Efficient heat dissipation system and heat dissipation method for robot

Abstract

The invention relates to the technical field of robots, in particular to an efficient cooling system and method for a robot, and the system comprises a robot shell, a circulating cooling device, a fan and an external controller. The circulating heat dissipation device comprises a water cooling disc, a water pump and a water tank, the water cooling disc is embedded in the bottom of the robot shell, the two ends of the water pump are connected with the water cooling disc and the water tank respectively, the fan is arranged on the side face of the water cooling disc, and the external controller is electrically connected with the fan and the water pump. The water cooling disc comprises a center hole, a plurality of radial holes, eccentric vertical holes and spiral holes, the center hole is communicated with the radial holes, and the radial holes are communicated with the spiral holes through the eccentric vertical holes. The device has the advantages of high heat dissipation efficiency, good dustproof and waterproof effects, convenience in maintenance, low cost and the like, has good economic benefits, and is worthy of large-scale popularization.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a robot high-efficiency heat dissipation system and a heat dissipation method. Background Art

[0002] Robots are increasingly used in daily life and industrial production. To facilitate movement and operation, robots often have rotatable joints and are equipped with motors to provide power. However, the internal space of the robot is relatively closed, and the heat energy generated by the rotation of the joints and the operation of the motor is difficult to dissipate naturally, resulting in excessive accumulation of heat energy and even affecting the operation of the robot. In addition, the robot's controller is also inside. When the robot is working, the operating temperature of the controller is often high, which will affect the service life of the controller. For every few degrees the temperature rises, the reliability of the robot will be greatly reduced. Therefore, how to dissipate heat from the internal space of the robot to maintain the normal operation of the robot has become a very necessary topic.

[0003] In order to dissipate heat well in the internal space of the robot, more external air or other gas at normal or lower temperature is introduced to dissipate heat inside the robot. The existing heat dissipation technology is to arrange a plurality of air pipes inside the robot, and the air pipes have holes. The external gas is introduced into the robot through the air pipes and discharged through the holes on the air pipes, thereby dissipating heat for components that are prone to overheating (such as motors, controllers, etc.). However, the application of robots is more and more extensive in life and industrial production. In order to facilitate movement and operation, robots often have rotatable joints and are provided with motors to provide their power. However, the internal space of the robot is relatively closed, and the heat energy generated by the rotation of the joints and the operation of the motor is difficult to dissipate naturally, resulting in excessive accumulation of heat energy and even affecting the operation of the robot. In addition, the controller of the robot is also inside. When the robot is working, the operating temperature of the controller is often high, which will affect the service life of the controller. Every few degrees of temperature increase will greatly reduce the reliability of the robot. Therefore, how to dissipate heat from the internal space of the robot to maintain the normal operation of the robot has become a very necessary topic. In order to dissipate heat well in the internal space of the robot, more external air or other gas at normal or lower temperature is introduced to dissipate heat inside the robot. The existing heat dissipation technology is to arrange a plurality of air pipes inside the robot, and the air pipes have holes. External gas is introduced into the robot through the air pipes and discharged through the holes on the air pipes, thereby dissipating heat for components that are prone to overheating (such as motors, controllers, etc.). However, this form of heat dissipation cannot meet the needs of high-power motors and control circuits, and requires that the robot's interior is not completely sealed for ventilation. In addition, the additional air pipes will lead to increased costs and increase the complexity of the robot's internal circuit design. The above-mentioned form of heat dissipation cannot meet the needs of high-power motors and control circuits, and requires that the robot's interior is not completely sealed for ventilation. In addition, the additional air pipes will lead to increased costs and increase the complexity of the robot's internal circuit design. Summary of the invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a robot high-efficiency heat dissipation system and heat dissipation method in view of the defects of the prior art, which has a simple structure, high heat dissipation efficiency, low manufacturing cost, good waterproof and dustproof effect, and easy maintenance.

