 300 is formed by curing insulating adhesive, a composite adhesive with excellent electrical insulation properties. In this embodiment, the insulating adhesive is poured or infused into the stator assembly 100 to form the insulating sealing layer 300. Depending on the composition of the main resin, the insulating adhesive can be made of a variety of materials, including polyester, epoxy, polyurethane, polybutadiene, silicone, polyesterimide, and polyimide, which are not listed here.

[0035] It should also be noted that, for ease of processing, the first filling layer 310, the second filling layer 320 and the third filling layer 330 can be poured separately. For example, the stator assembly 100 is placed horizontally, and the insulating glue is poured from the bottom of the stator assembly 100. When the insulating glue seals the stator assembly 100 at a height of 1 / 5 to 1 / 3 along its own axial direction, the pouring of the insulating glue is stopped to allow it to solidify to form the first filling layer 310. Similarly, the second filling layer 320 can also be poured in the same manner. For the third filling layer 330, it can be processed with the aid of a mold to prevent the insulating glue from overflowing. When the insulating glue seals the stator assembly 100 at a thickness of 1 / 5 to 1 / 4 along its own radial direction, the pouring of the insulating glue is stopped to allow it to solidify to form the third filling layer 330. It should be noted that the third filling layer 330 does not protrude from the inner circumference of the stator core 110.

[0036] Specifically, a first filling layer 310 and a second filling layer 320 are respectively disposed at the axial ends of the stator assembly 100. These layers are tightly bonded to the stator core 110 through a glue potting process, forming an axial sealing system. A third filling layer 330 is annularly disposed on one side of the inner circumference of the stator core 110. The axial and radial sealing layers form a three-dimensional sealing network, creating an independent, sealed space within the heat dissipation cavity 112 corresponding to each mounting slot 111, ensuring that the coolant vaporization process is not affected by the external environment.

[0037] like Figure 3-Figure 5 As shown, the insulating sealing layer 300 is provided with a liquid inlet 311, an air inlet 312 and an air outlet 321 corresponding to each heat dissipation cavity 112. Specifically, the liquid inlet 311 and the air inlet 312 are arranged in the first filling layer 310, and the air outlet 321 is arranged in the second filling layer 320. One end of the nozzle 200 is connected to the liquid inlet 311, and the other end extends into the heat dissipation cavity 112. In addition, the nozzle 200 can turn the liquid coolant into tiny droplets (the diameter of the droplets is less than 60 microns), that is, the coolant with a certain hydraulic pressure can be turned into tiny droplets through the nozzle 200 and sprayed toward various places in the heat dissipation cavity 112. In addition, when the droplet-shaped coolant contacts the coil winding 120, the droplet-shaped coolant can absorb heat and vaporize to form a gaseous coolant.

[0038] Specifically, in one embodiment, Figure 4-Figure 5 As shown, the nozzle 200 includes a tube 210 and a spherical head 220. One end of the tube 210 is sealed and inserted into and connected to the liquid inlet 311, and the other end extends into the heat dissipation cavity 112. To simplify the structure, the tube 210 can also be designed as an integrated unit with the liquid inlet branch pipe 420, that is, the spherical head 220 is directly connected to the liquid inlet branch pipe 420. The spherical head 220 is connected to the end of the tube 210 that extends into the heat dissipation cavity 112. The spherical head 220 is a droplet dispersion component with a curved surface structure. Specifically, it can be formed by welding a spherical or ellipsoidal shell to the tube 210. The spherical head 220 is provided with a spherical head cavity 221, which can be used to temporarily store coolant. The side wall of the ball head cavity 221 is provided with a plurality of densely distributed injection holes 222. The injection hole 222 refers to a microporous structure for realizing atomized injection, which can be formed by laser drilling or precision casting. The diameter of the injection hole 222 is less than or equal to 100 microns. Preferably, the diameter of the injection hole 222 is between 20 microns and 40 microns.

[0039] It should be noted that, in order to improve heat dissipation efficiency, the spray holes 222 are mainly arranged toward the coil winding 120 so that most of the coolant can be sprayed and adsorbed on the surface of the coil winding 120 .

[0040] Specifically, after the coolant enters the ball head cavity 221 through the tube 210, it is ejected at high speed from multiple spray holes 222 under pressure, forming evenly distributed fine droplets. Because the spray holes 222 are densely distributed on the sidewalls of the ball head cavity 221, the droplets can extend their coverage to the recessed areas on the surface of the coil winding 120. Upon contact with the coil winding 120, the droplets rapidly absorb heat and vaporize. The vaporized coolant and residual liquid form a gas-liquid mixed flow under the action of the exhaust device, and are discharged through the outlet 321 of the heat dissipation cavity 112.

