WO2022088322A1 - 一种智能水下推土机及其冷却系统 - Google Patents
一种智能水下推土机及其冷却系统 Download PDFInfo
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- WO2022088322A1 WO2022088322A1 PCT/CN2020/130968 CN2020130968W WO2022088322A1 WO 2022088322 A1 WO2022088322 A1 WO 2022088322A1 CN 2020130968 W CN2020130968 W CN 2020130968W WO 2022088322 A1 WO2022088322 A1 WO 2022088322A1
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- Prior art keywords
- oil
- water
- radiator
- cooling system
- inlet
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- 238000001816 cooling Methods 0.000 title claims abstract description 109
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 170
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 70
- 230000017525 heat dissipation Effects 0.000 claims abstract description 45
- 239000000110 cooling liquid Substances 0.000 claims abstract description 37
- 239000003921 oil Substances 0.000 claims description 282
- 239000002826 coolant Substances 0.000 claims description 42
- 239000000498 cooling water Substances 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 13
- 238000005192 partition Methods 0.000 claims description 13
- 238000009826 distribution Methods 0.000 claims description 12
- 230000002457 bidirectional effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000036316 preload Effects 0.000 claims description 9
- 230000008054 signal transmission Effects 0.000 claims description 7
- 238000003825 pressing Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 239000002828 fuel tank Substances 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000003566 sealing material Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8858—Submerged units
- E02F3/8866—Submerged units self propelled
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7609—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
- E02F9/0866—Engine compartment, e.g. heat exchangers, exhaust filters, cooling devices, silencers, mufflers, position of hydraulic pumps in the engine compartment
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
- E02F9/0883—Tanks, e.g. oil tank, urea tank, fuel tank
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20218—Modifications to facilitate cooling, ventilating, or heating using a liquid coolant without phase change in electronic enclosures
- H05K7/20272—Accessories for moving fluid, for expanding fluid, for connecting fluid conduits, for distributing fluid, for removing gas or for preventing leakage, e.g. pumps, tanks or manifolds
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20218—Modifications to facilitate cooling, ventilating, or heating using a liquid coolant without phase change in electronic enclosures
- H05K7/20281—Thermal management, e.g. liquid flow control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/26—Supply reservoir or sump assemblies
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/042—Controlling the temperature of the fluid
- F15B21/0423—Cooling
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20576—Systems with pumps with multiple pumps
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/62—Cooling or heating means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6343—Electronic controllers using input signals representing a temperature
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/66—Temperature control methods
Definitions
- the invention belongs to the technical field of intelligent underwater bulldozer manufacturing, and relates to an intelligent underwater bulldozer and a cooling system thereof.
- the intelligent underwater bulldozer is a fully-sealed intelligent construction machinery for underwater operations. It supplies power to the motor drive system and other power and electronic equipment through cables, making it free from the problem that traditional internal-combustion-engine amphibious machinery is difficult to complete underwater operations. Greatly improved its operational flexibility and work efficiency.
- the walking drive of the intelligent underwater bulldozer is driven by the drive motor to drive the hydraulic pump to work, and the hydraulic motor is used to output power, and the power is transmitted to the sprocket installed coaxially with the hydraulic motor, thereby driving the crawler.
- the movement of the bulldozer blade of the intelligent underwater bulldozer is driven by the drive motor to drive the hydraulic pump to work, and the hydraulic cylinder is used to move the bulldozer bucket and the rocker arm to tilt and lift the bucket to complete the bulldozing action.
- the drive motor, hydraulic pump and other power electronic equipment of the intelligent underwater bulldozer generate a lot of heat. Since the power compartment of the intelligent underwater bulldozer is in a sealed state, the heat dissipation of the heat-generating components in the power compartment faces serious challenges.
- Intelligent underwater bulldozers have higher requirements on the tightness of the power compartment.
- the traditional air-cooled heat dissipation method cannot be applied to the intelligent underwater bulldozers, which generate more heat and have difficulty in local heat dissipation. Therefore, the design of an intelligent cooling system with remarkable heat dissipation effect and suitable for the power compartment sealing machinery is very important to improve the working efficiency and reliability of the intelligent underwater bulldozer.
- the power and electronic components of the intelligent underwater bulldozer and the hydraulic oil have different heat generation and heat dissipation requirements when working, so the cooling system needs to be designed separately.
- the heat dissipation demand of power electronic components is relatively small, while the heat dissipation demand of hydraulic oil is large. How can we use the weak demand cooling system to assist the strong cooling system to dissipate heat to optimize the cooling effect? It is difficult to reflect on the unmanned bulldozer.
