An underwater robot driving motor water cooling system

Abstract

The application provides an underwater robot driving motor water cooling system arranged in a sealed cabin, comprising: a radiator arranged on the circumference of the sealed cabin, a cooling flow channel being formed on the radiator and in the axial direction of the sealed cabin, and the radiator being provided with a storage cavity on the side away from the sealed cabin; and a driving motor arranged in the storage cavity and provided with a cooling channel inside; the driving motor is continuously cooled by arranging the radiator, a driving pump and a cooling pipeline in the sealed cabin, the working temperature of the driving motor is controlled within a reasonable range, the heat dissipation efficiency of the driving motor is effectively improved, problems such as efficiency reduction, component aging and fault shutdown of the driving motor due to high temperature are avoided, and long-term stable operation of the underwater robot is ensured.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a water-cooling system for an underwater robot drive motor. Background Technology

[0002] Underwater robots are essential equipment in fields such as marine exploration, resource development, and environmental monitoring. Their underwater propulsion is typically achieved by a drive motor inside a sealed cabin that drives a propeller. To ensure the maneuverability and operational capabilities of underwater robots, this drive motor needs to operate continuously for extended periods under complex underwater conditions. Its operational stability and reliability directly determine the underwater robot's operational efficiency, endurance, and operational safety.

[0003] During operation, drive motors generate a large amount of heat due to mechanical losses such as winding copper losses, core iron losses, and bearing friction. Because drive motors need to be placed in a sealed, small metal enclosure to prevent seawater corrosion and protect the internal electronic components and transmission structure from damage, the generated heat is difficult to dissipate effectively. This results in a rapid and significant temperature rise in the motor, causing it to operate in an excessively high operating temperature environment for extended periods.

[0004] Operating a drive motor at excessively high temperatures can cause a series of serious problems, directly threatening the safety and reliability of the underwater robot system: First, the resistance of the motor windings increases with temperature, leading to further increases in copper losses, ultimately causing a decrease in the motor's output torque and speed, affecting the underwater robot's propulsion performance; second, if the drive motor is a permanent magnet motor, high temperatures may cause irreversible demagnetization of its internal permanent magnets, resulting in permanent and irreversible performance degradation; third, high temperatures accelerate the aging of the motor's internal insulation materials, significantly shortening the motor's lifespan, and in severe cases, causing internal short circuits, leading to motor shutdown or even damage, resulting in serious consequences such as interruption of underwater robot operations and equipment damage. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] To address the aforementioned problems, this application provides a water-cooling system for an underwater robot drive motor, housed within a sealed chamber, comprising: A radiator is disposed on the inner circumference of the sealed chamber, and a cooling channel is formed on the radiator along the axial direction of the sealed chamber. The radiator has a storage cavity on the side away from the sealed chamber. A drive motor is disposed within the storage cavity, and a cooling channel is provided inside the drive motor; Drive pump; Cooling pipes are provided between the cooling channel outlet of the drive motor and the cooling channel inlet of the radiator, between the cooling channel outlet of the radiator and the inlet of the drive pump, and between the outlet of the drive pump and the cooling channel inlet of the drive motor, forming a circulating cooling loop.

[0007] Optionally, a cooling channel is provided on the connection surface between the radiator and the sealed chamber.

[0008] Optionally, the cooling channel is a spiral channel.

[0009] Optionally, the cooling pipeline includes a first pipeline, a second pipeline, and a third pipeline. The first pipeline is disposed between the cooling channel outlet of the drive motor and the cooling flow channel inlet of the radiator. The second pipeline is disposed between the cooling flow channel outlet of the radiator and the inlet of the drive pump. The third pipeline is disposed between the outlet of the drive pump and the cooling channel inlet of the drive motor.

[0010] Optionally, a cooling filter may also be included, which is disposed on the third pipeline.

[0011] Optionally, a flow meter is also included, which is disposed on the third pipeline and located between the cooling filter and the drive pump.

[0012] Optionally, the drive motor is equipped with a controller, which is electrically connected to the drive pump, flow meter and drive motor.

[0013] Optionally, the radiator is fixedly connected to the inner circumferential surface of the sealed chamber.

[0014] Optionally, the heat sink has a ring-shaped structure.

[0015] Optionally, the driving pump is a liquid diaphragm pump.

[0016] Beneficial effects The underwater robot drive motor water cooling system provided in the embodiments of the present invention achieves continuous cooling of the drive motor by setting up a radiator, drive pump and cooling pipeline in a sealed chamber, controlling the working temperature of the drive motor within a reasonable range, effectively improving the heat dissipation efficiency of the drive motor, avoiding problems such as reduced efficiency, component aging and shutdown due to high temperature, and ensuring long-term stable operation of the underwater robot. Attached Figure Description

[0017] Figure 1 This is a cross-sectional first-view structural diagram of the present invention; Figure 2 This is a cross-sectional view of the second perspective of the present invention; Figure 3This is a cross-sectional view of the heat sink structure of the present invention.

