Robot parallel liquid cooling circulation system based on magnetic refrigeration

Abstract

The invention discloses a robot parallel liquid cooling circulation system based on magnetic refrigeration. The robot parallel liquid cooling circulation system comprises a plurality of liquid cooling cavities, cold liquid, a magnetic refrigeration device and an air cooling device. The liquid cooling cavities are arranged at the positions of heat sources on the robot respectively and used for cooling the positions of the heat sources, and the liquid cooling cavities are arranged in parallel; the cold liquid is filled in the liquid cooling cavity channel; the magnetic refrigeration device is connected and conducted with the liquid cooling cavity channel and at least cools the cold liquid; and the air cooling device is connected and conducted with the magnetic refrigeration device to discharge heat for the magnetic refrigeration device. According to the liquid cooling circulation system, by additionally arranging the magnetic refrigeration device and the air cooling device, more efficient and lower-temperature cold liquid is provided for the robot, the lower-temperature refrigeration requirement of the robot is met, and normal work of the robot is ensured.

Description

Technical Field

[0001] The technical solution of the present invention belongs to the field of robot refrigeration technology, and more specifically relates to a robot parallel liquid cooling circulation system based on magnetic refrigeration. Background Art

[0002] With the development and maturity of automation and intelligent technologies, humanoid robots, as a key development direction in artificial intelligence and robotics, are gradually moving from the laboratory to practical applications. Compared to conventional robots, humanoid robots have more compact structures and more joints. Efficient heat dissipation from their joints is a key requirement for ensuring the normal and efficient operation of humanoid robots.

[0003] In related technologies, humanoid robots mostly dissipate heat naturally or through air cooling. Natural cooling has the disadvantages of slow heat dissipation and low heat dissipation efficiency. Air cooling is limited by space, and its heat dissipation capacity depends on the heat flux of the contact surface and the power of the fan. Therefore, it cannot significantly reduce the thermal resistance, temperature rise, and copper loss of the motor, resulting in an inability to increase current, torque, and power. Even if the heat flux of the contact surface and the power of the fan are increased, the weight will increase significantly, and the energy density E = P / m is low, which does not meet the high energy density output requirements of humanoid robot joint motors.

[0004] Of course, in some optical networking technologies, liquid cooling may also be used for humanoid robot heat dissipation, but the heat dissipation structure of these liquid cooling methods is simple. Conventional liquid cooling is used to dissipate heat from the joints of humanoid robots, resulting in low heat dissipation efficiency and even failure to reduce the temperature of the heat source to room temperature. Summary of the Invention

[0005] The purpose of the present invention is to provide a robot parallel liquid cooling circulation system based on magnetic refrigeration. By adding a magnetic refrigeration device and an air cooling device, a more efficient and lower temperature cold liquid is provided for the robot, meeting the robot's lower temperature refrigeration requirements and ensuring the normal operation of the robot.

[0006] The technical solution of the present invention is a robot parallel liquid cooling circulation system based on magnetic refrigeration, comprising:

[0007] A plurality of liquid cooling channels, each of which is respectively provided at a heat source position on the robot for cooling each heat source position, and each of the liquid cooling channels is provided in parallel;

[0008] Cooling liquid, the cooling liquid is filled in the liquid cooling cavity;

[0009] A magnetic refrigeration device is connected to and communicates with the liquid cooling cavity and is configured to at least cool the cooling liquid;

[0010] an air cooling device, the air cooling device being connected to and conducting with the magnetic refrigeration device to remove heat from the magnetic refrigeration device;

[0011] The magnetic refrigeration device includes a magnetocaloric material and a magnetic field generating mechanism. The magnetic field generating mechanism provides a magnetic field for the magnetocaloric material, and the magnetocaloric material is magnetized. The cold liquid passes through the magnetized magnetocaloric material and takes away the heat from the magnetized magnetocaloric material to the air cooling device. The demagnetized magnetocaloric material cools the cold liquid passing through the air cooling device, and the cold liquid cooled by the demagnetized magnetocaloric material enters each liquid cooling channel.

[0012] As an optional embodiment, the magnetic field generating mechanism includes a permanent magnet and a transposition component, and the transposition component is connected to the permanent magnet and drives the permanent magnet to approach or move away from the magnetocaloric material.

[0013] As an optional embodiment, the transposition assembly includes a motor, a rotating shaft and a mounting seat, the motor is fixedly connected to the rotating shaft, the rotating shaft is fixedly connected to the mounting seat, and the permanent magnet is mounted on the mounting seat.