- the present invention provides an intelligent underwater bulldozer and a cooling system thereof, which fully utilizes the underwater working environment, intelligently dissipates heat without fans, and skillfully utilizes the weak demand of power electronic components
- the cooling system assists the strong demand cooling system to dissipate heat. It has the characteristics of simple structure design and obvious heat dissipation effect, and also broadens the cooling system design of a few underwater operation equipment.
- the present invention achieves the above technical purpose through the following technical means.
- a cooling system for an intelligent underwater bulldozer comprising a hydraulic oil cooling system and a cooling system for power and electronic components;
- the hydraulic oil cooling system includes a hydraulic oil tank, a power unit, a detection unit and a heat exchanger;
- the hydraulic oil tank is communicated with the hydraulic cylinder through the second centrifugal pump, and the hydraulic oil tank is also communicated with the bidirectional variable hydraulic motor through the third centrifugal pump;
- the power unit includes a first oil pump motor, a first motor controller and a first centrifugal pump, the first oil pump motor is connected to the first motor controller, the first motor controller and the electronic control unit perform signal transmission, and the first oil pump motor Connected with the first centrifugal pump, the oil inlet of the first centrifugal pump is communicated with the third oil outlet of the hydraulic oil tank, and the oil outlet of the first centrifugal pump is communicated with the oil inlet of the oil radiator;
- the detection unit includes a first oil temperature sensor and a second oil temperature sensor, the first oil temperature sensor is installed between the first oil outlet of the oil tank and the second oil outlet of the oil tank, and the second oil temperature sensor is installed In the oil pipe between the third oil inlet of the oil tank and the oil outlet of the oil radiator;
- the heat exchanger includes an oil radiator and a coolant radiator, and the oil radiator and the coolant radiator are packaged as a whole; the oil radiator includes an oil inlet cavity, an oil outlet cavity, a first partition, and an oil radiator inlet.
- the oil inlet, the oil outlet of the oil radiator and a number of radiating oil pipes, the oil inlet cavity and the oil outlet cavity are separated by the first partition, the oil radiator oil inlet is opened above the oil inlet cavity, and the oil inlet cavity is communicated with the inlet of the radiating oil pipe.
- the oil outlet of the oil radiator is provided above the oil outlet chamber, and the oil outlet chamber is communicated with the outlet of the cooling oil pipe;
- the coolant radiator includes a water inlet chamber, a water outlet chamber, a second partition, a coolant radiator water inlet, and a coolant radiator
- the outlet, a number of cooling water pipes and the inlet of the expansion pipe, the water inlet cavity and the water outlet chamber are separated by a second partition plate, the cooling liquid radiator water inlet is opened above the water inlet chamber, the water inlet chamber is connected with the inlet of the cooling water pipe, and the upper part of the water outlet chamber is opened
- There is a cooling liquid radiator outlet the water outlet cavity is connected with the outlet of the cooling water pipe, the inlet of the expansion pipe is opened above the water inlet chamber, and the inlet of the expansion pipe is connected with the water inlet of the expansion water tank; Cooling water pipes; adjacent cooling oil pipes and cooling water pipes are separated by the radiator core;
- the cooling system for power electronic components includes a water pump motor, a fourth motor controller, a fourth centrifugal pump, a second flow meter, an expansion water tank, a first water temperature sensor, a second water temperature sensor and a third water temperature sensor;
- the water inlet of the fourth centrifugal pump is communicated with the cooling liquid radiator outlet, and the pipeline is provided with a third water temperature sensor, the fourth centrifugal pump is rigidly connected with the water pump motor, the water pump motor is controlled by the fourth motor controller, and the fourth motor
- the controller and the electronic control unit carry out signal transmission;
- the cooling system for power and electronic components is divided into two parallel water circuits.
- the first parallel water circuit flows through the sequence of the fourth centrifugal pump, the battery pack, the transformer rectifier module, the power distribution module, the coolant radiator and the fourth centrifugal pump.
- the second parallel water path flows in sequence: the fourth centrifugal pump, the fourth motor controller and the water pump motor, the third oil pump motor and the third motor controller, the second oil pump motor and the second motor controller, and the first oil pump motor and a first motor controller, a coolant radiator and a fourth centrifugal pump;
- a first water temperature sensor is installed on the second parallel waterway, and a second water temperature sensor is installed on the main road where the two parallel waterways converge;
- a second flow meter is installed in the pipeline between the fourth centrifugal pump and the battery pack.
- the cross-sectional shapes of the heat-dissipating oil pipe and the heat-dissipating water pipe are both rectangular.
- the oil radiator and the cooling liquid radiator are encapsulated as a whole by a casing of the heat exchanger attachment, and the casing is fixedly mounted on the reinforced outer wall by pressing plates and screws.
- a first check valve is installed on the pipeline connecting the oil outlet of the oil radiator with the third oil inlet.
