CN111277079A - Underwater robot cooling device - Google Patents
Underwater robot cooling device Download PDFInfo
- Publication number
- CN111277079A CN111277079A CN201811483769.8A CN201811483769A CN111277079A CN 111277079 A CN111277079 A CN 111277079A CN 201811483769 A CN201811483769 A CN 201811483769A CN 111277079 A CN111277079 A CN 111277079A
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- CN
- China
- Prior art keywords
- pipeline
- water
- water channel
- inner sleeve
- cooling device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K9/00—Arrangements for cooling or ventilating
- H02K9/19—Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil
- H02K9/193—Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil with provision for replenishing the cooling medium; with means for preventing leakage of the cooling medium
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
Abstract
The invention belongs to the field of underwater robots, in particular to an underwater robot cooling device.A centrifugal pump, a motor to be cooled, a motor controller and a water inlet of a spiral water channel cooler are connected in series through a pipeline, a water outlet of the spiral water channel cooler is connected with the centrifugal pump through the pipeline, and a flow sensor is arranged on the pipeline between the centrifugal pump and the motor or the pipeline between the motor controller and the water outlet of the spiral water channel cooler; the spiral water channel cooler comprises an outer pressure-resistant shell and an inner sleeve, wherein the outer pressure-resistant shell is covered outside the inner sleeve, a spiral water channel is arranged on the outer surface of the inner sleeve along the axial direction, and a closed water channel for cooling liquid to flow is formed by the spiral water channel and the inner surface of the outer pressure-resistant shell; the inner sleeve is provided with a water nozzle communicated with the closed water channel. The cooling device is compact in structure, and the spiral water channel cooler is arranged in the pressure-resistant shell, so that the cooling device can be used by a large-depth underwater robot.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to an underwater robot cooling device.
Background
The cooling device for the underwater robot is a device for cooling electric equipment such as a motor, a motor controller and the like in a pressure-resistant cabin of the underwater robot. The cooling device comprises auxiliary components such as a power device (pump), a detection device (a flowmeter, a thermometer and the like), a cooler, a connector body and the like, and the power device, the detection device, the electrical equipment and the cooler are connected through pipelines to form a closed loop. The loop is filled with cooling liquid, and internal circulation is completed under the action of the power device. In the internal circulation process, when the cooling liquid passes through the electrical equipment, the cooling liquid absorbs heat generated by the electrical equipment during working; when the cooling device passes through the cooler, heat exchange is carried out between the cooling liquid and the seawater, and heat is transferred to the seawater to realize a cooling function. The cooler of the existing cooling device is arranged outside a pressure-resistant structure of the underwater robot, and two water ports are required to be arranged in a pressure-resistant cabin to be connected with a water inlet and a water outlet of the cooler. The water opening of the pressure-resistant cabin needs to be designed locally for structure reinforcement, so that the complexity and the processing difficulty of the structural design are increased. The cooler is arranged outside the pressure-resistant structure, and the sailing resistance is increased. In order to reduce the resistance, on one hand, the air guide sleeve needs to be wrapped outside the cooler, and on the other hand, resistance calculation needs to be carried out, so that the design difficulty and the workload are increased.
Disclosure of Invention
The invention aims to provide a cooling device for an underwater robot. This cooling device of underwater robot's spiral water course cooler arranges inside pressure shell, and structural design is simple, improves the design efficiency, does not increase extra navigation resistance, has solved the above-mentioned problem that current cooling device exists.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a centrifugal pump, a flow sensor, a spiral water channel cooler and a pipeline, wherein the centrifugal pump, a motor to be cooled, a motor controller and a water inlet of the spiral water channel cooler are connected in series through the pipeline; the spiral water channel cooler comprises an outer pressure-resistant shell and an inner sleeve, wherein the outer pressure-resistant shell is covered outside the inner sleeve, a spiral water channel is arranged on the outer surface of the inner sleeve along the axial direction, and the spiral water channel and the inner surface of the outer pressure-resistant shell form a closed water channel for circulation of cooling liquid; a water nozzle communicated with the closed water channel is arranged on the inner sleeve;
wherein: an expansion tank is connected between the centrifugal pump and the pipeline of the flow sensor through a parallel branch, and a ball valve is installed on the branch;
the axial section of the spiral water channel is rectangular;
the front end and the rear end of the inner sleeve in the axial direction are respectively welded with the outer pressure-resistant shell, and the spiral water channel is positioned between the front end and the rear end of the inner sleeve in the axial direction;
the number of the water nozzles is four, namely a water nozzle A, a water nozzle B, a water nozzle C and a water nozzle D, a pipeline output by the motor controller is communicated with the water nozzle A, and the water nozzle D is communicated with the input end of the centrifugal pump through a pipeline; the water nozzle B is connected with an exhaust ball valve through an exhaust pipeline at the stage of initially supplementing water into the pipeline, and the water nozzle C is connected with a liquid supplementing ball valve through a liquid supplementing pipeline at the stage of initially supplementing water into the pipeline;
the axial section of the water nozzle is T-shaped, a through hole communicated with the closed water channel is formed in the middle of the water nozzle along the axial direction, a sealing groove is formed in the outer surface of the vertical edge of the T-shaped, and a sealing ring sealed with the inner sleeve is arranged in the sealing groove;
the water nozzle is provided with a plane convenient to disassemble and assemble along the axial direction.