[0014] As an optional embodiment, the robot parallel liquid cooling circulation system based on magnetic refrigeration also includes a cold storage chamber, which is arranged between the magnetic refrigeration device and the liquid cooling cavity. The cold liquid enters the cold storage chamber after passing through the demagnetized magnetocaloric material, and the cold liquid passing through the cold storage chamber enters the liquid cooling cavity.

[0015] As an optional embodiment, the robot parallel liquid cooling circulation system based on magnetic refrigeration also includes a preheating chamber, which is arranged between the magnetic refrigeration device and the liquid cooling cavity. The cold liquid passing through the liquid cooling cavity enters the preheating chamber, and the cold liquid passing through the preheating chamber passes through the magnetized magnetocaloric material.

[0016] As an optional embodiment, the robot parallel liquid cooling circulation system based on magnetic refrigeration further includes a pre-cooling chamber, which is arranged between the magnetic refrigeration device and the air cooling device. The cold liquid passing through the air cooling device enters the pre-cooling chamber, and the cold liquid passing through the pre-cooling chamber passes through the demagnetized magnetocaloric material.

[0017] As an optional embodiment, the air cooling device includes a cooling chamber and a fan for cooling the cooling chamber. The cooling chamber is connected and conducted with the magnetic refrigeration device and the pre-cooling chamber. The cold liquid enters the cooling chamber after passing through the magnetized magnetocaloric material. The cold liquid passing through the cooling chamber passes through the demagnetized magnetocaloric material.

[0018] As an optional embodiment, the air cooling device further includes a semiconductor heat sink and heat dissipation fins, the semiconductor heat sink is attached to the cooling chamber, the heat dissipation fins are arranged on the semiconductor heat sink, and the fan is arranged outside the heat dissipation fins.

[0019] As an optional embodiment, the liquid cooling channel is connected to a liquid inlet pump and a liquid discharge pump, the outlet of the liquid inlet pump is connected to the inlet of the liquid cooling channel, and the inlet of the liquid discharge pump is connected to the liquid outlet of the liquid cooling channel, and the liquid inlet pumps are arranged in parallel.

[0020] A robot comprises the aforementioned robot parallel liquid cooling circulation system based on magnetic refrigeration.

[0021] The beneficial effects of the magnetic refrigeration-based robot parallel liquid cooling circulation system of the technical solution of the present invention are:

[0022] 1. The liquid cooling channels are arranged in parallel, with high cooling efficiency and precise cooling temperature control.

[0023] 2. By combining the magnetic refrigeration device and the air cooling device, a lower temperature cold liquid is obtained, providing the robot with an efficient liquid cooling circulation system, ensuring the robot's cooling efficiency, and ensuring that the robot can work efficiently and normally for a long time in a high temperature environment.

[0024] The beneficial effect of a robot of the technical solution of the present invention is that: the robot includes the aforementioned robot parallel liquid cooling circulation system based on magnetic refrigeration, so that when the robot is working, each heat source position can be cooled down in a timely and efficient manner, ensuring that the robot can work normally for a long time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a schematic diagram of a robot parallel liquid cooling circulation system based on magnetic refrigeration according to the technical solution of the present invention.

[0027] Figure 2 This is a schematic diagram of the principle of a robot parallel liquid cooling circulation system based on magnetic refrigeration according to the technical solution of the present invention.

[0028] Explanation of the main reference numerals: 10, robot arm joint motor; 20, robot head motor; 30, robot battery; 40, robot leg joint motor; 50, liquid inlet pump; 60, liquid discharge pump;

[0029] 100. Location of each heat source on the robot; 200. Liquid cooling circulation system;

[0030] 1. Magnetic refrigeration device; 2. Air cooling device; 21. Cooling chamber; 22. Semiconductor heat sink; 23. Heat dissipation fins; 24. Fan; 3. Cold storage chamber; 4. Preheating chamber; 5. Precooling chamber; 6. First magnetic temperature control chamber; 7. Second magnetic temperature control chamber; 67. Magnetocaloric material; 8. Magnetic field generating mechanism; 81. Permanent magnet; 82. Motor; 83. Mounting base; 84. Rotating axis;

[0031] 01, liquid pump one; 02, liquid pump two; 03, liquid pump three; 04, liquid pump four; 05, liquid pump five; 06, liquid pump six; 07, liquid pump seven; 08, liquid pump eight; 09, liquid pump nine; 010, liquid pump ten. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0033] In the present invention, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe the present invention and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0034] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0035] Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0036] Furthermore, the terms "first," "second," etc., are primarily used to distinguish between different devices, elements, or components (which may or may not be of the same type and configuration), and are not intended to indicate or imply the relative importance or quantity of the devices, elements, or components indicated. Unless otherwise specified, "plurality" means two or more.

[0037] The technical solution of the present invention will be further described below with reference to the embodiments and drawings.