[0041] This solution utilizes dense spray holes 222 on the sidewalls of the ball head cavity 221 to radially diffuse the droplets, effectively covering the complex surface structure of the coil winding 120. Furthermore, the curved shape of the ball head 220 reduces fluid resistance and prevents clogging of the spray holes 222 due to excessive local pressure.

[0042] Furthermore, in one embodiment, along the spray direction of the coolant in the spray hole 222, the flow area of the spray hole 222 tends to first decrease and then increase, that is, the spray hole 222 is dumbbell-shaped with thick ends and a thin middle. It should be noted that in order to reduce internal resistance, the inner wall of the spray hole 222 is smoothly set.

[0043] The trend of the flow area decreasing before increasing refers to the combination of a contraction section and an expansion section within the injection hole 222, which can be achieved by adopting a tapered channel design. The contraction section accelerates the flow of the coolant, while the expansion section further breaks up the droplets into finer atomized particles by reducing pressure.

[0044] Specifically, as the coolant flows through the contraction section, its velocity increases, forming a high-speed jet. Upon entering the expansion section, the flow area gradually expands, and the fluid pressure decreases, causing the droplets to undergo secondary atomization due to the internal and external pressure differential. This structure ensures more uniform coverage of the coolant upon contact with the surface of coil winding 120, while also reducing splashing or accumulation caused by excessively high local velocity.

[0045] In one embodiment, if Figure 3 and Figure 6 As shown, the liquid inlet manifold 410 is disposed on one side of the stator assembly 100. The liquid inlet manifold 410 is annular and connects to the corresponding liquid inlets 311 through various liquid inlet branch pipes 420. That is, the liquid inlets 311 are distributed along the circumference of the liquid inlet manifold 410. The gas outlet manifold 430 is disposed on the other side of the stator assembly 100. The gas outlet manifold 430 and the liquid inlet manifold 410 are disposed opposite each other along the axial direction of the stator assembly 100. The gas outlet manifold 430 is annular and connects to the corresponding gas outlets 321 through various gas outlet branch pipes 440. That is, the gas outlets 321 are distributed along the circumference of the gas outlet manifold 430.

[0046] Among them, the liquid inlet manifold 410 refers to an annular pipe for centrally distributing the coolant, which can be made of high-strength plastic material and realize circumferential uniform distribution through an annular structure. The liquid inlet branch pipe 420 refers to a branch pipe connecting the liquid inlet manifold 410 and the liquid inlet 311 of each heat dissipation cavity 112, and can specifically adopt a flexible or rigid pipeline to realize the diversion of the coolant from the manifold to each heat dissipation cavity 112. The gas outlet manifold 430 refers to an annular pipe for centrally collecting the gas-liquid mixture, and can specifically adopt a structure symmetrically arranged with the liquid inlet manifold 410, and form a gas flow channel by axially relative arrangement. The gas outlet branch pipe 440 refers to a branch pipe connecting the gas outlet manifold 430 and the gas outlet 321 of each heat dissipation cavity 112, and can specifically adopt a tapered or equal-diameter design to promote the directional discharge of the gas-liquid mixture.

[0047] Specifically, the annular liquid inlet manifold 410 is arranged along one axial side of the stator assembly 100, and is connected to the liquid inlet 311 of each heat dissipation cavity 112 through a plurality of liquid inlet branch pipes 420. After the coolant enters the liquid inlet manifold 410 from the external supply system, it is evenly distributed to each liquid inlet branch pipe 420 along the circumference, and finally realizes droplet spraying through the nozzle 200 of each heat dissipation cavity 112. The gas outlet manifold 430 is symmetrically arranged along the other axial side of the stator assembly 100, and is connected to the gas outlet 321 of each heat dissipation cavity 112 through the gas outlet branch pipe 440. When the exhaust device is in operation, the gas-liquid mixture is collected from the gas outlet 321 of each heat dissipation cavity 112 through the gas outlet branch pipe 440 to the gas outlet manifold 430, and is finally uniformly discharged from the motor heat dissipation structure.

[0048] This solution utilizes an annular header structure with multiple branch pipes to ensure that each heat dissipation cavity 112 receives an independent and uniform supply of coolant. The symmetrically arranged outlet headers 430 also balance the airflow distribution. Furthermore, the annular header structure of this solution prevents sudden changes in airflow direction and reduces flow resistance.