- the detection unit further includes a third oil temperature sensor, a fourth oil temperature sensor and a first flow meter, the third oil temperature sensor is installed at the oil outlet of the second centrifugal pump, so The fourth oil temperature sensor is installed at the oil outlet of the third centrifugal pump, and the first flow meter is installed at the oil outlet of the first centrifugal pump.
- a flow control valve is installed at the inlet of the second parallel waterway, and the flow control valve includes a heat-sensitive material, a valve body, a preload spring, a valve seat, a first guide block, and a flow control valve water inlet. and the water outlet of the flow control valve, a heat-sensitive material is provided on one side of the flow control valve housing, and the heat-sensitive material is in contact with the front end of the valve body, the front end of the valve body is supported by the first guide block, the back end of the valve body is movably connected with the valve seat, and the valve body is movably connected to the valve seat.
- the end of the body is supported by the second guide block, and the rear end of the valve body is also fixed with the casing of the flow control valve by a preload spring.
- a third one-way valve is also installed on the second parallel waterway.
- a second one-way valve is also provided on the pipeline connecting the water outlet of the expansion tank and the main circuit of the cooling system of the power and electronic components.
- An intelligent underwater bulldozer includes the above cooling system.
- the present invention provides an intelligent underwater bulldozer and its cooling structure, and the beneficial effects are as follows:
- the present invention provides a cooling structure for an intelligent underwater bulldozer.
- the hydraulic oil cooling system and the power electronic component cooling system operate independently, but the radiators of the two are packaged as a whole, and the hydraulic oil to be cooled can not only be cooled with external water
- the environment performs heat exchange, and can exchange heat with the cooling liquid, which enhances the effect of hydraulic oil cooling.
- an electric fan which avoids the disadvantages of using a fan in an underwater sealed environment, and has the characteristics of energy saving.
- the present invention provides a cooling structure for an intelligent underwater bulldozer.
- the hydraulic oil cooling system is actually an independent cooling system, which cools from the source of the oil and has nothing to do with the work of each hydraulic subsystem.
- the working state of the hydraulic subsystem It will not affect its heat dissipation effect, and the hydraulic subsystem pipeline can be designed to be short, with low resistance, which reduces the delay and damage of the movement of mechanical parts.
- the present invention provides a cooling structure for an intelligent underwater bulldozer.
- the cooling of power electronic components is divided into two parallel water paths, and the flow control valve of the second parallel water path can be adaptively changed according to the heat dissipation requirements of the second parallel water path.
- the flow rate of the cooling liquid in the second parallel water circuit when the heat dissipation requirement of the second parallel water circuit is small, the cooling liquid flow rate of the second parallel water circuit is reduced, and the cooling of the first parallel cooling circuit is strengthened under the condition that the flow rate of the main circuit remains unchanged Effectively, the heat dissipation requirements of both can be fully utilized to improve the comprehensive heat dissipation capacity of the intelligent underwater bulldozer.
- Fig. 1 is the structural schematic diagram of the intelligent underwater bulldozer according to the present invention
- FIG. 2 is a schematic structural diagram of the cooling system of the intelligent underwater bulldozer according to the present invention.
- FIG. 3 is a top view of the structure of the hydraulic oil tank according to the present invention.
- FIG. 4 is a top view of the packaging structure of the hydraulic oil radiator and the cooling liquid radiator according to the present invention.
- FIG. 5 is a front view of the packaging structure of the hydraulic oil radiator and the cooling liquid radiator according to the present invention.
- FIG. 6 is a schematic structural diagram of the flow control valve according to the present invention.
- the intelligent underwater bulldozer has a closed structure as shown in the figure.
- the hydraulic drive system and power electronic equipment of the intelligent underwater bulldozer are completely isolated from the external water environment through the sealing material, and the internal air flow is poor and cannot be forced by the cooling fan.
- the cooling requirements of the hydraulic oil in the hydraulic drive system and the airborne power electronic equipment are different when the intelligent underwater bulldozer is working, so the present invention designs a cooling system for the intelligent underwater bulldozer.
- a cooling system for an intelligent underwater bulldozer includes a hydraulic oil cooling system and a power and electronic component cooling system.
- the two cooling systems are performed independently; the hydraulic oil cooling system directly pumps the transmission to be cooled from the oil tank. oil, and dissipate heat in the radiator of the hydraulic oil cooling system; the cooling system of power electronic components takes away the heat dissipated by the power electronic components in turn by pumping the coolant, and dissipates heat in the radiator of the cooling system of the power electronic components; two The pipes of the radiator are arranged overlappingly to exchange heat, so that the weak-demand cooling system can assist the strong-demand cooling system to dissipate heat.
- the two cooling systems are described in detail below.
- the hydraulic oil cooling system includes a hydraulic oil tank 9, a power unit, a detection unit and a heat exchanger.