[0038] See Figure 1 A robot parallel liquid cooling circulation system based on magnetic refrigeration, the liquid cooling circulation system 200 includes a magnetic refrigeration device 1, an air cooling device 2, cold liquid and a plurality of liquid cooling channels.

[0039] See Figure 1 Each of the liquid-cooling channels is disposed at a respective heat source location on the robot, for cooling the respective heat source location, and the liquid-cooling channels are arranged in parallel. The cooling liquid is filled within the liquid-cooling channels. A magnetic refrigeration device 1 is connected and electrically conductive to the liquid-cooling channels, and at least cools the cooling liquid. The air-cooling device 2 is connected and electrically conductive to the magnetic refrigeration device 1, and removes heat from the magnetic refrigeration device 1.

[0040] The magnetic refrigeration device 1 includes a magnetocaloric material 67 and a magnetic field generating mechanism 8. The magnetic field generating mechanism 8 provides a magnetic field for the magnetocaloric material 67, magnetizing the material. The cooling liquid passes through the magnetized magnetocaloric material, removing heat from the magnetocaloric material and transporting it to the air cooling device 2. The demagnetized magnetocaloric material cools the cooling liquid passing through the air cooling device 2. The cooling liquid, cooled by the demagnetized magnetocaloric material, then enters the various liquid cooling channels.

[0041] In the technical solution of the present invention, by arranging the liquid cooling channels on the robot in parallel, the cooling efficiency is high and the cooling temperature is precisely controlled. By arranging the liquid cooling channels on the robot in parallel, it is possible to independently control whether the liquid cooling channels are cooled and how long the cooling time is, and even the flow rate and flow of the cooling liquid can be controlled, resulting in high cooling efficiency and precise cooling temperature control.

[0042] As an optional embodiment, the various heat source locations 100 on the robot are mainly locations where the robot moves frequently and has more friction during work. These locations generate more heat and need to be cooled in time to avoid overheating affecting the structural function. The various heat source locations 100 on the robot mainly include the robot arm joint motor 10, the robot head motor 20, the robot battery 30 and the robot leg joint motor 40, etc., and also include the robot dexterous hand motor, robot driver, robot controller and robot camera, etc. The so-called robot arm joint motor 10, robot head motor 20 and robot leg joint motor 40 are the motors that drive the robot's arms, head and legs to move. The robot battery 30 provides electrical energy for the robot to work. The robot dexterous hand motor is the motor that drives the robot to work. When the robot is working, it is in a discharge state for a long time, has a long working time, and generates a lot of heat.

[0043] In this solution, the liquid cooling channels located at various heat source locations on the robot include, but are not limited to, the liquid cooling channels located within the robot arm joint motor, the robot head motor 20, the robot battery 30, the robot leg joint motor 40, the robot dexterous hand motor, the robot driver, the robot controller, and the robot camera. Because the liquid cooling channels are connected in parallel, each of the liquid cooling channels is connected to a liquid inlet pump 50 and a liquid discharge pump 60. The liquid inlet pumps 50 are connected in parallel, and each liquid inlet pump 50 can be independently controlled to start and stop, and its flow rate can also be independently controlled. The liquid discharge pumps 60 are connected in parallel, and each of the liquid discharge pumps 60 can be independently controlled to start and stop, and its flow rate can also be independently controlled, thereby achieving on-demand and precise cooling of various heat source locations on the robot.

[0044] In this technical solution, by combining the magnetic refrigeration device 1 and the air cooling device 2, a lower temperature cold liquid is obtained, providing an efficient liquid cooling circulation system for the robot, ensuring the cooling efficiency of the robot, and ensuring that the robot can work efficiently and normally for a long time in a high temperature environment.

[0045] Based on the principle of magnetic refrigeration: when the magnetocaloric material 67 is magnetized, its magnetic entropy decreases, and the magnetocaloric material 67 releases heat to the outside. When the magnetocaloric material 67 is demagnetized, its magnetic entropy increases, and the magnetocaloric material 67 absorbs heat from the external environment.

[0046] In this solution, the cold liquid that cools the robot through the liquid-cooling channel then passes through the magnetocaloric material 67, which has been magnetized by the magnetic field generating mechanism 8. At this point, the magnetized magnetocaloric material 67 releases heat into the cold liquid, causing the cold liquid to continue to heat up. The cold liquid then enters the air-cooling device 2, which cools the cold liquid down, releasing heat from the magnetocaloric material 67 and preparing for demagnetization and cooling of the magnetocaloric material 67. The cold liquid that has passed through the air-cooling device 2 then enters the demagnetized magnetocaloric material 67, which absorbs heat from the cold liquid, cooling the cold liquid and creating a low-temperature cold liquid. The cold liquid, cooled by the demagnetized magnetocaloric material 67, can then re-enter the liquid-cooling channel to cool the robot.

