CN119315760A - A heat dissipation impeller structure for a deep-sea robot drive motor - Google Patents
A heat dissipation impeller structure for a deep-sea robot drive motor Download PDFInfo
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- CN119315760A CN119315760A CN202411867221.9A CN202411867221A CN119315760A CN 119315760 A CN119315760 A CN 119315760A CN 202411867221 A CN202411867221 A CN 202411867221A CN 119315760 A CN119315760 A CN 119315760A
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- 230000017525 heat dissipation Effects 0.000 title claims abstract description 57
- 238000013461 design Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 9
- 238000001816 cooling Methods 0.000 claims description 27
- 238000005457 optimization Methods 0.000 claims description 20
- 238000004088 simulation Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 6
- 102000003712 Complement factor B Human genes 0.000 claims description 4
- 108090000056 Complement factor B Proteins 0.000 claims description 4
- 125000003275 alpha amino acid group Chemical group 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 238000013021 overheating Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005347 demagnetization Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The invention discloses a heat dissipation impeller structure for a deep sea robot driving motor, which comprises an impeller, wherein the impeller is arranged on a rotating shaft of the deep sea robot driving motor, a rotor unit comprises a plurality of rotor modules, the rotor modules are axially arranged on the rotating shaft at intervals, the impeller is arranged between at least one group of two adjacent rotor modules, and the impeller adopts an orthogonal design method to optimize the number of blades and the wing shape. The axial series connection of a single rotor module and a single impeller is realized, the rotation speed of the impeller and the rotation speed of the rotor module can be kept synchronous by the coaxial design, so that the heat dissipation power of the impeller and the power of a driving motor of the deep sea robot are in positive correlation.
Description
Technical Field
The invention relates to the technical field of deep sea motors, in particular to a heat dissipation impeller structure for a deep sea robot driving motor.
Background
In order to ensure proper operation in the deep sea, the deep sea motor needs to be internally filled with cooling oil to ensure internal and external pressure balance, and compared with an air motor, the existence of the cooling oil introduces oil friction loss, and the loss is reduced along with the reduction of the viscosity coefficient of the oil after the temperature is increased, but the temperature of each part of the deep sea motor is also increased remarkably, as shown in fig. 1a-1 c. The overheating of the stator may cause stripping of epoxy resin for insulation, further cause the problems of stator and rotor jamming, insulation layer damage and the like, while the overheating of the rotor causes performance attenuation of the permanent magnet, and also has irreversible demagnetization risk. Therefore, it is necessary to design the impeller structure to improve the heat dissipation performance of the deep sea motor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a heat dissipation impeller structure for a driving motor of a deep sea robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A heat dissipation impeller structure for a deep sea robot driving motor comprises an impeller, wherein the impeller is arranged on a rotating shaft of the deep sea robot driving motor, a rotor unit is arranged on the rotating shaft and comprises a plurality of rotor modules, the rotor modules are arranged on the rotating shaft at intervals along the axial direction, the impeller is arranged between at least one group of two adjacent rotor modules, and the impeller adopts an orthogonal design method to optimize the number of blades and the wing shape.
Further, the impeller adopts an orthogonal design method to optimize the number of blades and the wing shape, and comprises the following steps:
step S1, defining a plurality of functions with the impeller blade outlet setting angle as a radius, selecting impeller optimization parameters and a list orthogonal table, and setting an impeller optimization target;
step S2, three-dimensional modeling is carried out, and simulation tests are carried out;
S3, analyzing the extremely poor rated efficiency according to the simulation test data and the orthogonal table;
and S4, selecting optimal parameters according to the range analysis structure.