[0018] The reference numerals in the attached figures are as follows: 1. Sealed chamber; 2. Radiator; 3. Cooling channel; 4. Drive motor; 5. Drive pump; 6. Cooling pipes; 61. First pipe; 62. Second pipe; 63. Third pipe; 7. Cooling filter; 8. Flow meter; 9. Controller. Detailed Implementation

[0019] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0020] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0023] See also Figure 1-3 As shown, an embodiment of this application provides a water-cooling system for an underwater robot drive motor, disposed within a sealed chamber 1, comprising: Radiator 2, the radiator 2 is disposed on the inner circumference of the sealed chamber 1, the radiator 2 is provided with a cooling channel 3 along the axial direction of the sealed chamber 1, and the radiator 2 has a storage cavity on the side away from the sealed chamber 1; A drive motor 4 is disposed inside the storage cavity, and a cooling channel is provided inside the drive motor 4; Drive pump 5; Cooling pipes 6 are provided between the cooling channel outlet of the drive motor 4 and the cooling channel 3 inlet of the radiator 2, between the cooling channel 3 outlet of the radiator 2 and the inlet of the drive pump 5, and between the outlet of the drive pump 5 and the cooling channel inlet of the drive motor 4, forming a circulating cooling loop.

[0024] In this technical solution, the underwater robot drive motor water cooling system includes a radiator 2, a drive motor 4, a drive pump 5, and a cooling pipe 6. The drive motor 4 has a cooling channel inside, and the inlet and outlet of the cooling channel are respectively located at the end of the drive motor 4. The coolant flows in the cooling channel and can quickly remove the heat generated by the motor windings, iron core and other components. After absorbing the heat, the coolant enters the cooling channel 3 of the radiator 2 through the cooling pipe 6.

[0025] The outer circumferential surface of radiator 2 is connected to the inner circumferential surface of sealed chamber 1. Cooling channels 3 are formed on radiator 2 along the axial direction of sealed chamber 1, which increases the contact area between the coolant and the inner wall of sealed chamber 1 after passing through cooling channels 3, thereby improving heat exchange efficiency. When the coolant flows through the cooling channel of drive motor 4, it absorbs the heat generated by drive motor 4, and its temperature rises. Subsequently, the heated coolant flows out from the outlet of the cooling channel of drive motor 4 and enters the cooling channel 3 of radiator 2 through cooling pipe 6. When the coolant flows through the cooling channel 3 of radiator 2, because radiator 2 is in close contact with the inner wall of sealed chamber 1, the heat absorbed by the coolant is transferred to the inner wall of sealed chamber 1, and finally transferred to the external seawater through the outer wall of sealed chamber 1. The seawater carries away the heat, thereby cooling the coolant. The cooled coolant flows out from the outlet of cooling channel 3 of radiator 2 and enters drive pump 5. The drive pump 5 pressurizes the cooled coolant and delivers it to the cooling channel inlet of the drive motor 4 through the cooling pipe 6. The coolant then re-enters the cooling channel of the drive motor 4, absorbs heat, and circulates. This process is repeated, and through the continuous circulation of the coolant, the drive motor 4 is continuously cooled, keeping its operating temperature within a reasonable range. This effectively improves the heat dissipation efficiency of the drive motor 4 and prevents problems such as reduced efficiency, component aging, and shutdown due to high temperatures, thus ensuring the long-term stable operation of the underwater robot.

[0026] The radiator 2 has a cooling channel 3 along the axial direction of the sealed chamber 1. The cooling channel 3 can be opened inside the radiator 2 or on the outer circumferential surface that contacts the sealed chamber 1. It is preferred to be opened on the outer circumferential surface that contacts the sealed chamber 1. When the coolant flows through the cooling channel, it can directly contact the inner wall of the sealed chamber 1, which has a higher heat exchange efficiency and a higher cooling efficiency.

[0027] When the coolant flows out of the outlet of the cooling channel 3 after passing through the radiator 2, it enters the drive pump 5. The drive pump 5 can provide power for the circulation of the coolant and give the cooled coolant to the drive motor 4 to cool the drive motor 4.

[0028] In some possible implementations, a cooling channel 3 is provided on the connection surface between the radiator 2 and the sealed chamber 1.