[0047] In this technical solution, the combination of magnetic refrigeration device 1 and air cooling device 2 produces a lower-temperature cooling liquid, improving the cooling effect on the robot. Furthermore, the air cooling device 2 and the circulating cooling liquid remove and dissipate the heat from the magnetocaloric material 67, reducing the size of magnetic refrigeration device 1, lowering its cost, and ultimately reducing the manufacturing cost of the entire liquid cooling circulation system.

[0048] To facilitate the understanding of the working principle and process of magnetic refrigeration device and the cooling process of cold liquid, refer to Figure 2 , an embodiment of a magnetic refrigeration device is provided. In this embodiment, the magnetic refrigeration device 1 further includes a first magnetic temperature control chamber 6 and a second magnetic temperature control chamber 7. Magnetocaloric material 67 is provided in both the first magnetic temperature control chamber 6 and the second magnetic temperature control chamber 7, and the magnetic field generating mechanism 8 intermittently magnetizes the magnetocaloric material 67 in the first magnetic temperature control chamber 6 and the magnetocaloric material 67 in the second magnetic temperature control chamber 7 in turn. The magnetized magnetocaloric material 67 heats up the cold liquid, and the demagnetized magnetocaloric material 67 cools down the cold liquid. The cold liquid passing through the liquid cooling cavity passes through the magnetized magnetocaloric material 67 and the air cooling device 2 in turn. The cold liquid passing through the air cooling device 2 is cooled by the demagnetized magnetocaloric material 67, and the cold liquid passing through the demagnetized magnetocaloric material 67 enters the liquid cooling cavity to cool down the robot.

[0049] In the above embodiment, the magnetocaloric material 67 in the first magnetic temperature control chamber 6 and the second magnetic temperature control chamber 7 is magnetized and demagnetized in sequence, so that the first magnetic temperature control chamber 6 and the second magnetic temperature control chamber 7 can work simultaneously, and the cold liquid can circulate. While part of the cold liquid takes out the heat in the magnetocaloric material 67, part of the cold liquid is cooled by the demagnetized magnetocaloric material 67, thereby improving the cold liquid circulation efficiency, so that the cold liquid can be cooled continuously, and the cold liquid is obtained continuously. The obtained cold liquid temperature is lower, thereby ensuring the cooling efficiency and cooling temperature of the robot.

[0050] As an optional embodiment, the magnetic field generating mechanism 8 includes a permanent magnet 81 and a transposition component, and the transposition component is connected to the permanent magnet 81 and drives the permanent magnet 81 to approach or move away from the magnetocaloric material 67.

[0051] The permanent magnet 81 approaches the magnetocaloric material 67 and provides a magnetic field to the magnetocaloric material 67, and the magnetocaloric material 67 is magnetized. The permanent magnet 81 moves away from the magnetocaloric material 67, and the magnetocaloric material 67 loses the effect of the magnetic field and is demagnetized and demagnetized by the magnetocaloric material 67.

[0052] In conjunction with the above embodiment, the transposition assembly is connected to the permanent magnet 81 and drives the permanent magnet 81 toward or away from the magnetocaloric material 67, so that the magnetocaloric material 67 in the first magnetic temperature control chamber 6 and the magnetocaloric material 67 in the second magnetic temperature control chamber 7 can be intermittently magnetized and demagnetized, thereby intermittently achieving heat removal and lowering the temperature of the cold liquid. That is, if the transposition assembly drives the permanent magnet 81 toward the first magnetic temperature control chamber 6, the magnetocaloric material 67 in the first magnetic temperature control chamber 6 is magnetized, and the magnetocaloric material 67 in the second magnetic temperature control chamber 7 is in a demagnetized state. At this time, the cold liquid passes through the first magnetic temperature control chamber 6, removing heat from the magnetocaloric material 67 in the first magnetic temperature control chamber 6. At the same time, some of the cold liquid enters the second magnetic temperature control chamber 7 according to the circulation, and the heat is absorbed by the magnetocaloric material 67 in the second magnetic temperature control chamber 7. The cold liquid in the second magnetic temperature control chamber 7 is cooled, and the desired low-temperature cold liquid is obtained. Conversely, the transposition component drives the permanent magnet 81 to approach the second magnetic temperature control cavity 7, the magnetocaloric material 67 in the second magnetic temperature control cavity 7 is magnetized, and the magnetocaloric material 67 in the first magnetic temperature control cavity 6 is in a demagnetized state. At this time, the cold liquid passes through the second magnetic temperature control cavity 7, and takes out the heat in the magnetocaloric material 67 in the second magnetic temperature control cavity 7. At the same time, part of the cold liquid enters the first magnetic temperature control cavity 6 according to the circulation, and the heat is absorbed by the magnetocaloric material 67 in the first magnetic temperature control cavity 6. The cold liquid passing through the first magnetic temperature control cavity 6 is cooled to obtain the required low-temperature cold liquid.