- the hydraulic oil tank 9 is provided with 3 oil outlets and 4 oil inlets, and the heights of the oil outlets are all lower than the oil inlets; the first oil inlet 9.1, the second oil inlet 9.2, the first oil inlet The positions of the three oil inlets 9.3 are all set at 2/3 of the height of the fuel tank.
- the first oil inlet 9.1 is connected to the two oil return passage ports of the first reversing valve 14 through oil pipes, and the second oil inlet 9.2 is connected to the second oil inlet 9.2.
- the two oil return passage ports of the second reversing valve 20 are connected by oil pipes, the third oil inlet port 9.3 is connected with the oil outlet port 5.5 of the oil radiator by oil pipes; the fourth oil inlet port 9.4 is located on the top of the hydraulic oil tank 9 and is used for hydraulic When the oil is depleted in the oil tank 9, the hydraulic oil is supplemented manually; the positions of the first oil outlet 9.5, the second oil outlet 9.6 and the third oil outlet 9.7 are all set at 1/3 of the height of the oil tank, and the first oil outlet 9.5, the second oil outlet 9.6, and the third oil outlet 9.7
- the oil port 9.5 is connected with the second centrifugal pump 12 through an oil pipe to provide hydraulic oil for the movement of the hydraulic cylinder 15.
- the second oil outlet 9.6 is connected with the third centrifugal pump 18 through an oil pipe to drive the coaxially installed chain for the bidirectional variable hydraulic motor 21.
- the third oil outlet 9.7 is connected to the oil inlet of the first centrifugal pump 3, and the oil to be cooled in the hydraulic oil tank 9 reaches the oil radiator 5 through the third oil outlet 9.7, and is connected to the external water environment. heat exchange.
- the power unit includes a first oil pump motor 1, a first motor controller 2 and a first centrifugal pump 3; the first oil pump motor 1 and the first motor controller 2 are connected through twisted pairs, and the first motor controls
- the first oil pump motor 1 and the first centrifugal pump 3 are mechanically connected by splines, the oil outlet of the first centrifugal pump 3 and the oil radiator oil inlet 5.4 are connected by oil pipes, and the power unit Provides power for circulating cooling of hydraulic oil.
- the heat exchanger includes an oil radiator 5, a coolant radiator 27 and a heat exchanger attachment 39.
- the heat exchanger attachment 39 connects the oil radiator 5 and the coolant radiator through the housing 39.1 27 is packaged as a whole;
- the oil radiator 5 includes an oil inlet cavity 5.1, an oil outlet cavity 5.2, a first partition 5.3, an oil radiator oil inlet 5.4, an oil radiator oil outlet 5.5 and a number of cooling oil pipes 5.6
- the radiator 27 includes a water inlet chamber 27.1, a water outlet chamber 27.2, a second partition 27.3, a cooling liquid radiator water inlet 27.4, a cooling liquid radiator outlet 27.5, a number of cooling water pipes 27.6 and an expansion pipe inlet 27.7
- the heat exchanger accessory 39 includes The shell 39.1, the radiator core 39.2, the pressure plate 39.3 and the screw 39.4; the cross-sectional shapes of the heat dissipation oil pipe 5.6 and the heat dissipation water pipe 27.6 are all rectangular,
- the shell 39.1 of the heat exchanger attachment 39 is half embedded into the reinforced outer wall of the intelligent underwater bulldozer, and is fixedly installed on the reinforced outer wall through the pressure plate 39.3 welded with the shell 39.1 and the screw 39.4; the radiator core 39.2 is fixed on the shell 39.1
- the effect achieved by the heat exchanger the first is that the heat dissipation oil pipe 5.6 and the heat dissipation water pipe 27.6 exchange heat through the radiator core 39.2, and the second is that the heat dissipation oil pipe 5.6 and the heat dissipation water pipe 27.6 pass through the radiator core 39.2.
- the heat is exchanged intelligently with the external water environment.
- the oil radiator outlet 5.5 is connected to the third oil inlet 9.3 of the hydraulic oil tank 9 through an oil pipe, and a first check valve 8 is installed in the pipe to prevent the first centrifugal pump 3 from working
- the oil flows back, and the channel makes the cooled oil return to the hydraulic oil tank 9 to complete a working cycle.
- the hydraulic oil cooling system is actually an independent cooling system, which is characterized by one of its characteristics: cooling from the source of the oil to reduce the temperature of the hydraulic system, independent of the work of each hydraulic subsystem, and the working state of the hydraulic subsystem will not affect its heat dissipation Effect; Second:
- the hydraulic subsystem pipeline can be designed to be shorter and the resistance is small, which reduces the delay and damage of the movement of the mechanical parts.