[0005] Technical solution: In order to achieve the above-mentioned purpose, the present invention provides a robot efficient heat dissipation system, including a robot housing, a circulating heat dissipation device, a fan and an external controller; The circulating heat dissipation device includes a water cooling plate, a water pump and a water tank. The water cooling plate is embedded in the bottom of the robot housing. Both ends of the water pump are respectively connected to the water cooling plate and the water tank. The fan is arranged on the side of the water cooling plate. The external controller is respectively electrically connected to the fan and the water pump. The water cooling plate comprises a central hole, a plurality of radial holes, an eccentric vertical hole and a spiral hole. The central hole is connected with the radial hole, and the radial hole is connected with the spiral hole through the eccentric vertical hole.

[0006] Furthermore, the upper part of the water cooling plate is located inside the robot shell, and the lower part is located outside the robot shell. A sealing ring is arranged at the installation position of the water cooling plate and the robot shell. The center hole is arranged at the center of the water cooling plate, and the center hole is connected to the liquid outlet of the water pump. The radial holes are arranged to diverge with the center hole as the center, and the spiral holes are connected to the water tank.

[0007] The water pump pumps the cooling medium from the water tank into the water cooling plate. The cooling medium exchanges heat with the inside of the robot when passing through the radial holes. The heat is taken away by the fan when passing through the spiral holes and then returns to the water tank to form a circulating cooling closed loop.

[0008] Furthermore, the cross section of the center hole is circular, the cross section of the radial hole is semicircular and the top surface is flat, and the sum of the cross-sectional areas of the radial holes is equal to the cross-sectional area of ​​the center hole; the cross section of the eccentric vertical hole is circular, the depth of each eccentric vertical hole is different, the cross section of the spiral hole is circular, and the cross-sectional area of ​​the spiral hole is equal to the center hole. The radial hole with a semicircular cross section and a flat top increases the contact area between the cooling medium and the top heating element, which is beneficial to improving the heat dissipation effect. The design of the spiral hole increases the channel during reflux, which is convenient for the cooling medium to reflux after sufficient cooling.

[0009] Furthermore, the water cooling plate is provided with heat dissipation fins on the outside of the spiral hole, and the fan is directly opposite to the heat dissipation fins. The temperature of the cooling medium after heat exchange is relatively high, and when the cooling medium flows through the spiral hole, the heat is dissipated from the heat dissipation fins and taken away by the wind blown by the fan.

[0010] Furthermore, a thermal pad is provided on the top of the water cooling plate, a mounting substrate is provided on the thermal pad, and a controller and a motor of the robot are provided on the mounting substrate. The heat generated by the controller and the motor when they are running is efficiently transferred to the water cooling plate through the thermal pad.

[0011] Furthermore, robot legs are arranged on the bottom surface of the robot housing, an external mounting platform is arranged between the robot legs, and the circulating heat dissipation device, fan and external controller are arranged on the external mounting platform. The circulating heat dissipation device, fan and external controller are installed outside for easy daily maintenance.

[0012] Furthermore, a temperature sensor is installed on the outside of the water tank, and the temperature sensor is connected to the external controller via a signal line. The temperature sensor detects the temperature of the cooling medium flowing back to the water tank and feeds back the temperature information to the external controller.

[0013] Furthermore, the water pump is a stepless speed regulating water pump, and the fan is a stepless speed regulating fan. An external controller can control the stepless speed regulation of the water pump and the fan.

[0014] A robot efficient heat dissipation method comprises the following steps: S1, the cooling system is turned on as the robot runs, and the cooling medium in the water tank is pumped into the central hole through a water pump. After reaching the top of the central hole, the cooling medium is divided into radial holes, where the cooling medium exchanges heat with the thermal pad; S2, after heat exchange, the cooling medium enters the spiral hole from the eccentric vertical hole. At this time, the external heat dissipation fins and fans cooperate to take away the heat of the cooling medium; S3, the cooling medium enters the water tank through the spiral hole, and the temperature sensor on the water tank detects the water temperature and feeds the information back to the external controller, which adjusts the speed of the fan or water pump.

[0015] Furthermore, the step S3 specifically includes: when the temperature of the cooling medium is too high, the external controller increases the speed of the fan to increase the air volume; if the temperature of the cooling medium is still too high, the external controller increases the speed of the water pump to increase the flow rate.

