Biological blood vessel bionic liquid cooling network heat dissipation method for humanoid robot

Abstract

The invention provides a biological blood vessel bionic liquid cooling network heat dissipation method for a humanoid robot, and belongs to the technical field of robot heat dissipation. The biological blood vessel bionic liquid cooling network heat dissipation method for the humanoid robot comprises the following steps: carrying out embedded near-node heat dissipation with a driving source by utilizing a first heat dissipation unit according to the aorta-level local high-heat-flow heat dissipation requirement of a chip located at the brain of the humanoid robot through biological bionic mapping and global partition cascade thermal control; aiming at the high-dynamic multi-heat-source heat dissipation requirement of a joint motor located at a movable joint part of the humanoid robot, indirect heat dissipation with a driving source is carried out by utilizing a second heat dissipation unit; according to the capillary-level low-heat-flux heat dissipation requirement of a power battery located on the chest of the humanoid robot, self-driven indirect heat dissipation is conducted through the capillary pump effect by means of a third heat dissipation unit; and for vein-level liquid cooling backflow, large-area natural convection air cooling heat dissipation on the skin surface is simulated for global heat discharge, and finally the bionic liquid cooling heat dissipation method for the system-level humanoid robot is formed.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot heat dissipation, and more specifically, relates to a biological vascular bionic liquid cooling network heat dissipation method for humanoid robots. Background Art

[0002] With the accelerating evolution of the field of humanoid robots, their performance and task complexity have been continuously improved. The requirements for high computing power, high integration, and high endurance have led to a sharp increase in the heat generation density of core components such as artificial intelligence (AI) chips, power batteries, and joint motors in humanoid robots. As complex intelligent electromechanical devices, humanoid robots are very sensitive to temperature for electronic devices, batteries, and motors. High-temperature failure of components seriously threatens their normal operation and service life. Therefore, the development of efficient heat dissipation technology is crucial for ensuring their reliable operation under normal and high-temperature harsh working conditions, and for broadening the application range and combat performance.

[0003] Currently, there are many limitations in the commonly used air cooling, liquid cooling channels, and heat pipe heat dissipation technologies for robots. Air cooling dissipates heat by forcing convection cooling of heat-generating components with a fan, with low heat dissipation efficiency and high noise, making it difficult to meet the heat dissipation requirements of high-power density electronic devices. Traditional liquid cooling channel heat dissipation uses fixed flow channels and constant flow rates. Although the heat dissipation capacity is strong, the volume and weight of the pump, flow, and pipeline systems are relatively large, making it difficult to adapt to the multi-joint and high-dynamic motion requirements of humanoid robots, and there are also problems of uneven local heat dissipation. Heat pipe heat dissipation technology obtains ultra-fast heat conduction ability based on phase change heat transfer, but the volume and direction layout of heat pipes are limited, and it is impossible to flexibly cover the complex structure surfaces of humanoid robots.

[0004] The highly bionic structure and dense functional integration characteristics of humanoid robots require a compact, lightweight, and energy-efficient heat dissipation system. They face the problem of multi-source collaborative thermal management. The heat flux densities of distributed heat sources throughout the body span several orders of magnitude, and mechanical motion and thermal expansion interfere with each other in a narrow space. Traditional single heat dissipation architectures are difficult to adapt. Currently, robot thermal management is mostly optimized separately for chips, batteries, motors, etc., lacking an efficient integrated heat dissipation solution for global partitioned cascade thermal control, and unable to balance efficient heat dissipation, lightweight, and integration. Summary of the Invention

[0005] In view of this, the present invention provides a biological vascular bionic liquid cooling network heat dissipation method for humanoid robots.

[0006] Specifically, the biological vascular bionic liquid cooling network heat dissipation method for humanoid robots provided by the present invention includes: using a first heat dissipation unit to perform embedded near-node heat dissipation with a driving source on the chips located in the brain of the humanoid robot; using a second heat dissipation unit to perform indirect heat dissipation with a driving source on the joint motors located in the moving joint parts of the humanoid robot; using a third heat dissipation unit to perform self-driven indirect heat dissipation on the power battery located in the chest of the humanoid robot.