[0049] It should be noted that, in one embodiment, Figure 3 and Figure 4 As shown, the liquid inlet manifold 410 is located outside the first filling layer 310, and similarly, the gas outlet manifold 430 is located outside the second filling layer 320. In another embodiment, as shown in FIG. Figure 5 As shown, the liquid inlet manifold 410 can be embedded in the first filling layer 310 , and similarly, the gas outlet manifold 430 can also be embedded in the second filling layer 320 .

[0050] The air outlet 321 can be connected to an exhaust device via an outlet manifold 430. When the exhaust device is in operation, external gas (primarily air, but also gases such as oxygen or nitrogen) can enter the exhaust device through the air inlet 312, the heat dissipation cavity 112, and the air outlet 321 in sequence, and remove the coolant and gas in the form of a gas-liquid mixture within the heat dissipation cavity 112. Specifically, the exhaust device can be a vacuum pump, a centrifugal blower, a fan, or a piston suction structure. Furthermore, the coolant in the form of a gas-liquid mixture extracted by the exhaust device can be directed to a specially designed liquid storage unit (not shown) for multiple recycling. If the coolant is water, it can also be discharged directly into the atmosphere.

[0051] The sealing cooperation between the insulating sealing layer 300, the machine base 130, and the stator core 110 enables each mounting slot 111 to form an independent heat dissipation cavity 112. The nozzle 200 breaks up the coolant and sprays it into the heat dissipation cavity 112 through the liquid inlet 311. When the liquid droplets come into contact with the high-temperature coil winding 120, they quickly absorb heat and vaporize. Driven by the exhaust device, the vaporized coolant and the residual coolant are discharged from the air outlet 321 along with the air flow. Obviously, compared with the existing technology, the traditional solution relies on the metal shell to indirectly dissipate heat, while the present solution directly cools the coil winding 120 through the sealed heat dissipation cavity 112, eliminating the influence of contact thermal resistance and greatly improving the heat dissipation efficiency.

[0052] Furthermore, by combining the coolant vaporization heat absorption with forced airflow circulation, the vaporized coolant can be discharged from the heat dissipation cavity 112 in a timely manner, so that the motor heat dissipation device can reduce the coolant consumption while ensuring the timely discharge of heat, thereby maintaining the stable operation of the motor under high power output and extending the service life of the motor.

[0053] Furthermore, an air inlet 312 connected to the heat dissipation cavity 112 is provided on the insulating sealing layer 300. While ensuring that the gaseous coolant is discharged from the heat dissipation cavity 112 through the air outlet 321, external gas can be replenished into the heat dissipation cavity 112 in time, so that the heat dissipation cavity 112 will not generate excessive negative pressure due to the suction action of the exhaust device. In this way, damage to the insulating sealing layer 300 caused by the negative pressure environment is avoided, and the sealing and service life of the motor heat dissipation structure are improved.

[0054] Furthermore, compared to the solution of directly passing liquid coolant into the surface of the coil winding 120 to dissipate heat, the heat dissipation solution of the present application also has great advantages. Specifically, when the liquid coolant is directly passed into the surface of the coil winding 120, due to the relatively complex surface structure of the coil winding 120, when the flow rate of the liquid coolant is too large, the flow resistance of the coolant on the surface of the coil winding 120 will be very large. In addition, the greater the total amount of coolant, the more coolant will not be able to contact the surface of the coil winding 120. In other words, most of the coolant is discharged without fully absorbing heat, resulting in very low coolant utilization, and thus causing coolant waste. When the flow rate of the coolant is too small, it is difficult for the coolant to completely cover the surface of the coil winding 120. In other words, the coolant and the surface of the coil winding 120 are not in sufficient contact, which will lead to poor heat dissipation of the coil winding 120. In severe cases, it may even cause the motor to burn out.

[0055] Correspondingly, in the technical solution of the present application, the coolant in the form of droplets can fully contact the surface of the coil winding 120 in a limited space. Compared with directly introducing liquid coolant, it not only reduces the flow resistance problem, but also avoids the waste caused by excessive flow or incomplete coverage caused by insufficient flow.