- the detection unit includes a first oil temperature sensor 6, a second oil temperature sensor 7, a third oil temperature sensor 13, a fourth oil temperature sensor 19 and a first flow meter 4, the first The oil temperature sensor 6, the second oil temperature sensor 7, the third oil temperature sensor 13, the fourth oil temperature sensor 19 and the first flow meter 4 all carry out signal transmission with the electronic control unit;
- the first oil temperature sensor 6 is installed between the first oil outlet 9.5 and the second oil outlet 9.6, and is fixed on the tank body 9, the first oil temperature sensor 6 directly detects the first hydraulic subsystem (hydraulic cylinder 15 subsystem), The oil temperature of the second hydraulic subsystem (two-way variable hydraulic motor 21 subsystem);
- the second oil temperature sensor 7 is installed in the oil pipe between the third oil inlet 9.3 and the oil radiator 5 to detect oil heat dissipation 5;
- the third oil temperature sensor 13 is installed at the oil outlet of the second centrifugal pump 12 to detect the oil outlet temperature after the second centrifugal pump 12 does work;
- the fourth oil temperature sensor 19 is installed in the The oil outlet of
- the first hydraulic subsystem includes a second oil pump motor 10, a second motor controller 11, a second centrifugal pump 12, a third oil temperature sensor 13, a first reversing valve 14 and a hydraulic cylinder 15, the second The centrifugal pump 12 is communicated with the hydraulic cylinder 15 through the first reversing valve 14, the second centrifugal pump 12 is connected with the second oil pump motor 10, and the second oil pump motor 10 is controlled by the second motor controller 11, and the second motor controller 11 for signal transmission with the electronic control unit; the second hydraulic subsystem includes the third oil pump motor 16, the third motor controller 17, the third centrifugal pump 18, the fourth oil temperature sensor 19, the second reversing valve 20 and the bidirectional The variable hydraulic motor 21, the third centrifugal pump 18 is communicated with the bidirectional variable hydraulic motor 21 through the second reversing valve 20, the third centrifugal pump 18 is keyed to the third oil pump motor 16, and the third oil pump motor 16 is controlled by the third motor 17, the third motor controller 17 transmits signals with the electronic control unit; the hydraulic cylinder 15 and
- the first reversing valve 14 enters the hydraulic cylinder 15, and after pushing the piston to do work, the hydraulic oil flows through the oil outlet of the second reversing valve 14 and flows back into the hydraulic oil tank 9; the hydraulic oil in the hydraulic oil tank 9 is Under the pressure of the third centrifugal pump 18, it enters the bidirectional variable hydraulic motor 21 through the second hydraulic subsystem distribution valve 23 and the second reversing valve 20 in sequence, and the hydraulic oil drives the sprocket installed coaxially with the bidirectional variable hydraulic motor 21, Among them, the first hydraulic subsystem distribution valve 22 and the second hydraulic subsystem distribution valve 23, under the control of the electronic control unit, reasonably distribute the pressure of the hydraulic oil to multiple groups of mechanical arms and sprockets, and coordinate movement to ensure intelligent underwater Bulldozers perform complex underwater operations.
- the cooling system for power electronic components includes a water pump motor 24, a fourth motor controller 25, a fourth centrifugal pump 26, a coolant radiator 27, a flow control valve 28, a second flow meter 29, an expansion tank 30, a first A water temperature sensor 31, a second water temperature sensor 32, a third water temperature sensor 33, a second one-way valve 34, a third one-way valve 35, and a component to be cooled, the component to be cooled includes a motor controller, a battery pack 36, a transformer rectifier Module 37 and power distribution module 38; the water inlet of the fourth centrifugal pump 26 is connected with the cooling liquid radiator outlet 27.5 through a pipeline, and a third water temperature sensor 33 is arranged on the pipeline; the fourth centrifugal pump 26 is connected with the water pump motor 24 by key, The water pump motor 24 is controlled by the fourth motor controller 25, the fourth motor controller 25 performs signal transmission with the electronic control unit, and the expansion pipe inlet 27.7 of the coolant radiator 27 is communicated with the expansion water tank 30;
- the first parallel water circuit flows through the sequence of the fourth centrifugal pump 26, the battery pack 36, the transformer rectifier module 37, the power distribution module 38, the coolant radiator 27 and the fourth centrifugal pump 26.
- the second parallel The order of water flow is the fourth centrifugal pump 26, the fourth motor controller 25 and the water pump motor 24, the third oil pump motor 16 and the third motor controller 17, the second oil pump motor 10 and the second motor controller 11, the third An oil pump motor 1, a first motor controller 2, a coolant radiator 27 and a fourth centrifugal pump 26; in particular, a rubber ring (not shown in the figure) is required to seal the waterway interface.
- the arrangement of the water paths between the power electronic components to be cooled is in the prior art, and will not be repeated in the present invention.