Further, step S1 includes the steps of:
step S101, defining a blade outlet setting angle as a function of radius n times:
(1)
in the formula (1), the components are as follows, For the angle of placement at the hub, r is the relative radius of the hub to the rim,AndSetting an angle parameter for an outlet, wherein n is a natural number;
step S102, determining an optimization parameter, setting n=3, wherein the parameter is the number m of blades, and the blade outlet setting angle parameter 、AndA total of 4 parameters, respectively marked as a factor A, a factor B, a factor C and a factor D, wherein each factor selects 5 levels and lists orthogonal tables;
step S103, selecting an optimization target, wherein the optimization target is impeller efficiency ;
(2)
In the formula (2), the amino acid sequence of the compound,For the inlet pressure of the impeller,For the impeller outlet pressure,For the rotor torque of the impeller,The flow rate of the cooling oil flowing in unit time is Q.
Further, in step S2, a tetrahedral unstructured grid is used for grid division, and a standard is usedTurbulence model for three-dimensional incompressible viscous cooling oilAnd (5) solving an equation.
Further, deep sea robot driving motor includes casing, pivot, rotor unit and a plurality of modularization stator, be provided with the cavity in the casing, the cavity is used for supplying cooling oil to circulate in it, the pivot is arranged in the casing along the axial, rotor unit sets up in the pivot, a plurality of the modularization stator is along the axial interval setting in the inner wall of casing, and corresponds the setting with the rotor unit.
Further, a heat dissipation cavity is formed in the clamping area between two adjacent modularized stators, a heat dissipation channel is arranged between each modularized stator and each rotor unit, the heat dissipation channels are communicated with the heat dissipation cavity, and the heat dissipation channels and the heat dissipation cavity are used for cooling oil to flow through.
Further, the rotor unit comprises rotor modules with the same number as that of the modularized stators, a plurality of rotor modules are arranged on the rotating shaft at intervals along the axial direction, and the heat dissipation channels are formed by the clamping areas between the outer surfaces of the rotor modules and the inner surfaces of the corresponding modularized stators.
The beneficial effects of the invention are as follows:
1. According to the invention, the single rotor module and the single impeller are axially connected in series, and the coaxial design can keep the rotation speeds of the impeller and the rotor module synchronous, so that the heat dissipation power of the impeller and the power of the driving motor of the deep sea robot are in positive correlation.
2. According to the invention, the plurality of impellers are independent of each other, so that on one hand, the flow rate of cooling oil can be accelerated, the heat dissipation efficiency is improved, the number of the impellers can be designed according to the maximum power of the driving motor of the deep sea robot, on the other hand, the maintainability of the impellers is improved, only the corresponding impellers are required to be replaced during maintenance, and meanwhile, the expandability of the impellers is improved, so that the device is suitable for a deep sea motor with higher heat dissipation requirement, and more impellers are connected in series axially.
3. The invention optimizes the impeller wing shape while optimizing the number of the impeller blades by adopting an orthogonal design method, so that the impeller efficiency is maximized.
Drawings
FIG. 1a is a graph of temperature profile of a prior art stator core yoke during operation of a deep sea motor;
FIG. 1b is a graph of temperature profile of a prior art permanent magnet of a deep sea electric machine during operation;
FIG. 1c is a graph of temperature of a stator winding of a prior art deep sea motor during operation;
FIG. 2a is a schematic view of an impeller with 3 blades according to the present embodiment;
FIG. 2b is a schematic view of an impeller with 4 blades according to the present embodiment;
FIG. 2c is a schematic view of an impeller with 5 blades according to the present embodiment;
FIG. 3a is a schematic view of a configuration of a blade wheel rim airfoil in this embodiment;
FIG. 3b is a schematic view of a configuration of the airfoil shape of the impeller wheel of the present embodiment;
FIG. 3c is a schematic view of a hub airfoil configuration of the impeller according to this embodiment;
Fig. 4 is a schematic structural diagram of a driving motor of the deep sea robot in this embodiment.