[0053] In the present technical solution, the transposition component is connected to the permanent magnet 81 and drives the permanent magnet 81 to approach or move away from the first magnetic temperature control cavity 6 or the second magnetic temperature control cavity 7, so that the first magnetic temperature control cavity 6 and the second magnetic temperature control cavity 7 can work synchronously, and the heat dissipation and cooling of the magnetic refrigeration device 1 can be carried out simultaneously, thereby improving the working efficiency of the magnetic refrigeration device 1 and reducing the volume of the magnetic refrigeration device 1.

[0054] In some embodiments, the number of magnetic temperature control cavities may be more than two, and their working principles and processes are consistent with or similar to those of the above-mentioned magnetic refrigeration device 1 including the first magnetic temperature control cavity 6 and the second magnetic temperature control cavity 7 .

[0055] As an optional embodiment, a single permanent magnet 81 is provided, and the transposition assembly drives the permanent magnet 81 to move between the first magnetic temperature control cavity 6 and the second magnetic temperature control cavity 7, sequentially and intermittently magnetizing the magnetocaloric material 67 in the first magnetic temperature control cavity 6 and the magnetocaloric material 67 in the second magnetic temperature control cavity 7. A single permanent magnet 81 is provided, and used in conjunction with the transposition assembly to magnetize the magnetocaloric material 67 in both the first and second magnetic temperature control cavities 6 and 7, saving costs while avoiding magnetic field interference caused by excessive magnets, ensuring that the magnetocaloric material 67 is completely demagnetized during demagnetization, and achieving a better cooling effect.

[0056] Of course, in some embodiments, there can be multiple permanent magnets, and the number of permanent magnets can be adapted to the number of magnetic temperature control cavities, respectively providing a magnetic field for the magnetocaloric material in each magnetic temperature control cavity. Of course, in this embodiment, the permanent magnets are still driven by the transposition assembly, which drives the permanent magnets away from the magnetocaloric material to achieve demagnetization of the magnetocaloric material.

[0057] As an optional implementation, see Figure 2 The transposition assembly includes a motor 82, a rotating shaft 84, and a mounting base 83. The motor 82 is fixedly connected to the rotating shaft 84, which is in turn fixedly connected to the mounting base 83. The permanent magnet 81 is mounted on the mounting base 83. When the motor 82 is in operation, it drives the rotating shaft 84 to rotate. The rotating shaft 84 drives the permanent magnet 81 mounted on the mounting base 83 to move between the first magnetic temperature control cavity 6 and the second magnetic temperature control cavity 7, respectively, to magnetize the magnetocaloric material 67 in the first magnetic temperature control cavity 6 and the second magnetic temperature control cavity 7. The transposition assembly has a simple structure, is easy and quick to control, and can accurately control the position of the permanent magnet 81.

[0058] As an optional embodiment, the robot parallel liquid cooling circulation system based on magnetic refrigeration further includes a cold storage chamber 3, which is arranged between the magnetic refrigeration device 1 and the liquid cooling channel. The cold liquid enters the cold storage chamber 3 after passing through the demagnetized magnetocaloric material 67. The cold liquid passing through the cold storage chamber 3 enters the liquid cooling channel. The cold liquid in the cold storage chamber 3 is mainly used to store cold liquid. The cold liquid in the cold storage chamber 3 directly enters the various heat source locations 100 on the robot to cool each heat source location 100 on the robot.

[0059] See Figure 2The low-temperature cold liquid in the cold storage chamber 3 is delivered to various heat source locations 100 on the robot via a liquid pump 101, such as the liquid cooling channels in the robot arm joint motor 10, and / or the liquid cooling channels in the robot head motor 20, and / or the liquid cooling channels in the robot battery 30, and / or the liquid cooling channels in the robot leg joint motor 40, and / or the liquid cooling channels in the robot dexterous hand joint motor, and / or the liquid cooling channels in the robot driver, and / or the liquid cooling channels in the robot controller, and / or the liquid cooling channels in the robot camera, etc. The first magnetic temperature control chamber 6 and the second magnetic temperature control chamber 7 are connected and communicated with the cold storage chamber 3 via a liquid pump 10010 and a liquid pump 606, respectively. Specifically, the outlet of the liquid pump 101 is connected and communicated with the inlet of the liquid inlet pump 50 at each heat source location 100 on the robot, thereby delivering the cold liquid to the liquid cooling channels at each heat source location 100 on the robot. Liquid pump 10010 and liquid pump 606 decibels transport the cold liquid of the magnetocaloric material 67 demagnetized in the first magnetic conditioning chamber and the second magnetic conditioning chamber to the cold storage chamber 3.