The invention has the advantages and positive effects that:
1. the spiral water channel cooler is arranged in the pressure-resistant shell, so that the influence on the strength of the pressure-resistant shell is reduced, and the sailing resistance is reduced.
2. The invention has compact structure and high space utilization rate.
Drawings
FIG. 1 is a front view of the structure of the present invention in use;
FIG. 2 is a left side view of the structure in a use state of the present invention;
FIG. 3 is a top view of the structure in use of the present invention;
FIG. 4 is a front view of the internal housing of the spiral water channel cooler of the present invention;
FIG. 5 is a right side view of FIG. 4;
FIG. 6 is a left side view of FIG. 4;
FIG. 7 is a cross-sectional view of a water nozzle mounted on an inner sleeve of the spiral water channel cooler of the present invention;
FIG. 8 is a top view of FIG. 7;
FIG. 9 is a cooling schematic of the present invention;
wherein: the device comprises a centrifugal pump 1, a flow sensor 2, a ball valve 3, an expansion tank 4, a spiral water channel cooler 5, a pipeline 6, a support 7, a motor 8, a motor controller 9, an external pressure-resistant shell 10, an inner sleeve 11, a spiral water channel 12, a sealing groove 13, a through hole 14, a plane 15, an exhaust pipeline 16, an exhaust ball valve 17, a liquid supplementing ball valve 18, a liquid supplementing pipeline 19, a water nozzle 20, a water nozzle A21, a water nozzle B22, a water nozzle C23 and a water nozzle D24.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the invention includes a centrifugal pump 1, a flow sensor 2, a spiral water channel cooler 5 and a pipeline 6 which are respectively installed inside a pressure-resistant casing, wherein the centrifugal pump 1, a motor 8 to be cooled, a motor controller 9 and the water inlet of the spiral water channel cooler 5 are connected in series through the pipeline 6, the water outlet of the spiral water channel cooler 5 is connected with the centrifugal pump 1 through the pipeline 6, and the flow sensor 2 is installed on the pipeline 6 between the centrifugal pump 1 and the motor 8 or the pipeline 6 between the motor controller 9 and the water outlet of the spiral water channel cooler 5; in this embodiment, a flow sensor 2 is mounted on a pipe 6 between a centrifugal pump 1 and a motor 8, and the flow sensor 2 is fixed to a bracket 7 fixed to the inside of a pressure-resistant casing. The centrifugal pump 1 powers the cooling fluid, and the flow sensor 2 detects the flow rate of the cooling fluid. A branch is connected in parallel on a pipeline 6 between the centrifugal pump 1 and the flow sensor 2, the branch is connected with an expansion tank 4, and a ball valve 3 is arranged on the branch; the ball valve 3 of this embodiment is manual butt clamp ball valve, and manual butt clamp ball valve is used for cutting off 4 income waters of expansion tank, and the easy access, expansion tank 4 are used for balanced cooling device pressure.
The spiral water channel cooler 5 is used for transferring heat to seawater, as shown in fig. 4 to 8, the spiral water channel cooler 5 includes an outer pressure-resistant shell 10 and an inner sleeve 11, the outer pressure-resistant shell 10 is covered outside the inner sleeve 11, a spiral water channel 12 is axially arranged on the outer surface of the inner sleeve 11, and the axial section of the spiral water channel 12 is rectangular; the front and rear ends of the inner sleeve 11 in the axial direction are respectively welded to the outer pressure-resistant casing 10, the spiral water channel 12 is located between the front and rear ends of the inner sleeve 11 in the axial direction, and after the two ends of the inner sleeve 11 are welded to the outer pressure-resistant casing 10, the spiral water channel 12 and the inner surface of the outer pressure-resistant casing 10 form a closed water channel through which cooling fluid flows.