[0007] In an embodiment of the present invention, the biological vascular bionic liquid cooling network heat dissipation method for humanoid robots provided by the present invention realizes multi-source collaborative thermal management of distributed heat sources throughout the humanoid robot through the coordinated operation of three heat dissipation units. It can intelligently regulate the entire heat dissipation system according to the heat flux density, temperature control requirements, and structural characteristics of different components, avoiding problems such as local overheating or uneven heat dissipation, taking into account the requirements of efficient heat dissipation, lightweight, and integration, and improving the overall performance of the heat dissipation system of the humanoid robot. For different heat-generating core components of the humanoid robot, appropriate heat dissipation methods are adopted to ensure that the heat generated during the operation of the chips, joint motors, and power batteries can be dissipated in a timely and effective manner.

[0008] Specifically, for the chips, their function is similar to that of the brain, with the characteristics of high energy consumption and high heat generation. The heat flux density can reach 300 W / cm 2 , and the junction temperature requirement is below 85°C. Therefore, the embedded near-node heat dissipation method with a driving source is adopted for heat dissipation; for the joint motors, their function is similar to that of muscles, requiring high-response-rate heat dissipation, and the heat dissipation ability can be dynamically adjusted according to the load. Therefore, the indirect heat dissipation method with a driving source is adopted for heat dissipation; for the power battery, its function is similar to that of the human heart, and heat buffering heat dissipation is required during rapid charging and discharging. Therefore, the self-driven indirect heat dissipation method is adopted to control the heat. According to different heat generation levels, corresponding to the mapping of human biological blood vessels, different heat dissipation methods are adopted for different parts of the humanoid robot. Specifically, for the chip parts with high heat generation, the direct heat dissipation method with a driving source is adopted to directly dissipate heat by simulating the blood flow mode of the aorta; for the joint motors with instantaneous dynamic heat generation, the indirect heat dissipation method with a driving source is adopted to instantaneously dissipate heat by simulating the blood flow mode of the artery; for the power battery with low heat generation, the self-driven indirect heat dissipation method is adopted to slowly dissipate heat by simulating the blood flow mode of the capillary; at the same time, the coolant pipeline after absorbing heat is simulated to flow naturally in the mode of venous blood flow to discharge the heat absorbed from different parts of the humanoid robot. Description of the Drawings

[0009] Through the following description of the embodiments of the present invention with reference to the drawings, the above and other objects, features, and advantages of the present invention will become clearer. In the drawings:

[0010] Figure 1Schematic diagram of a heat dissipation system constructed according to the heat dissipation method of the present invention;

[0011] Figure 2 Schematic diagram of the first heat dissipation unit constructed according to the heat dissipation method of the present invention;

[0012] Figure 3 Schematic diagram of the second heat dissipation unit constructed according to the heat dissipation method of the present invention;

[0013] Figure 4 For Figure 3 Detailed enlarged view of area A in

[0014] Figure 5 Schematic diagram of the third heat dissipation unit constructed according to the heat dissipation method of the present invention;

[0015] Figure 6 Schematic diagram of the control system constructed according to the heat dissipation method of the present invention.

[0016] Explanation of reference numerals:

[0017] 1 - Chip;

[0018] 11 - Manifold structure; 12 - Microchannel; 13 - First liquid inlet pipe; 14 - First cooling coil;

[0019] 2 - Joint motor;

[0020] 21 - Atomization part; 211 - Injection port; 22 - Cooling cavity; 221 - Cold plate; 23 - Second liquid inlet pipe; 24 - Second cooling coil;

[0021] 3 - Power battery;

[0022] 31 - Manifold microchannel evaporator; 32 - Condenser; 33 - Vapor channel; 34 - Liquid channel;

[0023] 4 - Infusion pump;

[0024] 5 - Feedback controller;

[0025] 51 - First temperature sensor; 52 - Second temperature sensor; 53 - First flow regulating valve; 54 - Second flow regulating valve; 55 - First flowmeter; 56 - Second flowmeter; 57 - Total flow regulating valve; 58 - Control line; 59 - Data acquisition line. Detailed implementation manners

[0026] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In the following detailed description, for the sake of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, obviously, one or more embodiments can be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present invention.