[0060] A cold storage chamber 3 is provided for storing cold liquid, which, on the one hand, enables temporary storage of the cold liquid and ensures uniform temperature of the cold liquid. The provision of a cold storage chamber 3 for temporary storage of cold liquid enables the robot parallel liquid cooling circulation system based on magnetic refrigeration in this solution to adjust the amount of cold liquid required by each heat source location 100 on the robot and the flow rate of the cold liquid according to cooling needs, ensuring on-demand cooling and precise temperature control of each heat source location 100 on the robot. Furthermore, the provision of a cold storage chamber 3 increases the amount of cold liquid, ensuring that each heat source location 100 on the robot can access the maximum amount of cold liquid, thereby improving cooling efficiency.

[0061] As an optional embodiment, the robot parallel liquid cooling circulation system based on magnetic refrigeration further includes a preheating chamber 4, which is arranged between the magnetic refrigeration device 1 and the liquid cooling channel. The cold liquid passing through the liquid cooling channel enters the preheating chamber 4, and the cold liquid passing through the preheating chamber 4 passes through the magnetized magnetocaloric material 67. Figure 2 The preheating chamber 4 is connected to the first magnetic temperature control chamber 6 and the second magnetic temperature control chamber 7 through liquid pump three 03 and liquid pump seven 07 respectively, and the cold liquid in the preheating chamber 4 is transported to the magnetized magnetocaloric material 67 in the first magnetic temperature control chamber and the second magnetic temperature control chamber respectively, so as to discharge the heat in the magnetocaloric material 67.

[0062] A preheating chamber 4 is provided to receive the cold liquid passing through the liquid cooling cavity and temporarily store the cold liquid. On the one hand, the cold liquid is received and temporarily stored to adjust the temperature of the cold liquid. On the other hand, the amount of cold liquid is increased to ensure that each heat source position 100 on the robot is fully cooled.

[0063] As an optional embodiment, the robot parallel liquid cooling circulation system based on magnetic refrigeration further includes a pre-cooling chamber 5, which is arranged between the magnetic refrigeration device 1 and the air cooling device 2. The cold liquid passes through the air cooling device 2 and enters the pre-cooling chamber 5. The cold liquid passes through the pre-cooling chamber 5 and passes through the demagnetized magnetocaloric material 67.

[0064] See Figure 2 The pre-cooling chamber 5 is connected to the first magnetic temperature control chamber 6 and the second magnetic temperature control chamber 7 through the liquid pump 909 and the liquid pump 505 respectively, and the cold liquid in the pre-cooling chamber 5 is transported to the demagnetized magnetocaloric material 67 in the first magnetic temperature control chamber 6 and the second magnetic temperature control chamber 7 respectively, so as to further cool the cold liquid and obtain the required low-temperature cold liquid.

[0065] A pre-cooling chamber 5 is provided to, on the one hand, receive and temporarily store the cold liquid discharged from the air cooling device 2, and to adjust and balance the temperature of the cold liquid discharged from the air cooling device 2; on the other hand, it allows the cold liquid to slowly enter the demagnetized magnetocaloric material 67, ensuring that the demagnetized magnetocaloric material 67 fully absorbs the heat in the cold liquid to obtain a lower temperature cold liquid.

[0066] As an optional embodiment, the air cooling device 2 includes a cooling chamber 21 and a fan 24 for cooling the cooling chamber 21. The cooling chamber 21 is connected and conducted with the first magnetic conditioning chamber, the second magnetic conditioning chamber and the pre-cooling chamber 5. The cold liquid enters the cooling chamber 21 after passing through the magnetized magnetocaloric material 67. The cold liquid passing through the cooling chamber 21 passes through the demagnetized magnetocaloric material 67.

[0067] See Figure 2 The cooling chamber 21 is connected to the first magnetic regulating chamber and the second magnetic regulating chamber of the magnetic refrigeration device through liquid pump 204 and liquid pump 208 respectively. The cold liquid passing through the magnetocaloric material 67 magnetized in the first magnetic regulating chamber and the second magnetic regulating chamber enters the cooling chamber 21 through liquid pump 204 and liquid pump 208 respectively.