The inner sleeve 11 is provided with a water nozzle 20 communicated with the closed water channel. The four water nozzles 20 of the embodiment are respectively a water nozzle A21 (water inlet), a water nozzle B22 (exhaust port), a water nozzle C23 (water replenishing port) and a water nozzle D24 (water outlet), a pipeline 6 output by a motor controller 9 is communicated with the water nozzle A21, and the water nozzle D24 is communicated with the input end of the centrifugal pump 1 through the pipeline 6; the water nozzle B22 is connected to an exhaust ball valve 17 through an exhaust line 16 at the stage of initial water supply to the line 6, and the water nozzle C23 is connected to a fluid replenishment ball valve 18 through a fluid replenishment line 19 at the stage of initial water supply to the line 6.
The axial section of the water nozzle 20 is T-shaped, a through hole 14 communicated with a closed water channel is axially arranged in the middle of the water nozzle, a sealing groove 13 is arranged on the outer surface of the vertical edge of the T-shaped, and a sealing ring sealed with an inner sleeve 11 is arranged in the sealing groove 13. The water nozzle 20 is provided with a plane 15 along the axial direction, which is convenient for hand-held screwing and dismounting.
The installation and working principle of the invention is as follows:
the centrifugal pump 1, the flow sensor 2, the motor 8, the motor controller 9 and the spiral water channel cooler 5 are sequentially connected in series through a pipeline 6, and the ball valve 3 and the expansion tank 4 are connected in parallel with the pipeline 6 between the centrifugal pump 1 and the flow sensor 2.
After the cooling device is connected, the water nozzle B22 is connected with the exhaust ball valve 17 through the exhaust pipeline 16, and the water nozzle C23 is connected with the liquid supplementing ball valve 18 through the liquid supplementing pipeline 19. And (3) initially replenishing water into the pipeline 6, opening the liquid replenishing ball valve 18 and the exhaust ball valve 17, connecting an outlet of the exhaust ball valve 17 with an automatic exhaust valve, and filling cooling liquid into the equipment and the pipeline 6 through the liquid replenishing pipeline 19. And opening the manual opposite-clamping ball valve, and opening the centrifugal pump 1 and the manual opposite-clamping ball valve to enable the cooling device to operate for a set time until no gas is discharged from the automatic exhaust valve. Then, the exhaust line 16 is detached from the water nozzle B22, the fluid replacement line 19 is detached from the water nozzle C23, and the water nozzle B22 and the water nozzle C23 are sealed.
As shown in fig. 9, the cooling unit controller controls the start and stop of the centrifugal pump 1, receives data from the flow sensor 2, and monitors the flow rate of the cooling liquid in the pipeline 6. The cooling device takes away heat generated by the motor 8 and the motor controller 9 during working through the internal circulation cooling liquid, and transfers the heat to the seawater through the spiral water channel cooler 5; the cooled coolant enters the motor 8 and the motor controller 9 again under the action of the centrifugal pump 1, and the cooling cycle is completed.
Claims (7)
1. An underwater robot cooling device characterized in that: the device comprises a centrifugal pump (1), a flow sensor (2), a spiral water channel cooler (5) and a pipeline (6), wherein the centrifugal pump (1), a motor (8) to be cooled, a motor controller (9) and a water inlet of the spiral water channel cooler (5) are connected in series through the pipeline (6), a water outlet of the spiral water channel cooler (5) is connected with the centrifugal pump (1) through the pipeline (6), and the flow sensor (2) is arranged on the pipeline (6) between the centrifugal pump (1) and the motor (8) or the pipeline (6) between the motor controller (9) and the water outlet of the spiral water channel cooler (5); the spiral water channel cooler (5) comprises an outer pressure-resistant shell (10) and an inner sleeve (11), wherein the outer pressure-resistant shell (10) is covered outside the inner sleeve (11), a spiral water channel (12) is axially arranged on the outer surface of the inner sleeve (11), and the spiral water channel (12) and the inner surface of the outer pressure-resistant shell (10) form a closed water channel for cooling liquid to flow; a water nozzle (20) communicated with the closed water channel is arranged on the inner sleeve (11).