Reference numerals comprise a rotating shaft 1, a rotor module 2, an impeller 3, a shell 4, a cavity 401, a modularized stator 5, a heat dissipation channel 501 and a heat dissipation cavity 502.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the deep sea robot driving motor is shown in fig. 4, and comprises a machine shell 4, a rotating shaft 1, a rotor unit and a plurality of modularized stators 5, wherein a cavity 401 is arranged in the machine shell 4, the cavity 401 is used for cooling oil to circularly flow in the machine shell, the rotating shaft 1 is axially arranged in the machine shell 4, the rotor unit is arranged on the rotating shaft 1, the modularized stators 5 are axially arranged on the inner wall of the machine shell 4 at intervals, the modularized stators are correspondingly arranged with the rotor unit, a heat dissipation cavity 502 is arranged in an interlayer between every two adjacent modularized stators 5, a heat dissipation channel 501 is arranged between each modularized stator 5 and the rotor unit, the heat dissipation channel 501 is communicated with the heat dissipation cavity 502, and the heat dissipation channel 501 and the heat dissipation cavity 502 are used for cooling oil to flow.
According to the deep sea robot driving motor, cooling oil circularly flows in the cavity 401, so that the pressure balance between the inside and the outside of the shell 4 can be ensured, cooling oil can sequentially circularly flow through the heat dissipation channels 501 and the heat dissipation channels 502 which are alternately arranged in the axial direction, the cooling oil can enter the heat dissipation channels 502 through the heat dissipation channels 501 to increase the contact heat dissipation area with the side surface of the modularized stator 5 along the axial direction, heat is taken away when the cooling oil flows into the next heat dissipation channel 501, the heat dissipation cooling of the modularized stator 5 is realized by the circularly flowing cooling oil, the inner surface of the modularized stator 5 and the heat of the side surface of the modularized stator 5 along the axial direction, and because the modularized stators 5 are arranged at intervals in the axial direction, and each modularized stator 5 can cooperate with the rotor unit to enable the rotating shaft 1 to output torque so as to reduce the radial size of the modularized stator 5 on the basis of outputting basically the same torque.
Further, the rotor unit comprises rotor modules 2 the same in number as the modularized stators 5, the plurality of rotor modules 2 are arranged on the rotating shaft 1 at intervals along the axial direction, and the heat dissipation channels 501 are formed by the clamping areas between the outer surfaces of the rotor modules 2 and the inner surfaces of the corresponding modularized stators 5. Compared with the rotor unit arranged as a whole along the axial direction, in the embodiment, the rotor unit is split into a plurality of rotor modules 2 which are arranged at intervals along the axial direction and are independent of each other, so that the weight of the rotor unit can be reduced on the basis of realizing the basic function of the driving motor of the deep sea robot on the first aspect, and the rotor unit is particularly suitable for underwater equipment with high effective load capacity requirement. In the second aspect, the plurality of rotor modules 2 arranged at intervals along the axial direction are independent from each other, so that when one of the rotor modules 2 is damaged, the remaining rotor modules 2 can still operate normally, the reliability of the driving motor of the deep sea robot in the embodiment is improved, and the driving motor is suitable for the long-time high-reliability operation requirement of the deep sea. In the third aspect, since the sandwiched area between two adjacent rotor modules 2 also forms a part of the heat dissipation channel 502, the cooling oil can enter the heat dissipation channel 502 through the heat dissipation channel 501 to increase the contact heat dissipation area with the side surface of the rotor module 2 along the axial direction, and take away heat when flowing into the next heat dissipation channel 501, so that the rotor module 2 can be effectively cooled by circulating the cooling oil in the cavity 401, and adverse phenomena caused by overheating of the rotor module 2 are avoided.
Further, an impeller 3 is disposed between at least one group of two adjacent rotor modules 2, and the impeller 3 is disposed on the rotating shaft 1. By means of the clearance space reserved between two adjacent rotor modules 2, so that the impeller 3 is additionally arranged on the part, located in the clearance space, of the rotating shaft 1, and in the operation process of the driving motor of the deep-sea robot, the impeller 3 rotates along with the rotating shaft 1 to accelerate cooling oil to flow, so that heat dissipation efficiency is further improved. By axially connecting the single rotor module 2 and the single impeller 3 in series, the coaxial design can keep the rotation speeds of the impeller 3 and the rotor module 2 synchronous, so that the heat dissipation power of the impeller 3 and the power of the driving motor of the deep sea robot are in positive correlation.