[0056] Of course, the most important point is that the amount of heat that liquid coolant can absorb by relying on a single-phase temperature rise is far less than the amount of heat that the coolant can absorb when it changes phase to a gaseous state. Here we need to explain the concept of latent heat of vaporization. Latent heat refers to the heat absorbed or released by a substance during the phase change process from one phase to another under the condition that the temperature remains unchanged. Therefore, the latent heat of vaporization refers to the heat absorbed by the coolant at the moment of the vaporization phase change. Taking pure water as an example, when pure water does not undergo a phase change, 1kg of pure water absorbs 420kJ of heat from 0-100 degrees Celsius. However, the temperature difference before and after the motor coolant is about 5-6 degrees Celsius. Therefore, the heat absorbed by 1kg of pure water when the temperature rises by 5-6 degrees Celsius is between 21-25.2kJ. Correspondingly, when 1kg of pure water changes from a liquid phase at the boiling point to a gas phase at the boiling point, the heat that can be absorbed is 2260kJ. Obviously, the heat absorption capacity of the latter is nearly 100 times that of the former. That is to say, before the phase change, the amount of heat that water can absorb is relatively small, but at the moment of phase change, the amount of heat it can absorb is huge. That is, the present application utilizes the phase change of the coolant to absorb a huge amount of heat.

[0057] In one embodiment, if Figure 4 and Figure 5 As shown, the extending direction of the air inlet 312 and the extending direction of the air outlet 321 are parallel and staggered, that is, the extending direction of the air inlet 312 and the extending direction of the air outlet 321 are the same, but the two are not on the same straight line.

[0058] Specifically, after entering the heat dissipation cavity 112 from the air inlet 312, the gas must flow a distance perpendicular to the direction of the outlet 321 before reaching the outlet 321. This flow path prolongs the contact time between the gas and the coolant, allowing the gas-liquid mixture to be fully carried and discharged. Furthermore, the staggered arrangement prevents gas from stagnating in localized areas of the heat dissipation cavity 112, ensuring that the gas flow covers the surface of the coil winding 120.

[0059] Furthermore, in one embodiment, the air inlet 312 and the air outlet 321 are respectively disposed at diagonal positions of the heat dissipation cavity 112 , that is, the distance between the two is increased, thereby increasing the travel of the gas in the heat dissipation cavity 112 .

[0060] In another embodiment, the extension direction of the air inlet 312 and the extension direction of the air outlet 321 are set at an angle, and the angle ranges from 0 to 90 degrees, and the angle includes 90 degrees but does not include 0 degrees, that is, the two are not set in parallel.

[0061] Specifically, when the extension directions of the air inlet 312 and the air outlet 321 form an angle, after the gas enters the heat dissipation cavity 112 from the air inlet 312, the flow path is affected by the difference in direction and cannot flow directly in a straight line to the air outlet 321. This asymmetric layout forces the gas to change direction within the heat dissipation cavity 112, prolonging the contact time between the gas and the droplet-shaped coolant, while increasing the turbulence of the gas flow. The gas is fully mixed with the vaporized coolant during the flow process, and the heat exchange efficiency is enhanced through vortex or return motion. In addition, the angle setting can avoid the overlap of the air inlet and outlet paths, preventing the premature discharge of gas that has not fully absorbed heat.

[0062] In one embodiment, a spiral guide vane (not shown) is provided on the inner wall of the heat dissipation cavity 112 , and the guide vane spirally extends from one end where the air inlet 312 is located to the end where the air outlet 321 is located, so that the gas can form a vortex in the heat dissipation cavity 112 .

[0063] Among them, the guide vane refers to a spiral structure fixed to the inner wall of the heat dissipation cavity 112. Specifically, it can be realized by stamping a metal sheet and then welding it to fix it. Its spiral angle can range from 30 degrees to 60 degrees. This structure changes the trajectory of the air flow to make the gas and coolant mix more fully. In addition, the guide vane can be arranged in a constant pitch or variable pitch manner, for example, maintaining a spacing of 5 mm to 15 mm per turn from the air inlet 312 end to the air outlet 321 end. This design can extend the residence time of the gas in the heat dissipation cavity 112.

[0064] Specifically, when the vacuum device drives the gas into the heat dissipation cavity 112, the gas flows along the spiral channel formed by the guide vane, generating centrifugal force to throw the droplets of liquid coolant toward the outer wall of the cavity. During this process, the gas-liquid two-phase flow forms a vortex-like motion trajectory, the relative speed between the coolant droplets and the gas increases, and the evaporation of the droplets is accelerated. At the same time, the spiral channel forces the gas to complete at least one full rotation before reaching the gas outlet 321, ensuring that the coolant droplets fully contact the surface of the coil winding 120 under the action of centrifugation. At the same time, the centrifugal action generated by the swirl can remove residual droplets attached to the inner wall of the heat dissipation cavity 112, preventing the accumulation of coolant in the heat dissipation cavity 112.