[0016] It can be seen from the above technical solution that compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a robot efficient heat dissipation system and heat dissipation method, which have high heat dissipation efficiency. The circulating heat dissipation device adopts liquid or phase change cooling medium to dissipate heat. The radial holes on the top of the water cooling plate are evenly distributed on the top surface of the entire water cooling plate as heat dissipation channels. The heat dissipation surface is large and the heat dissipation is uniform.

[0017] 2. The present invention has excellent waterproof and dustproof performance. The entire robot shell has only one interface with the outside, which is the water cooling plate. The water cooling plate is fixedly installed at the bottom of the robot shell, and they are sealed and connected, which greatly improves the dust and water resistance level inside the robot and improves the stability and reliability of the drive motor and controller.

[0018] 3. Easy maintenance. The circulating heat dissipation device, fan and external controller are all installed on the external mounting platform. There is no need to open the robot shell for maintenance and replacement of parts, which is convenient and quick.

[0019] 4. The manufacturing and use costs are low. The control logic of the entire cooling system is simple, the number of parts is small, the assembly is convenient, and the subsequent maintenance and replacement are easy and low-cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of a robot efficient heat dissipation system according to the present invention. Figure 2It is a cross-sectional view of a robot efficient heat dissipation system according to the present invention; Figure 3 It is a cross-sectional view of the water cooling plate of the present invention; Figure 4 This is a schematic diagram of the distribution of radial holes described in the present invention.

[0021] In the figure: 1-robot shell, 11-robot legs, 12-external mounting platform, 2-circulating cooling device, 21-water cooling plate, 211-center hole, 212-radial hole, 213-eccentric vertical hole, 214-spiral hole, 215-heat dissipation fin, 216-thermal pad, 217-mounting base plate, 218-controller and motor, 22-water pump, 23-water tank, 231-temperature sensor, 3-fan, 4-external controller. DETAILED DESCRIPTION

[0022] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0023] like Figure 1-2 As shown, a robot efficient heat dissipation system includes a robot housing 1, a circulating heat dissipation device 2, a fan 3 and an external controller 4; The circulating heat dissipation device 2 includes a water cooling plate 21, a water pump 22 and a water tank 23. The water cooling plate 21 is embedded in the bottom of the robot housing 1. Both ends of the water pump 22 are connected to the water cooling plate 21 and the water tank 23 respectively. The fan 3 is arranged on the side of the water cooling plate 21. The external controller 4 is electrically connected to the fan 3 and the water pump 22 respectively. like Figure 3 As shown, the water cooling plate 21 includes a central hole 211 , a plurality of radial holes 212 , an eccentric vertical hole 213 , and a spiral hole 214 . The central hole 211 is connected to the radial holes 212 , and the radial holes 212 are connected to the spiral holes 214 through the eccentric vertical holes 213 .

[0024] like Figure 1 As shown, the upper part of the water cooling plate 21 is located inside the robot housing 1, and the lower part is located outside the robot housing 1. A sealing ring is set between the installation position of the water cooling plate 21 and the robot housing 1. The water cooling plate 21 and the internal heat exchange area are arranged inside the robot housing 1, and the water cooling plate 21 and the external heat exchange area are arranged outside the robot housing 1 and can exchange heat with the outside. A sealing ring is set between the water cooling plate 21 and the robot housing 1 to improve the dust and water resistance level inside the robot and improve the stability and reliability of the controller and the motor 218.

[0025] like Figure 3 and Figure 4As shown, the central hole 211 is provided at the center of the water cooling plate 21 , the central hole 211 is connected to the liquid outlet of the water pump 22 , the radial holes 212 are arranged to diverge from the central hole 211 , and the spiral holes 214 are connected to the water tank 23 . The cooling medium circulates through the water cooling plate 21 .