Meanwhile, the plurality of impellers 3 are adopted and are independent of each other, so that on one hand, the cooling oil flow rate can be accelerated, the heat dissipation efficiency is improved, the number of the impellers 3 can be designed according to the maximum power of the driving motor of the deep sea robot, on the other hand, the maintainability of the impellers 3 is improved, the corresponding impellers 3 are only required to be replaced during maintenance, the expandability of the impellers 3 is improved, and the device is suitable for a deep sea motor with higher heat dissipation requirements and can be used for axially connecting a larger number of impellers 3 in series.
The number of the impellers 3 is increased, so that the kinetic energy, the pressure and the flow of cooling oil can be increased, the impellers 3 can adopt multi-blade impellers such as three-blade impellers, four-blade impellers, five-blade impellers and the like, as shown in fig. 2a-2c, however, too many blades can increase friction between the blades and the cooling oil and can also lead to the increase of the mass of the impellers 3, the increase of energy consumption and the reduction of efficiency, meanwhile, the wing shape of the impellers 3 (the wing shape of the rim of the impellers shown in fig. 3a, the wing shape of the impellers shown in fig. 3b and the wing shape of the hub of the impellers shown in fig. 3 c) determines the performance of the impellers 3, and the placement angle of the blade outlet (the included angle between the tangential direction of the blades and the axis) is a key parameter for determining the wing shape. Therefore, the embodiment provides a heat dissipation impeller structure for a driving motor of a deep sea robot, which comprises a rotating shaft 1, a rotor module 2 and an impeller 3, wherein the rotating shaft is arranged as described above, and the impeller 3 optimizes the number of blades and the wing shape by adopting an orthogonal design method.
Further, the impeller 3 optimizes the number of blades and the wing shape by adopting an orthogonal design method, and comprises the following steps:
step S1, defining a plurality of functions with the blade outlet setting angle of the impeller 3 as a radius, selecting impeller optimization parameters and a list orthogonal table, and setting an impeller optimization target;
the step S1 specifically includes the following steps:
step S101, defining a blade outlet setting angle as a function of radius n times:
(1)
in the formula (1), the components are as follows, For the angle of placement at the hub, r is the relative radius of the hub to the rim,AndFor the outlet setting angle parameter, n is a natural number.
Wherein the number of times n can simulate the transportation time according to the wordsSetting the limit, namely setting n values by comprehensively considering the optimization efficiency and the simulation running time, wherein the higher the n times are, the more the optimization factors are, the better the optimization effect is, but the longer the running time t is;
step S102, determining an optimization parameter, setting n=3, the parameter being the number of blades m, Blade outlet setting angle parameter、And,,,A total of 4 parameters, labeled factor a, factor B, factor C, and factor D, respectively, each factor selecting 5 levels, listing the orthogonal tables (as shown in table 1);
step S103, selecting an optimization target, wherein the optimization target is impeller efficiency ;
(2)
In the formula (2), the amino acid sequence of the compound,For the inlet pressure of the impeller,For the impeller outlet pressure,For the rotor torque of the impeller,The flow rate of the cooling oil flowing in unit time is Q.
TABLE 1 orthometric tables
Step S2, performing three-dimensional modeling, performing simulation test through ANSYS, performing grid division by adopting tetrahedral unstructured grids, and adopting standardsTurbulence model for three-dimensional incompressible viscous cooling oilSolving an equation;
S3, analyzing the extremely poor rated efficiency according to the simulation test data and the orthogonal table, as shown in tables 2-1, 2-2, 2-3 and 2-4;
table 2-1 very poor table (factor A)
Table 2-2 very poor table (factor B)
Tables 2-3 very poor table (factor C)
Tables 2-4 very poor table (factor D)
And S4, obtaining the extremely poor influence of each factor on the optimization target (impeller efficiency), and selecting optimal parameters according to the extremely poor analysis result.