[0027] The terms used herein are merely for describing specific embodiments and are not intended to limit the present invention. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0028] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0029] In the case of using expressions such as "at least one of A, B, and C, etc.", generally, it should be interpreted according to the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include, but is not limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0030] Aiming at the problems of multi-heat-source decentralized distribution and significant difference in heat flux density of humanoid robots, the present invention proposes a biological vascular bionic liquid cooling network heat dissipation method for humanoid robots. By corresponding the heat dissipation characteristics of each heating element of the humanoid robot with the functions of the human body's biological vascular system, a global partitioned cascade liquid cooling network loop is organized. Through biological bionic mapping and global partitioned cascade thermal control, an efficient and integrated system-level thermal management is finally formed, providing a new method for the efficient, integrated, and lightweight thermal management of humanoid robots.

[0031] Figure 1 Schematic diagram of a heat dissipation system constructed according to the heat dissipation method of the present invention.

[0032] Specifically, as Figure 1As shown in the figure, the biological vascular bionic liquid cooling network heat dissipation method for humanoid robots provided by the present invention includes: using the first heat dissipation unit to perform embedded near-node heat dissipation with a driving source on the chip 1 located in the brain of the humanoid robot; using the second heat dissipation unit to perform indirect heat dissipation with a driving source on the joint motor 2 located in the active joint part of the humanoid robot; using the third heat dissipation unit to perform self-driven indirect heat dissipation on the power battery 3 located in the chest of the humanoid robot.

[0033] In the embodiment of the present invention, for different heat-generating core components of the humanoid robot, an adapted heat dissipation method is adopted to ensure that the heat generated by the chip 1, the joint motor 2, and the power battery 3 during operation can be dissipated in a timely and effective manner. For the brain chip 1, embedded near-node heat dissipation with a driving source is adopted, which can quickly and accurately take away a large amount of heat generated by the chip 1. The driving source can ensure the stable flow of heat dissipation media such as coolant, and the embedded near-node heat dissipation reduces the heat transfer path and thermal resistance, improving the heat dissipation efficiency, meeting the strict requirements for heat dissipation timeliness and efficiency during the high-computing operation of the chip 1, and ensuring the high-performance operation of the chip 1. For the joint motor 2 located in the active joint part, indirect heat dissipation with a driving source is adopted, which not only ensures the effectiveness of heat dissipation by using the driving source but also avoids the interference of the heat dissipation device on the joint movement through the indirect heat dissipation method. This method can effectively reduce the motor temperature without affecting the joint flexibility and mechanical structure stability, meeting the requirements of the multi-joint and high-dynamic movement of the humanoid robot. For the chest power battery 3, self-driven indirect heat dissipation is adopted, which uses the natural heat dissipation principle combined with a reasonable heat dissipation structure design to achieve effective heat dissipation of the battery without consuming additional energy. This method not only reduces energy consumption but also avoids the noise and failure risks brought by the driving source, while ensuring the safety and stability of the battery. The biological vascular bionic liquid cooling network heat dissipation method for humanoid robots provided by the present invention realizes multi-source collaborative thermal management of distributed heat sources throughout the humanoid robot through the coordinated operation of three heat dissipation units. It can intelligently control the entire heat dissipation system according to the heat flux density, temperature control requirements, and structural characteristics of different components, avoiding problems such as local overheating or uneven heat dissipation, taking into account the requirements of efficient heat dissipation, lightweight, and integration, and improving the overall performance of the heat dissipation system of the humanoid robot.

[0034] Figure 2 Schematic diagram of the manifold microchannel structure constructed according to the heat dissipation method of the present invention.

[0035] According to the embodiment of the present invention, as Figure 1 and Figure 2As shown, the first heat dissipation unit includes a manifold microchannel etched in the silicon-based channel of chip 1, a channel inlet and a channel outlet communicating with the manifold microchannel, a first liquid inlet pipe 13 communicating with the channel inlet, a first cooling coil 14 communicating with the channel outlet, and an infusion pump 4. Among them, the manifold microchannel includes a plurality of interconnected manifold structures 11 and microchannels 12.