2. The underwater robot cooling device according to claim 1, characterized in that: an expansion tank (4) is connected between the centrifugal pump (1) and the pipeline (6) of the flow sensor (2) through a branch in parallel, and a ball valve (3) is installed on the branch.
3. The underwater robot cooling device according to claim 1, characterized in that: the axial section of the spiral water channel (12) is rectangular.
4. The underwater robot cooling device according to claim 1, characterized in that: the front end and the rear end of the inner sleeve (11) in the axial direction are respectively welded with the outer pressure-resistant shell (10), and the spiral water channel (12) is located between the front end and the rear end of the inner sleeve (11) in the axial direction.
5. The underwater robot cooling device according to claim 1, characterized in that: the number of the water nozzles (20) is four, the water nozzles are respectively a water nozzle A (21), a water nozzle B (22), a water nozzle C (23) and a water nozzle D (24), a pipeline (6) output by the motor controller (9) is communicated with the water nozzle A (21), and the water nozzle D (24) is communicated with the input end of the centrifugal pump (1) through the pipeline (6); the water nozzle B (22) is connected with an exhaust ball valve (17) through an exhaust pipeline (16) at the stage of initially supplementing water into the pipeline (6), and the water nozzle C (23) is connected with a liquid supplementing ball valve (18) through a liquid supplementing pipeline (19) at the stage of initially supplementing water into the pipeline (6).
6. The underwater robot cooling device according to claim 1, characterized in that: the axial section of the water nozzle (20) is T-shaped, a through hole (14) communicated with the closed water channel is formed in the middle of the water nozzle along the axial direction, a sealing groove (13) is formed in the outer surface of the vertical edge of the T-shaped, and a sealing ring sealed with the inner sleeve (11) is arranged in the sealing groove (13).
7. The underwater robot cooling device according to claim 1, characterized in that: the water nozzle (20) is provided with a plane (15) which is convenient to disassemble and assemble along the axial direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811483769.8A CN111277079A (en) | 2018-12-05 | 2018-12-05 | Underwater robot cooling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811483769.8A CN111277079A (en) | 2018-12-05 | 2018-12-05 | Underwater robot cooling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111277079A true CN111277079A (en) | 2020-06-12 |
Family
ID=71003242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811483769.8A Pending CN111277079A (en) | 2018-12-05 | 2018-12-05 | Underwater robot cooling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111277079A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130213607A1 (en) * | 2012-02-22 | 2013-08-22 | Tomohiko Miyamoto | Rotating electrical machine cooling system |
| CN103904827A (en) * | 2012-12-28 | 2014-07-02 | 永元电机(苏州)有限公司 | Motor with oil-way circulation |
| CN104691726A (en) * | 2013-12-06 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Underwater robot buoyancy adjusting device |
| CN104703444A (en) * | 2015-03-19 | 2015-06-10 | 合肥天鹅制冷科技有限公司 | Pressure-stabilizing, liquid-supplementing and gas-exhausting device of closed liquid cooling system |
| CN106374681A (en) * | 2016-08-31 | 2017-02-01 | 上海新力动力设备研究所 | Liquid heat dissipation apparatus and method used for motor |
-
2018
- 2018-12-05 CN CN201811483769.8A patent/CN111277079A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130213607A1 (en) * | 2012-02-22 | 2013-08-22 | Tomohiko Miyamoto | Rotating electrical machine cooling system |
| CN103904827A (en) * | 2012-12-28 | 2014-07-02 | 永元电机(苏州)有限公司 | Motor with oil-way circulation |
| CN104691726A (en) * | 2013-12-06 | 2015-06-10 | 中国科学院沈阳自动化研究所 | Underwater robot buoyancy adjusting device |
| CN104703444A (en) * | 2015-03-19 | 2015-06-10 | 合肥天鹅制冷科技有限公司 | Pressure-stabilizing, liquid-supplementing and gas-exhausting device of closed liquid cooling system |
| CN106374681A (en) * | 2016-08-31 | 2017-02-01 | 上海新力动力设备研究所 | Liquid heat dissipation apparatus and method used for motor |
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Application publication date: 20200612 |
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| WD01 | Invention patent application deemed withdrawn after publication |