[0068] Fan 24 operates to cool cooling chamber 21, removing the surface temperature of cooling chamber 21, allowing cooling chamber 21 to exchange heat with the cooling liquid within, thereby cooling the cooling liquid within cooling chamber 21 and dissipating the heat image brought by the magnetized magnetocaloric material 67 in the cooling liquid within cooling chamber 21, thereby dissipating heat from magnetic refrigeration device 1. In this technical solution, air cooling device 2 is provided to assist in cooling magnetic refrigeration device 1, thereby improving the efficiency of magnetic refrigeration device 1 in reducing the temperature of the cooling liquid.

[0069] As an optional embodiment, the air cooling device 2 further includes a semiconductor heat sink 22 and heat dissipation fins 23. The semiconductor heat sink 22 is attached to the cooling chamber 21, the heat dissipation fins 23 are arranged on the semiconductor heat sink 22, and the fan 24 is arranged outside the heat dissipation fins 23. The semiconductor heat sink 22 is generally made of a highly thermally conductive material (such as copper, aluminum, etc.), which has excellent thermal conductivity and can quickly transfer heat generated in the cooling chamber 21 to the heat dissipation fins 23, thereby effectively reducing the temperature of the cooling chamber 21 and further reducing the temperature of the coolant in the cooling chamber 21, thereby achieving efficient heat removal from the magnetized magnetocaloric material 67.

[0070] As an optional embodiment, the liquid cooling channel is connected to a liquid inlet pump 50 and a liquid discharge pump 60, the outlet of the liquid inlet pump 50 is connected to the inlet of the liquid cooling channel, and the inlet of the liquid discharge pump 60 is connected to the liquid outlet of the liquid cooling channel. The liquid inlet pumps 50 and the liquid discharge pumps 60 are arranged in parallel, which facilitates independent control of each liquid inlet pump 50 and each liquid discharge pump 60, thereby achieving precise control of each heat source position 100 on the robot. Figure 1 The cold liquid is transported to the liquid cooling channels of each heat source position 100 on the robot through the liquid inlet pump 50. The cold liquid in the liquid cooling channels of each heat source position 100 on the robot is discharged through the liquid discharge pump 60 and returned to the liquid cooling circulation system 200.

[0071] See Figure 2 , the working process of a robot parallel liquid cooling circulation system based on magnetic refrigeration according to the technical solution of the present invention is introduced below.

[0072] Liquid pump 1 (01) transports the cold liquid from the cold storage chamber 3 to the liquid cooling channels at each heat source location 100 on the robot, cooling each heat source location 100. Liquid pump 2 (02) operates the cold liquid in the liquid cooling channels at each heat source location 100 on the robot and then enters the preheating chamber 4. Liquid pump 3 (03) then operates the cold liquid in the preheating chamber 4 and enters the first magnetic temperature control chamber 6. At this point, the permanent magnet 81 approaches the first magnetic temperature control chamber 6, magnetizing the magnetocaloric material 67 therein and releasing heat to the magnetocaloric material 67. Liquid pump 4 (04) transports the cold liquid, which has absorbed heat from the magnetocaloric material 67 within the first magnetic temperature control chamber 6, into the cooling chamber 21 of the air cooling device 2. There, it is cooled by air, resulting in a lower temperature of the cold liquid. The cold liquid that has passed through the cooling chamber 21 enters the precooling chamber 5 and is temporarily stored there. The cold liquid in the pre-cooling chamber 5 enters the second magnetic temperature control chamber 7 through the liquid pump 505. At this time, the permanent magnet 81 enters the second magnetic temperature control chamber 7, and the magnetocaloric material 67 in the second magnetic temperature control chamber 7 is demagnetized, absorbing the heat from the cold liquid entering the second magnetic temperature control chamber 7 to obtain the second cold liquid. Then, the cold liquid enters the cold storage chamber 3 through the liquid pump 606. The cold liquid in the cold storage chamber 3 is again transported to the liquid cooling channels of each heat source position 100 on the robot through liquid pump 1 01, and then the cold liquid passing through the liquid cooling channel enters the preheating chamber 4 through liquid pump 2 02, and then the transposition component drives the permanent magnet 81 to transpose, and the permanent magnet 81 moves close to the second magnetic temperature control chamber 7. At this time, the magnetocaloric material 67 in the second magnetic temperature control chamber 7 is magnetized, and the magnetocaloric material 67 in the first magnetic temperature control chamber 6 is demagnetized. At this time, the cold liquid in the preheating chamber 4 enters the second magnetic temperature control chamber 7 through liquid pump 7 07, and then passes through liquid pump 8 08, cooling chamber 21, precooling chamber 5, liquid pump 9 09, first magnetic temperature control chamber 6, liquid pump 10 010 in sequence, and enters the cold storage chamber 3 again, completing a refrigeration cycle.