By using energy consumption as constraint condition to maximize impeller efficiencyFor optimization purposes (flow and pressure per unit power), the airfoil is optimized while optimizing the number of impeller blades.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (7)
1. The heat dissipation impeller structure for the deep sea robot driving motor comprises impellers (3) and is characterized in that the impellers (3) are arranged on a rotating shaft (1) of the deep sea robot driving motor, a rotor unit is arranged on the rotating shaft (1) and comprises a plurality of rotor modules (2), the rotor modules (2) are arranged on the rotating shaft (1) at intervals along the axial direction, the impellers (3) are arranged between at least one group of two adjacent rotor modules (2), and the impellers (3) optimize the number of blades and the wing shape by adopting an orthogonal design method.
2. A heat dissipation impeller structure for a deep sea robot driving motor according to claim 1, characterized in that the impeller (3) optimizes its number of blades and wing shape by an orthogonal design method, comprising the steps of:
Step S1, defining a plurality of functions with the blade outlet setting angle of the impeller (3) as a radius, selecting optimization parameters and an orthogonal table of the impeller (3), and setting an optimization target of the impeller (3);
step S2, three-dimensional modeling is carried out, and simulation tests are carried out;
S3, analyzing the extremely poor rated efficiency according to the simulation test data and the orthogonal table;
and S4, selecting optimal parameters according to the range analysis structure.
3. The heat dissipation impeller structure for a deep sea robot driving motor according to claim 2, wherein the step S1 comprises the steps of:
step S101, defining a blade outlet setting angle as a function of radius n times:
(1)
in the formula (1), the components are as follows, For the angle of placement at the hub, r is the relative radius of the hub to the rim,AndSetting an angle parameter for an outlet, wherein n is a natural number;
step S102, determining an optimization parameter, setting n=3, wherein the parameter is the number m of blades, and the blade outlet setting angle parameter 、AndA total of 4 parameters, respectively marked as a factor A, a factor B, a factor C and a factor D, wherein each factor selects 5 levels and lists orthogonal tables;
step S103, selecting an optimization target, wherein the optimization target is impeller efficiency ;
(2)
In the formula (2), the amino acid sequence of the compound,For the inlet pressure of the impeller,For the impeller outlet pressure,For the rotor torque of the impeller,The flow rate of the cooling oil flowing in unit time is Q.
4. A heat dissipating impeller structure for a deep sea robot driving motor according to claim 2, wherein in step S2, meshing is performed using tetrahedral unstructured mesh, using standardTurbulence model for three-dimensional incompressible viscous cooling oilAnd (5) solving an equation.
5. The heat dissipation impeller structure for a deep sea robot driving motor according to claim 1, wherein the deep sea robot driving motor comprises a housing (4), a rotating shaft (1), a rotor unit and a plurality of modularized stators (5), a cavity (401) is arranged in the housing (4), cooling oil is supplied to circulate in the cavity (401), the rotating shaft (1) is axially arranged in the housing (4), the rotor unit is arranged on the rotating shaft (1), and the modularized stators (5) are axially arranged on the inner wall of the housing (4) at intervals and are arranged corresponding to the rotor unit.
6. The heat dissipation impeller structure for a deep sea robot driving motor according to claim 5, wherein a heat dissipation cavity (502) is formed in an interposed area between two adjacent modularized stators (5), a heat dissipation channel (501) is provided between each modularized stator (5) and a rotor unit, the heat dissipation channel (501) is communicated with 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.
7. The heat dissipation impeller structure for a deep sea robot driving motor according to claim 5, wherein the rotor unit includes rotor modules (2) in the same number as the modular stators (5), a plurality of the rotor modules (2) are disposed at intervals in the axial direction of the rotating shaft (1), and an interposed region between an outer surface of the rotor module and an inner surface of the corresponding modular stator (5) forms the heat dissipation channel (501).
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2024
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