[0026] The cross section of the center hole 211 is circular, the cross section of the radial hole 212 is semicircular and the top surface is flat, and the sum of the cross-sectional areas of the radial holes 212 is equal to the cross-sectional area of ​​the center hole 211; the cross section of the eccentric vertical hole 213 is circular, and the depth of each eccentric vertical hole 213 is different, and the cross section of the spiral hole 214 is circular, and the cross-sectional area of ​​the spiral hole 214 is equal to that of the center hole 211. Therefore, in order to further improve the heat dissipation effect, the radial hole 211 can be set as a curved curved special-shaped hole to increase the flow area of ​​the cooling medium.

[0027] like Figure 3 As shown, a heat dissipation fin 215 is further provided on the outer side of the water cooling plate 21 . The heat dissipation fin 215 is located on the outer side of the spiral hole 214 , and the fan 3 is directly facing the heat dissipation fin 215 .

[0028] like Figure 2 As shown, a thermal pad 216 is disposed on the top of the water cooling plate 21 , a mounting substrate 217 is disposed on the thermal pad 216 , and a controller and a motor 218 of the robot are disposed on the mounting substrate 217 .

[0029] like Figure 1 As shown, robot legs 11 are arranged on the bottom surface of the robot housing 1, an external mounting platform 12 is arranged between the robot legs 11, and the circulating heat dissipation device 2, the fan 3 and the external controller 4 are arranged on the external mounting platform 12. The circulating heat dissipation device 2, the fan 3 and the external controller 4 are arranged outside the robot housing 1 for easy maintenance.

[0030] In addition, a temperature sensor 231 is installed on the outside of the water tank 23 , and the temperature sensor 231 is connected to the external controller 4 via a signal line.

[0031] In a preferred embodiment, the water pump 22 is a stepless speed regulating water pump, and the fan 3 is a stepless speed regulating fan.

[0032] A robot efficient heat dissipation method comprises the following steps: S1, the cooling system is turned on as the robot is running, the cooling medium in the water tank 23 is pumped into the central hole 211 by the water pump 21, and the cooling medium is divided into the radial holes 212 after reaching the top of the central hole 211, and the cooling medium exchanges heat with the thermal pad 216 in the radial holes 212; S2, after heat exchange, the cooling medium enters the spiral hole 214 from the eccentric vertical hole 213, and at this time, the external heat dissipation fins 215 and the fan 3 cooperate to take away the heat of the cooling medium; S3, the cooling medium enters the water tank 23 after passing through the spiral hole 214, and the temperature sensor 231 on the water tank 23 detects the water temperature and feeds the information back to the external controller 4, and the external controller 4 adjusts the rotation speed of the fan 3 or the water pump 22.

[0033] The cooling medium can be pure water, deionized water or distilled water for liquid cooling, or phase change refrigerants such as R134a and R1234yf for phase change cooling. In this embodiment, a phase change refrigerant with higher heat dissipation efficiency is selected. After the liquid refrigerant enters the radial hole 211 and absorbs heat, it will evaporate into gas, take away the heat on the mounting substrate 217, and then enter the spiral hole 214. Due to the cooling of the external heat dissipation fins 215 and the fan 3, the gaseous refrigerant will liquefy and finally enter the water tank 23.

[0034] Step S3 specifically includes: when the temperature of the cooling medium is too high, the external controller 4 adjusts and speeds up the speed of the fan 3 to increase the air volume, and quickly takes away the heat from the heat dissipation fins 215. If the temperature of the cooling medium is still too high, the external controller 4 increases the speed of the water pump 22 to increase the flow rate. The increase in flow rate also increases the corresponding flow rate, which increases the heat dissipation.

[0035] In summary, the present invention has the advantages of high heat dissipation efficiency, good dust and water resistance, convenient maintenance and low cost, etc. It has good economic benefits and is worthy of large-scale promotion.