- the fourth centrifugal pump 26 provides power for the flow of the cooling liquid.
- a second flow meter 29 is installed in the cooling pipeline between the fourth centrifugal pump 26 and the battery pack 36 to detect the instantaneous flow of the fourth centrifugal pump 26 at all times.
- a first water temperature sensor 31 is installed on the second parallel water circuit to detect the power electronic
- a second water temperature sensor 32 is installed on the main road where the two parallel water circuits converge to detect the temperature of the cooling liquid after passing through all the electronic components to be cooled; it is close to the first parallel water circuit and the second parallel water circuit.
- a third one-way valve 35 is also installed on the second parallel water path to prevent the backflow of oil when the fourth centrifugal pump 26 is not working; the third water temperature sensor 33 is installed on the coolant radiator 27 and the fourth The pipeline between the centrifugal pumps 26 is fixedly installed on the casing of the fourth centrifugal pump 26 to detect the temperature of the cooling liquid after passing through the cooling liquid radiator 27; the electronic control unit is based on the first water temperature sensor 31, the second water temperature The water temperature information of the sensor 32 is used to determine the heat dissipation demand of the cooling system of the power electronic components, and the working effect of the coolant radiator 27 is detected according to the water temperature information measured by the third water temperature sensor 33, so as to control the fourth centrifugal force through the fourth motor controller 25.
- the instantaneous flow rate of the pump 26 adjusts the coolant flow rate to suit the cooling demand.
- a flow control valve 28 is installed at the inlet of the second parallel water circuit to adaptively control the flow of the second parallel water circuit according to the temperature of the coolant;
- the flow control valve 28 includes a heat-sensitive material 28.1, a valve body 28.2, a preload
- the flow control valve 28 is provided with a heat-sensitive material 28.1 on one side of the casing, the heat-sensitive material 28.1 and the valve body 28.2
- the front end of the valve body 28.2 is in contact with the front end, the front end of the valve body 28.2 is supported by the first guide block 28.5, the rear end of the valve body 28.2 is movably connected with the valve seat 28.4, the end of the valve body 28.2 is supported by the second guide block (not shown in the figure), and the rear end of the valve body 28.2 It is also fixed to the casing of the flow control valve 28
- the expansion water tank 30 has a water inlet and a water outlet, and the water inlet of the expansion water tank is connected with the expansion pipe inlet 27.7 of the coolant radiator 27 through a water pipe for introducing the water vapor bubbles in the coolant radiator 27 into the expansion water tank 30 , one can depressurize the cooling water circuit, and the other is to prevent the impeller of the fourth centrifugal pump 26 from cavitation due to water vapor bubbles;
- the water level information of the water tank 30, the water level control valve (not shown in the figure) automatically adjusts the volume of the cooling liquid participating in the cooling cycle, which plays a role in stabilizing the pressure of the cooling system of the power electronic components; the water outlet of the expansion tank 30 is connected to the cooling system of the power electronic components.
- a second one-way valve 34 is also provided on the pipeline connected to the road to prevent backflow of the cooling liquid when the expansion tank 30 is not in operation.
- the hydraulic oil from the hydraulic oil tank 9 is pressurized by the second centrifugal pump 18 and the third centrifugal pump 12, respectively, the hydraulic cylinder 15 and the bidirectional variable hydraulic motor 21 work, respectively.
- the pressure energy and kinetic energy are converted into the mechanical energy required for the movement of the bulldozer and the sprocket.
- the heat generated is absorbed by the hydraulic oil and flows through the two oil outlets of the first reversing valve 14 and the second reversing valve 14 respectively.
- the return flow enters the hydraulic oil tank 9; when the first oil temperature sensor 6 detects that the oil temperature of the first hydraulic subsystem or the second hydraulic subsystem exceeds the preset normal threshold 60 °, or the oil outlet temperature after the second centrifugal pump 12 does work exceeds the threshold value of 85° or the oil outlet temperature after the third centrifugal pump 18 does work exceeds the threshold value 70°, the hydraulic oil cooling system starts to work, and the first motor controller 2 controls the first An oil pump motor 1 drives the first centrifugal pump 3 to work, sucks the hydraulic oil to be cooled in the hydraulic oil tank 9 from the third oil outlet 9.7 of the oil tank, and pumps it to the oil radiator 5 for heat dissipation.
- the cooling liquid in the water pipe 27.6 exchanges heat to achieve the cooling effect of the cooling system with weak demand for power and electronic components and the cooling system with strong demand for hydraulic oil; the cooled hydraulic oil flows through the oil outlet 5.5 of the oil radiator and the first oil inlet of the fuel tank 9.1
- the return flow enters the hydraulic oil tank 9 to complete a working cycle; at the same time, the electronic control unit according to the hydraulic oil temperature signal detected by the first oil temperature sensor 6 and the second oil temperature sensor 7, and the internal storage hydraulic oil heat dissipation requirements
- the heat generated by the work of the power electronic components heats the cooling liquid.