[0065] The present application also provides a motor heat dissipation control method, which uses the motor heat dissipation structure described in any of the above embodiments to dissipate heat from the stator assembly 100. The control method includes the following steps:

[0066] The air extraction device and the nozzle 200 are electrically connected respectively by a controller;

[0067] The controller controls the nozzle 200 to spray the coolant toward the heat dissipation cavity 112 , and a single spraying time A satisfies that A is greater than or equal to 0.1 seconds and A is less than or equal to 2 seconds;

[0068] The controller controls the operation of the exhaust device to extract the coolant and gas in the form of a gas-liquid mixture in the heat dissipation cavity 112, and a single extraction time B satisfies B greater than or equal to 1 second and B less than or equal to 5 seconds;

[0069] The interval time C from the end of spraying of the nozzle 200 to the start of operation of the exhaust device satisfies the requirement that C is greater than or equal to 2 seconds and C is less than or equal to 5 seconds;

[0070] The above steps are repeated several times in a row.

[0071] The single injection time A refers to the duration of each continuous spray of coolant by the nozzle 200. This can be achieved by controlling the on / off switching of the solenoid valve using a timer module. This time range ensures that the droplets of coolant fully contact the surface of the coil winding 120 without excessive accumulation. The single extraction time B refers to the duration of each continuous operation of the exhaust device. This time range ensures that the gas-liquid mixture is effectively discharged while avoiding excessive energy consumption. The interval time C refers to the waiting time between the cessation of spraying by the nozzle 200 and the start of the exhaust device. This can be controlled by a time delay relay. This time range ensures that the coolant completes the gasification reaction but does not form condensation reflux.

[0072] Specifically, the controller coordinates the start and stop actions of the nozzle 200 and the exhaust device through preset timing logic. When the nozzle 200 sprays the coolant into the heat dissipation chamber 112 in a pulsed spray of 0.1 seconds to 2 seconds, the droplets quickly absorb heat and vaporize after contacting the high-temperature coil winding 120. At this time, the latent heat of vaporization is efficiently absorbed. After the spraying is completed, wait for 2-5 seconds to allow the droplets that have not been completely vaporized to continue the phase change process, and then start the exhaust device for 1-5 seconds to force the vaporized coolant and residual liquid particles to be discharged through the airflow. This timing control not only avoids the problem of increased flow resistance caused by excessive accumulation of liquid coolant, but also prevents secondary heating caused by the retention of gaseous medium.

[0073] In some specific embodiments, the injection time A can be set to 0.5 seconds, the extraction time B can be set to 3 seconds, and the interval time C can be set to 3 seconds, forming a periodic heat dissipation cycle. The time parameters can also be dynamically adjusted based on the real-time temperature data of the motor. For example, when the temperature exceeds a threshold, the interval time C can be shortened to 2 seconds and the extraction time B can be extended to 4 seconds.

[0074] Through the above technical solution, the present application realizes the dynamic matching of the coolant and the coil winding 120. On the premise of ensuring that the surface of the coil winding 120 is fully in contact with the coolant, the coolant utilization rate is improved to an effective level. At the same time, the working stability of the heat dissipation cavity 112 is maintained through the forced airflow discharge mechanism, so that the motor can still maintain the efficient operation of the heat dissipation system when it is overloaded.

[0075] Furthermore, in other embodiments, the opening and closing of the air inlet 312 and the air outlet 321 can also be directly controlled. For example, the air inlet 312 can be controlled to be constantly open, while the air outlet 321 can be intermittently opened or closed, so that the spraying rhythm of the nozzle 200 is coordinated with the pumping rhythm of the air pumping device. Alternatively, the air inlet 312 and the air outlet 321 can be intermittently opened and closed, so that the spraying rhythm of the nozzle 200 is coordinated with the pumping rhythm of the air pumping device. The air inlet 312 and the air outlet 321 can be provided with micro-solenoid valves to achieve opening and closing.

[0076] The present application also provides a robot, which includes the motor heat dissipation structure described in any one of the above embodiments.

[0077] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of patent protection for the present application shall be determined by the appended claims.