[0036] In an embodiment of the present invention, the manifold microchannel etched in the silicon-based channel of chip 1 greatly increases the contact area between the coolant and chip 1. The coolant is shunted into the microchannel 12 through the manifold inlets of a plurality of manifold structures 11 from the channel inlet, and flows out through the channel outlet after converging through the manifold outlets of a plurality of manifold structures 11. When the coolant flows in the manifold microchannel, it can absorb the heat generated by chip 1 more fully. Compared with the traditional microchannel, the manifold microchannel uses the manifold structure 11 to introduce jet impingement and construct a hierarchical and segmented fluid flow inside the microchannel 12, which can reduce the interfacial thermal resistance and heat transfer path, and further improve the heat transfer coefficient and temperature control uniformity. Thus, the temperature of chip 1 can be quickly controlled within a safe range to ensure the stable operation of chip 1. Multiple manifold microchannels can be targeted arranged according to the heat generation conditions of different parts of chip 1 to ensure uniform temperature in each area of chip 1 and avoid local overheating problems, thereby effectively improving the performance and reliability of chip 1. Etching the manifold microchannel in the silicon-based channel of chip 1 makes the first heat dissipation unit closely combined with chip 1, provides near-junction heat dissipation for chip 1, reduces additional space occupation, and realizes a high degree of structural integration. For a humanoid robot with strict space requirements, this helps to compact the internal structure design and improve the overall space utilization rate.

[0037] According to an embodiment of the present invention, continue as Figure 1 and Figure 2 As shown, the embedded near-junction heat dissipation with a driving source for chip 1 located in the brain of the humanoid robot includes: using the infusion pump 4 to drive the first coolant at the first temperature to enter the manifold microchannel through the channel inlet via the first liquid inlet pipe 13 to absorb the heat of chip 1, generating the first coolant at the second temperature. The first coolant at the second temperature enters the first cooling coil 14 through the channel outlet and is cooled by the external air in the first cooling coil 14, and then returns to the infusion pump 4 after generating the first coolant at the third temperature.

[0038] In an embodiment of the present invention, the first coolant enters the manifold microgroove in the silicon-based channel of the chip 1 from the groove entrance through the first liquid inlet pipe 13, which greatly increases the contact area between the first coolant and the chip 1, efficiently absorbs the heat of the chip 1, quickly reduces the temperature of the chip 1, and maintains the high-performance operation of the chip 1. The first coolant enters the first cooling coil 14 through the groove outlet and is cooled by the outside air. This process does not require additional complex cooling equipment, saving energy and space. The cooled first coolant flows back to the infusion pump 4 to form a closed loop, which can continuously dissipate heat. This heat dissipation method not only effectively improves the heat dissipation efficiency of the chip 1, avoids the performance degradation or damage of the chip 1 due to overheating, but also reduces the heat transfer link and thermal resistance through near-node heat dissipation, accurately guarantees the working temperature of the chip 1, and strongly supports the stable realization of the core computing function of the humanoid robot brain.

[0039] According to an embodiment of the present invention, the first coolant temperature of the first temperature ranges from 30-40°C, the first coolant temperature of the second temperature ranges from 70-85°C, and the first coolant temperature of the third temperature ranges from 30-40°C.

[0040] According to an embodiment of the present invention, the heat exchange method adopted by the first coolant at the first temperature to absorb the heat of the chip 1 in the manifold microchannels includes at least one of jet, convection, and evaporation.

[0041] In an embodiment of the present invention, jet heat exchange is adopted, and the first coolant is ejected at high speed to the surface of the chip 1, which can effectively destroy the thermal boundary layer on the surface of the chip 1, greatly enhance the local heat transfer coefficient, and enable the first coolant to quickly take away the heat of the chip 1, significantly improving the heat dissipation efficiency. Convective heat exchange uses the flow of the first coolant to transfer heat from the high-temperature chip 1 to the low-temperature first coolant, ensuring that the first coolant can evenly absorb the heat of various parts of the chip 1 to avoid local overheating. In evaporative heat exchange, the first coolant undergoes a phase change after absorbing heat, from liquid to gas. This process absorbs a large amount of latent heat, can efficiently take away the heat of the chip 1, and the cooling effect of the phase change process is very significant. These heat exchange methods can be used alone, or they can cooperate with each other to form a composite and efficient heat dissipation mechanism, thereby quickly and stably reducing the temperature of the chip 1, ensuring that the chip 1 operates in a suitable temperature environment, improving the performance and reliability of the chip 1, and providing strong support for the stable operation of the humanoid robot.