- the electronic control unit according to the cooling liquid temperature signal detected by the first water temperature sensor 31 and the second water temperature sensor 32, and Comparing the internally stored cooling liquid heat dissipation demand map, to determine the heat dissipation demand of the cooling system of power electronic components at the current moment, when the temperature of the second parallel water circuit detected by the first water temperature sensor 31 is higher than 40° or the temperature of the second water temperature sensor 32 is higher than 40°.
- the cooling system for power electronic components starts to work, and at the same time, the fourth motor controller 25 adaptively adjusts the temperature of the fourth centrifugal pump 26 according to the heat dissipation demand electrical signal from the electronic control unit.
- the pump oil pressure adjusts the coolant flow in the pipeline adaptively.
- the coolant water circuit is divided into a first parallel water circuit and a second parallel water circuit, wherein the second parallel water circuit flows through the four motor controllers and enters The cooling liquid radiator 27, the first parallel water circuit flows through the fourth centrifugal pump 26, the battery pack 36, the transformer rectification module 37, and the power distribution module 38 into the cooling liquid radiator 27; Arrangement, when the coolant exchanges heat with the external water environment, it also assists the hydraulic oil to dissipate heat, improving the comprehensive heat dissipation capability of the intelligent underwater bulldozer; the cooled coolant flows through the coolant radiator oil outlet 27.5 and returns to the fourth centrifugal pump 26 , completes a working cycle; in this cooling process, the electronic control unit adaptively controls the flow rate of the second parallel water circuit according to the cooling liquid temperature of the second parallel water circuit, and completes the cooling adaptive coordination of the first parallel water circuit and the second parallel water circuit , in this process, the expansion tank 30 can introduce the water vapor bubbles in the cooling liquid radiator 27 into the expansion tank
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Abstract
Description
Claims (10)
- 一种智能水下推土机的冷却系统,其特征在于,包括液压油冷却系统和电力电子类部件冷却系统;所述液压油冷却系统包括液压油油箱(9)、动力单元、检测单元和热交换器;所述液压油油箱(9)通过第二离心泵(12)与液压缸(15)连通,所述液压油油箱(9)还通过第三离心泵(18)与双向变量液压马达(21)连通;所述动力单元包括第一油泵电机(1)、第一电机控制器(2)和第一离心泵(3),第一油泵电机(1)与第一电机控制器(2)连接,第一电机控制器(2)与电子控制单元进行信号传输,第一油泵电机(1)与第一离心泵(3)连接,第一离心泵(3)的进油口与液压油油箱(9)的第三出油口(9.7)连通,第一离心泵(3)的出油口与油散热器进油口(5.4)连通;所述检测单元包括第一油液温度传感器(6)和第二油液温度传感器(7),第一油液温度传感器(6)安装于第一出油口(9.5)和第二出油口(9.6)之间,第二油液温度传感器(7)安装于第三进油口(9.3)与油散热器(5)之间的油管中;所述热交换器包括油散热器(5)和冷却液散热器(27),油散热器(5)和冷却液散热器(27)封装为一个整体;油散热