[0079] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0080] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0081] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0082] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0083] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0084] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Claims

1. A motor heat dissipation structure, characterized in that: The invention comprises a stator assembly (100), a nozzle (200), an exhaust device and an insulating sealing layer (300), wherein the stator assembly (100) comprises a stator core (110), a coil winding (120) and a machine base (130), wherein the stator core (110) is provided with a plurality of mounting slots (111) uniformly distributed along the circumference of the stator assembly (100), and both ends of the coil winding (120) arranged along the circumference of the stator assembly (100) are located in the mounting slots (111), and the insulating sealing layer (300), the machine base (130) and the stator core (110) are sealed and matched so that each of the mounting slots (111) forms a corresponding sealed heat dissipation cavity (112); The insulating sealing layer (300) is provided with a liquid inlet (311), an air inlet (312), and an air outlet (321) corresponding to each of the heat dissipation cavities (112); one end of the nozzle (200) is connected to the liquid inlet (311), and the other end extends into the heat dissipation cavity (112); when the droplet-shaped coolant sprayed from the nozzle (200) contacts the coil winding (120), the coolant can absorb heat and vaporize; The exhaust device can allow external gas to flow in sequence along the air inlet (312), the heat dissipation cavity (112), and the air outlet (321), and take away the coolant and gas in the form of a gas-liquid mixture in the heat dissipation cavity (112); The inner wall of the heat dissipation cavity (112) is provided with a spiral guide plate, which spirally extends from one end where the air inlet (312) is located to one end where the air outlet (321) is located, so that the gas can form a swirl in the heat dissipation cavity (112).

2. The motor heat dissipation structure according to claim 1, characterized in that: The extension direction of the air inlet (312) and the extension direction of the air outlet (321) are arranged in parallel and staggered manner.

3. The motor heat dissipation structure according to claim 1, characterized in that: The extension direction of the air inlet (312) and the extension direction of the air outlet (321) are arranged at an angle.

4. The motor heat dissipation structure according to claim 1, characterized in that: The insulating sealing layer (300) includes a first filling layer (310), a second filling layer (320) and a third filling layer (330), wherein the first filling layer (310) and the second filling layer (320) are arranged opposite to each other along the axial direction of the stator assembly (100), the third filling layer (330) and the base (130) are arranged opposite to each other along the radial direction of the stator assembly (100), and the third filling layer (330) is arranged on the inner circumference side of the stator assembly (100).

5. The motor heat dissipation structure according to claim 1, characterized in that: The stator assembly (100) further comprises a liquid inlet manifold (410), a liquid inlet branch pipe (420), an air outlet manifold (430), and an air outlet branch pipe (440). The liquid inlet manifold (410) is arranged on one side of the stator assembly (100). The liquid inlet manifold (410) is annular and is respectively connected to the corresponding liquid inlets (311) through each of the liquid inlet branch pipes (420). The air outlet manifold (430) and the liquid inlet manifold (410) are arranged opposite to each other along the axial direction of the stator assembly (100). The air outlet manifold (430) is annular and is respectively connected to the corresponding air outlets (321) through the air outlet branch pipes (440).

6. The motor heat dissipation structure according to claim 1, characterized in that: The nozzle (200) comprises a tube portion (210) and a ball head portion (220); one end of the tube portion (210) is sealed and inserted into and communicates with the liquid inlet (311), and the other end extends into the heat dissipation cavity (112); the ball head portion (220) is connected to the end of the tube portion (210) extending into the heat dissipation cavity (112); the ball head portion (220) is provided with a ball head cavity (221); and a side wall of the ball head cavity (221) is provided with a plurality of densely distributed spray holes (222).

7. The motor heat dissipation structure according to claim 6, characterized in that: Along the spraying direction of the coolant in the spray hole (222), the flow area of the spray hole (222) shows a trend of first decreasing and then increasing.

8. A motor heat dissipation control method, characterized in that: The motor heat dissipation structure according to any one of claims 1 to 7 is used to dissipate heat from the stator assembly (100), and the control method comprises the following steps: Using a controller to electrically connect the air extraction device and the nozzle (200) respectively; The controller controls the nozzle (200) to spray the coolant toward the heat dissipation cavity (112), and a single spraying time A satisfies that A is greater than or equal to 0.1 seconds and A is less than or equal to 2 seconds; The controller controls the operation of the air extraction device to extract the coolant and gas in the form of a gas-liquid mixture in the heat dissipation cavity (112), and a single extraction time B satisfies that B is greater than or equal to 1 second and B is less than or equal to 5 seconds; The interval time C from the end of spraying of the nozzle (200) to the start of operation of the air extraction device satisfies the requirement that C is greater than or equal to 2 seconds and C is less than or equal to 5 seconds; The above steps are repeated several times in a row.

9. A robot, characterized in that: It includes the motor heat dissipation structure according to any one of claims 1 to 7.

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