[0036] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. A robot efficient heat dissipation system, characterized in that: It comprises a robot housing (1), a circulating heat dissipation device (2), a fan (3) and an external controller (4); The circulating heat dissipation device (2) comprises a water cooling disk (21), a water pump (22) and a water tank (23); the water cooling disk (21) is embedded in the bottom of the robot housing (1); two ends of the water pump (22) are respectively connected to the water cooling disk (21) and the water tank (23); the fan (3) is arranged on the side of the water cooling disk (21); and the external controller (4) is respectively electrically connected to the fan (3) and the water pump (22); The water cooling plate (21) comprises a central hole (211), a plurality of radial holes (212), an eccentric vertical hole (213), and a spiral hole (214); the central hole (211) is connected to the radial hole (212); and the radial hole (212) is connected to the spiral hole (214) via the eccentric vertical hole (213).

2. A robot efficient heat dissipation system according to claim 1, characterized in that: The upper portion of the water cooling disk (21) is located inside the robot housing (1), and the lower portion is located outside the robot housing (1); a sealing ring is provided at the installation position of the water cooling disk (21) and the robot housing (1); the central hole (211) is provided at the center of the water cooling disk (21); the central hole (211) is connected to the liquid outlet of the water pump (22); the radial holes (212) are arranged to diverge from the central hole (211); and the spiral holes (214) are connected to the water tank (23).

3. A robot efficient heat dissipation system according to claim 2, characterized in that: The cross section of the central hole (211) is circular, the cross section of the radial hole (212) is semicircular and the top surface is flat, and the sum of the cross-sectional areas of the radial holes (212) is equal to the cross-sectional area of ​​the central hole (211); the cross section of the eccentric vertical hole (213) is circular, the depth of each eccentric vertical hole (213) is different, and the cross section of the spiral hole (214) is circular, and the cross-sectional area of ​​the spiral hole (214) is equal to that of the central hole (211).

4. A robot efficient heat dissipation system according to claim 3, characterized in that: The outer side of the water cooling plate (21) is also provided with a heat dissipation fin (215), the heat dissipation fin (215) is located outside the spiral hole (214), and the fan (3) is directly opposite to the heat dissipation fin (215).

5. The robot efficient heat dissipation system according to claim 1, characterized in that: A heat-conducting pad (216) is provided on the top of the water-cooling plate (21), a mounting substrate (217) is provided on the heat-conducting pad (216), and a controller and a motor (218) of the robot are provided on the mounting substrate (217).

6. The robot efficient heat dissipation system according to claim 1, characterized in that: The bottom surface of the robot housing (1) is provided with robot legs (11), an external mounting platform (12) is provided between the robot legs (11), and the circulating heat dissipation device (2), the fan (3) and the external controller (4) are arranged on the external mounting platform (12).

7. The robot efficient heat dissipation system according to claim 1, characterized in that: A temperature sensor (231) is installed on the outside of the water tank (23), and the temperature sensor (231) is connected to an external controller (4) via a signal line.

8. The robot efficient heat dissipation system according to claim 1, characterized in that: The water pump (22) is a stepless speed regulating water pump, and the fan (3) is a stepless speed regulating fan.

9. A robot efficient heat dissipation method, implemented based on a robot efficient heat dissipation system according to any one of claims 1 to 8, characterized in that: The steps include: S1, the cooling system is turned on as the robot is running, the cooling medium in the water tank (23) is pumped into the central hole (211) through the water pump (21), and the cooling medium is divided into radial holes (212) after reaching the top of the central hole (211), and the cooling medium exchanges heat with the thermal pad (216) in the radial holes (212); S2, after heat exchange, the cooling medium enters the spiral hole (214) from the eccentric vertical hole (213), and at this time, the external heat dissipation fins (215) and the fan (3) cooperate to remove the heat of the cooling medium; S3, the cooling medium passes through the spiral hole (214) and enters the water tank (23), the temperature sensor (231) on the water tank (23) detects the water temperature and feeds the information back to the external controller (4), and the external controller (4) adjusts the rotation speed of the fan (3) or the water pump (22).

10. A robot efficient heat dissipation method according to claim 9, characterized in that: The step S3 specifically includes: when the temperature of the cooling medium is too high, the external controller (4) adjusts and increases the speed of the fan (3) to increase the air volume; if the temperature of the cooling medium is still too high, the external controller (4) increases and adjusts the speed of the water pump (22) to increase the flow rate.

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