[0073] In this solution, in the magnetic refrigeration device 1 , magnetization and demagnetization of the magnetocaloric material 67 are performed synchronously, and the magnetic refrigeration device 1 discharges heat and supplies cooling liquid synchronously, resulting in a good magnetic refrigeration effect and high working efficiency of the magnetic refrigeration device 1 .

[0074] The technical solution of the present invention is described above in conjunction with the embodiments and drawings. Obviously, the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the invention are directly applied to other occasions without improvement, they are all within the scope of protection of the present invention.

Claims

1. A robot parallel liquid cooling circulation system based on magnetic refrigeration, characterized in that: include: A plurality of liquid cooling channels, each of which is respectively provided at a heat source position on the robot for cooling each heat source position, and each of the liquid cooling channels is provided in parallel; Cooling liquid, the cooling liquid is filled in the liquid cooling cavity; A magnetic refrigeration device is connected to and communicates with the liquid cooling cavity and is configured to at least cool the cooling liquid; an air cooling device, the air cooling device being connected to and conducting with the magnetic refrigeration device to remove heat from the magnetic refrigeration device; The magnetic refrigeration device includes a magnetocaloric material and a magnetic field generating mechanism. The magnetic field generating mechanism provides a magnetic field for the magnetocaloric material, and the magnetocaloric material is magnetized. The cold liquid passes through the magnetized magnetocaloric material and takes away the heat from the magnetized magnetocaloric material to the air cooling device. The demagnetized magnetocaloric material cools the cold liquid passing through the air cooling device, and the cold liquid cooled by the demagnetized magnetocaloric material enters each liquid cooling channel.

2. The robot parallel liquid cooling circulation system based on magnetic refrigeration according to claim 1 is characterized in that: The magnetic field generating mechanism includes a permanent magnet and a transposition component. The transposition component is connected to the permanent magnet and drives the permanent magnet to approach or move away from the magnetocaloric material.

3. The robot parallel liquid cooling circulation system based on magnetic refrigeration according to claim 2 is characterized in that: The transposition assembly includes a motor, a rotating shaft and a mounting seat. The motor is fixedly connected to the rotating shaft, the rotating shaft is fixedly connected to the mounting seat, and the permanent magnet is mounted on the mounting seat.

4. The robot parallel liquid cooling circulation system based on magnetic refrigeration according to claim 1 is characterized in that: It also includes a cold storage chamber, which is arranged between the magnetic refrigeration device and the liquid cooling cavity. The cold liquid enters the cold storage chamber after passing through the demagnetized magnetocaloric material, and the cold liquid passes through the cold storage chamber and enters the liquid cooling cavity.

5. The robot parallel liquid cooling circulation system based on magnetic refrigeration according to claim 1 or 4, characterized in that: It also includes a preheating chamber, which is arranged between the magnetic refrigeration device and the liquid cooling cavity. The cold liquid passing through the liquid cooling cavity enters the preheating chamber, and the cold liquid passing through the preheating chamber passes through the magnetized magnetocaloric material.

6. The robot parallel liquid cooling circulation system based on magnetic refrigeration according to claim 1 or 4, characterized in that: It also includes a pre-cooling chamber, which is arranged between the magnetic refrigeration device and the air cooling device. The cold liquid passing through the air cooling device enters the pre-cooling chamber, and the cold liquid passing through the pre-cooling chamber passes through the demagnetized magnetocaloric material.

7. The robot parallel liquid cooling circulation system based on magnetic refrigeration according to claim 1 is characterized in that: The air cooling device includes a cooling chamber and a fan for cooling the cooling chamber. The cooling chamber is connected and conducted with the magnetic refrigeration device and the pre-cooling chamber. The cold liquid enters the cooling chamber after passing through the magnetized magnetocaloric material. The cold liquid passing through the cooling chamber passes through the demagnetized magnetocaloric material.

8. The robot parallel liquid cooling circulation system based on magnetic refrigeration according to claim 7 is characterized in that: The air cooling device further comprises a semiconductor heat sink and heat dissipation fins. The semiconductor heat sink is attached to the cooling chamber. The heat dissipation fins are arranged on the semiconductor heat sink. The fan is arranged outside the heat dissipation fins.

9. The robot parallel liquid cooling circulation system based on magnetic refrigeration according to claim 1 is characterized in that: The liquid cooling cavity is connected to a liquid inlet pump and a liquid discharge pump, the outlet of the liquid inlet pump is communicated with the inlet of the liquid cooling cavity, the inlet of the liquid discharge pump is communicated with the liquid outlet of the liquid cooling cavity, and the liquid inlet pumps are arranged in parallel.

10. A robot, characterized in that: A robot parallel liquid cooling circulation system based on magnetic refrigeration comprising any one of claims 1 to 9.

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