器(5)包括进油腔(5.1)、出油腔(5.2)、第一隔板(5.3)、油散热器进油口(5.4)、油散热器出油口(5.5)和若干散热油管(5.6),进油腔(5.1)和出油腔(5.2)通过第一隔板(5.3)隔开,进油腔(5.1)上方开设有油散热器进油口(5.4),进油腔(5.1)与散热油管(5.6)入口连通,出油腔(5.2)上方开设有油散热器出油口(5.5),出油腔(5.2)与散热油管(5.6)出口连通;冷却液散热器(27)包括进水腔(27.1)、出水腔(27.2)、第二隔板(27.3)、冷却液散热器进水口(27.4)、冷却液散热器出口(27.5)、若干散热水管(27.6)和膨胀管入口(27.7),进水腔(27.1)和出水腔(27.2)通过第二隔板(27.3)隔开,进水腔(27.1)上方开设有冷却液散热器进水口(27.4),进水腔(27.1)与散热水管(27.6)入口连通,出水腔(27.2)上方开设有冷却液散热器出口(27.5),出水腔(27.2)与散热水管(27.6)出口连通,进水腔(27.1)上方开设有膨胀管入口(27.7),膨胀管入口(27.7)与膨胀水箱(30)的进水口连通;散热油管(5.6)和散热水管(27.6)交错布置,若干散热油管(5.6)连通,若干散热水管(27.6);相邻的散热油管(5.6)和散热水管(27.6)由散热器芯(39.2)隔开;所述电力电子类部件冷却系统包括水泵电机(24)、第四电机控制器(25)、第四离心泵(26)、第二流量计(29)、膨胀水箱(30)、第一水温传感器(31)、第二水温传感器(32)和第三水温传感器(33);所述第四离心泵(26)的进水口与冷却液散热器出口(27.5)连通,且管道上设有第三水温传感器(33),第四离心泵(26)与水泵电机(24)连接,水泵电机(24)由第四电机控 制器(25)控制,第四电机控制器(25)与电子控制单元进行信号传输;所述电力电子类部件冷却系统分成两条并行水路,第一并行水路流经顺序依次为第四离心泵(26)、电池包(36)、变压整流模块(37)、电源功率分配模块(38)、冷却液散热器(27)和第四离心泵(26),第二并行水路流经顺序依次为第四离心泵(26)、第四电机控制器(25)和水泵电机(24)、第三油泵电机(16)和第三电机控制器(17)、第二油泵电机(10)和第二电机控制器(11)、第一油泵电机(1)和第一电机控制器(2)、冷却液散热器(27)以及第四离心泵(26);靠近第一并行水路和第二并行水路的汇聚处,第二并行水路上安装有第一水温传感器(31),两并行水路汇聚后的干路上安装有第二水温传感器(32);所述第四离心泵(26)与电池包(36)之间的管路中安装有第二流量计(29)。
- 根据权利要求1所述的智能水下推土机的冷却系统,其特征在于,所述散热油管(5.6)和散热水管(27.6)的截面形状均为矩形。
- 根据权利要求1所述的智能水下推土机的冷却系统,其特征在于,连通的若干散热油管(5.6)以及连通的若干散热水管(27.6),均呈“弓”字形。
- 根据权利要求1所述的智能水下推土机的冷却系统,其特征在于,所述油散热器(5)和冷却液散热器(27)通过热交换器附件(39)的壳体(39.1)封装为一个整体,所述壳体(39.1)通过压板(39.3)和螺钉(39.4)固定安装在加强外壁上。
- 根据权利要求1所述的智能水下推土机的冷却系统,其特征在于,所述油散热器出油口(5.5)与第三进油口(9.3)连通的管路上安装有第一单向阀(8)。
- 根据权利要求1所述的智能水下推土机的冷却系统,其特征在于,所述检测单元还包括第三油液温度传感器(13)、第四油液温度传感器(19)和第一流量计(4),所述第三油液温度传感器(13)安装于第二离心泵(12)出油口处,所述第四油液温度传感器(19)安装于第三离心泵(18)出油口处,所述第一流量计(4)安装于第一离心泵(3)的出油口处。
- 根据权利要求1所述的智能水下推土机的冷却系统,其特征在于,所述第二并行水路的入口处安装有流量控制阀(28),所述流量控制阀(28)包括热敏材料(28.1)、阀体(28.2)、预紧弹簧(28.3)、阀座(28.4)、第一导向块(28.5)、流量控制阀进水口(28.6)和流量控制阀出水口(28.7),流量控制阀(28)壳体一侧设有热敏材料(28.1),热敏材料(28.1)与阀体(28.2)前端接触,阀体(28.2)前端由第一导向块(28.5)支撑,阀体(28.2)后端与阀座(28.4)活动连接,阀体(28.2)末端由第二导向块支撑,阀体(28.2)后端还通过预紧弹簧(28.3)与流量控制阀(28)壳体固定。
- 根据权利要求1所述的智能水下推土机的冷却系统,其特征在于,所述第二并行水路 上还安装有第三单向阀(35)。
- 根据权利要求1所述的智能水下推土机的冷却系统,其特征在于,所述膨胀水箱(30)出水口与电力电子类部件冷却系统干路连接的管道上还设有第二单向阀(34)。
- 一种智能水下推土机,其特征在于,包括如权利要求1-9所述的冷却系统。
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CN117489672A (zh) * | 2023-12-07 | 2024-02-02 | 临沂上合星宇液压有限公司 | 一种摩擦焊接液压系统 |
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CN117406842A (zh) * | 2023-11-04 | 2024-01-16 | 华南农业大学 | 一种基于vr技术的场地生态因子数据识别散热系统 |
CN117489672A (zh) * | 2023-12-07 | 2024-02-02 | 临沂上合星宇液压有限公司 | 一种摩擦焊接液压系统 |
CN117489672B (zh) * | 2023-12-07 | 2024-05-24 | 临沂上合星宇液压有限公司 | 一种摩擦焊接液压系统 |
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CN112431243B (zh) | 2021-10-12 |
CN112431243A (zh) | 2021-03-02 |
GB2603428B (en) | 2022-12-28 |
GB2603428A (en) | 2022-08-03 |
GB202205912D0 (en) | 2022-06-08 |
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