[0029] In this technical solution, the cooling channel 3 is opened on the outer circumferential surface of the radiator 2 and the sealed chamber 1. It is formed by the inward indentation of the outer surface of the radiator 2. When the coolant flows through the cooling channel, it can directly contact the inner wall of the sealed chamber 1, thereby improving the cooling efficiency of the coolant.

[0030] In some possible implementations, the cooling channel 3 is a spiral channel.

[0031] In this technical solution, the cooling channel 3 is a spiral channel, which extends spirally along the axial direction of the sealed chamber 1 and around the central axis of the radiator 2. Its opening position is on the connection surface between the radiator 2 and the inner wall of the sealed chamber 1. This can extend the flow path of the coolant in the channel, improve the heat dissipation efficiency, and ensure that the coolant can always form effective contact with the inner wall of the sealed chamber 1 when it flows through the cooling channel. The heat absorbed by the internal components of the drive motor 4 can be evenly transferred to the inner wall of the sealed chamber 1 and finally carried away by the external seawater, achieving efficient heat dissipation.

[0032] The cross-sectional shape of the spiral flow channel can be rectangular, semi-circular, or trapezoidal.

[0033] The inlet and outlet of the spiral flow channel are respectively located at both ends of the radiator 2. The inlet is connected to the cooling pipe 6 at the outlet of the cooling channel of the drive motor 4, and the outlet is connected to the cooling pipe 6 at the inlet of the drive pump 5, so as to realize the smooth flow of coolant and ensure the sealing and continuity of the cooling circuit.

[0034] Due to the spiral structure of the spiral flow channel, the coolant will generate a slight swirling effect during the flow process, which avoids the coolant from stratifying or stagnating in the flow channel, ensuring that the coolant in all areas of the flow channel can fully participate in heat exchange, avoiding the problem of uneven coolant temperature caused by insufficient local heat dissipation, and further improving the uniformity of heat dissipation.

[0035] The spiral flow channel structure is equivalent to setting an annular reinforcing rib on the inner wall of the sealed chamber 1, which can effectively enhance the compressive strength and buckling stability of the sealed chamber 1, and adapt to the complex working conditions of underwater robots during underwater operations.

[0036] In some possible implementations, the cooling pipe 6 includes a first pipe 61, a second pipe 62, and a third pipe 63. The first pipe 61 is disposed between the cooling channel outlet of the drive motor 4 and the cooling flow channel 3 inlet of the radiator 2. The second pipe 62 is disposed between the cooling flow channel 3 outlet of the radiator 2 and the inlet of the drive pump 5. The third pipe 63 is disposed between the outlet of the drive pump 5 and the cooling channel inlet of the drive motor 4.

[0037] In this technical solution, the cooling pipe 6 includes a first pipe 61, a second pipe 62, and a third pipe 63. The first pipe 61 connects the cooling channel outlet of the drive motor 4 to the cooling flow channel 3 inlet of the radiator 2, supplying coolant to the drive motor 4 into the radiator 2. The second pipe 62 connects the cooling flow channel 3 outlet of the radiator 2 to the inlet of the drive pump 5, supplying the cooled coolant from the radiator 2 into the drive pump 5. The third pipe 63 connects the outlet of the drive pump 5 to the cooling channel inlet of the drive motor 4, returning the cooled coolant to the drive motor 4, thus cooling the internal components of the drive motor 4. The first pipe 61, the second pipe 62, and the third pipe 63 connect the drive motor 4, the radiator 2, and the drive pump 5, ensuring smooth and sealed coolant circulation and stable heat dissipation for the drive motor 4.

[0038] In some possible implementations, a cooling filter 7 is also included, which is disposed on the third pipe 63.

[0039] The technical solution also includes a cooling filter 7, which is fixedly installed on the third pipeline 63, located between the outlet of the drive pump 5 and the inlet of the cooling channel of the drive motor 4. Its two ends are connected to the third pipeline 63 through sealing joints. By setting the cooling filter 7, various impurities generated in the circulating cooling circuit can be filtered out, including metal particles generated by corrosion of the pipeline, the cooling channel of the drive motor 4, and the cooling flow channel 3 of the radiator 2 during long-term circulation of the coolant, as well as dust, debris and other foreign matter that may be mixed into the coolant, so as to prevent such impurities from flowing with the coolant and causing damage to the components.

[0040] In some possible implementations, a flow meter 8 is also included, which is disposed on the third pipeline 63 and located between the cooling filter 7 and the drive pump 5.

[0041] In some possible implementations, the drive motor 4 is equipped with a controller 9, which is electrically connected to the drive pump 5, the flow meter 8 and the drive motor 4.

[0042] This technical solution also includes a flow meter 8, which is fixedly mounted on the third pipeline 63 and located between the cooling filter 7 and the drive pump 5. Both ends of the flow meter 8 are connected to the third pipeline 63 via sealed joints. The controller 9 is mounted on the housing of the drive motor 4, minimizing installation space and effectively preventing interference between wiring and the cooling pipeline 6 or other components. The controller 9 is electrically connected to the drive pump 5, the flow meter 8, and the drive motor 4 via high-temperature resistant, interference-resistant wires, ensuring the stability and reliability of signal transmission and preventing signal interruptions or interference.

[0043] The controller 9 is electrically connected to the flow meter 8, the drive motor 4, and the drive pump 5. During the system startup process, the controller 9 first starts the drive pump 5 to circulate the coolant. Once the flow rate value fed back by the flow meter 8 reaches the preset safe flow rate threshold in the controller 9, the controller 9 sends a start command to the drive motor 4. During the operation of the drive motor 4, the controller 9 continuously receives the flow rate signal from the flow meter 8 and monitors the coolant circulation status in real time. If the flow rate is lower than the preset safe threshold, the controller 9 immediately issues an alarm signal and simultaneously performs power reduction or shutdown protection operations to prevent the drive motor 4 from being damaged due to insufficient heat dissipation.

[0044] In some possible implementations, the radiator 2 is fixedly connected to the inner circumferential surface of the sealed chamber.

[0045] In some possible implementations, the heat sink 2 has a ring-shaped structure.

[0046] In this technical solution, the radiator 2 and the inner circumferential surface of the sealing chamber 1 are either welded together or formed as a single piece, further enhancing the connection stability between the radiator 2 and the sealing chamber 1. When the radiator 2 is welded to the sealing chamber 1, a sealing ring is installed on the outer circumference of the radiator 2 located between the cooling channels 3, achieving a seal between two adjacent cooling channels 3.

[0047] The radiator 2 has a ring-shaped structure. After the radiator 2 is installed in the sealed chamber 1, a storage cavity is formed in the middle for placing components such as the drive motor 4, cooling pipes 6 and drive pump 5.

[0048] In some possible implementations, the drive pump 5 is a liquid diaphragm pump. The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely preferred embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A water-cooling system for an underwater robot drive motor, housed within a sealed chamber (1), characterized in that, include: Radiator (2), the radiator (2) is disposed on the inner circumference of the sealed chamber (1), the radiator (2) is provided with a cooling channel (3) along the axial direction of the sealed chamber (1), and the radiator (2) has a storage cavity on the side away from the sealed chamber (1); A drive motor (4) is disposed in the storage cavity, and a cooling channel is provided inside the drive motor (4); Drive pump (5); Cooling pipes (6) are provided between the cooling channel outlet of the drive motor (4) and the cooling channel (3) inlet of the radiator (2), the cooling channel (3) outlet of the radiator (2) and the inlet of the drive pump (5), and the outlet of the drive pump (5) and the cooling channel inlet of the drive motor (4), forming a circulating cooling circuit.

2. The underwater robot drive motor water cooling system according to claim 1, characterized in that, Cooling channels (3) are provided on the connection surface between the radiator (2) and the sealed chamber (1).

3. The underwater robot drive motor water cooling system according to claim 2, characterized in that, The cooling channel (3) is a spiral channel.

4. The water-cooling system for the underwater robot drive motor according to claim 1, characterized in that, The cooling pipe (6) includes a first pipe (61), a second pipe (62) and a third pipe (63). The first pipe (61) is located between the cooling channel outlet of the drive motor (4) and the cooling flow channel (3) inlet of the radiator (2). The second pipe (62) is located between the cooling flow channel (3) outlet of the radiator (2) and the inlet of the drive pump (5). The third pipe (63) is located between the outlet of the drive pump (5) and the cooling channel inlet of the drive motor (4).

5. The underwater robot drive motor water cooling system according to claim 4, characterized in that, It also includes a cooling filter (7) disposed on the third pipeline (63).

6. The water-cooling system for the underwater robot drive motor according to claim 5, characterized in that, It also includes a flow meter (8), which is disposed on the third pipeline (63) and located between the cooling filter (7) and the drive pump (5).

7. The underwater robot drive motor water cooling system according to claim 6, characterized in that, The drive motor (4) is equipped with a controller (9), which is electrically connected to the drive pump (5), the flow meter (8) and the drive motor (4).

8. The water-cooling system for the underwater robot drive motor according to claim 1, characterized in that, The radiator (2) is fixedly connected to the inner circumferential surface of the sealed chamber.

9. The water-cooling system for the underwater robot drive motor according to claim 1, characterized in that, The radiator (2) has a ring-shaped structure.

10. The water-cooling system for the underwater robot drive motor according to claim 1, characterized in that, The drive pump (5) is a liquid diaphragm pump.

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