[0042] According to an embodiment of the present invention, the first cooling coil 14 is arranged on the back of the humanoid robot, and the arrangement of the first cooling coil 14 includes one of the following: in-line, S-shaped, U-shaped, spiral, and serpentine.

[0043] In an embodiment of the present invention, the in-line arrangement makes the first coolant flow path relatively direct, enabling heat exchange with the outside air to be completed at a relatively fast speed, and is suitable for situations where high heat dissipation efficiency is required and the back space is relatively regular; the S-shaped, loop-shaped, spiral-shaped, serpentine-shaped, etc. arrangement methods greatly expand the contact area with the outside air by increasing the length and curvature of the first cooling coil 14. When the first coolant flows in the coils of these shapes, heat can be more fully dissipated into the surrounding air, significantly improving the heat dissipation effect and ensuring that the heat absorbed from the chip 1 is efficiently discharged. Different arrangement methods can be flexibly adapted to the complex structure of the back of the humanoid robot. For example, in areas with limited space, the S-shaped or serpentine-shaped arrangement can cleverly utilize the gaps without occupying too much extra space; while the spiral-shaped and loop-shaped arrangements in a relatively large and regular back space can not only optimize heat dissipation but also be reasonably arranged, improving the compatibility of the heat dissipation system with the overall structure of the humanoid robot, ensuring the efficient operation of the heat dissipation system in a limited space, and helping the humanoid robot to operate stably.

[0044] Figure 3 Schematic diagram of the second heat dissipation unit constructed according to the heat dissipation method of the present invention; Figure 4 is Figure 3 Detail enlarged view of area A in

[0045] According to an embodiment of the present invention, as Figure 1 、 Figure 3 and Figure 4 shown, the second heat dissipation unit includes an atomizing member 21, a cooling chamber 22, a second liquid inlet pipe 23 communicating with the inlet of the atomizing member, a second cooling coil 24 communicating with the outlet of the cooling chamber, and an infusion pump 4. Among them, the atomizing member 21 includes a plurality of injection ports 211 provided at the inlet of the cooling chamber, the cooling chamber 22 includes a cold plate 221 in surface contact with the joint motor 2, and the injection directions of the plurality of injection ports 211 are directly opposite to the cold plate 221.

[0046] In an embodiment of the present invention, the infusion pump 4 drives the second coolant to enter the atomizer 21 through the second liquid inlet pipe 23, and the second coolant is sprayed from the multiple injection ports 211 in an atomized form, and the spray direction is directly opposite to the cold plate 221. The atomized second coolant greatly increases the contact area with the cold plate 221, and can quickly take away the heat absorbed by the cold plate 221 from the joint motor 2. The cold plate 221 is in surface contact with the joint motor 2, and can efficiently transfer the heat generated by the joint motor 2, so that the temperature of the joint motor 2 is rapidly reduced, and the joint motor 2 is ensured to operate stably under a suitable temperature environment. The combination of the atomizer 21, the cooling chamber 22, the second liquid inlet pipe 23, the second cooling plate 24 and other components can well adapt to the characteristics of limited space and complex structure of the movable joint part. The second cooling coil 24 can further dissipate the heat absorbed by the second coolant, forming a complete heat dissipation circulation system, and continuously dissipating heat for the joint motor 2. Moreover, this design will not cause too much hindrance to the movement of the joint, ensure the flexibility and motion performance of the humanoid robot joint, and effectively improve the overall working reliability and stability of the robot.

[0047] According to an embodiment of the present invention, continue as Figure 1 , Figure 3 and Figure 4 As shown, the indirect heat dissipation of the joint motor 2 located at the movable joint of the humanoid robot with a driving source includes: using the infusion pump 4 to drive the second coolant of the first temperature to enter the atomizer 21 through the second liquid inlet pipe 23 to be atomized and enter the cooling chamber 22 through multiple injection ports 211 and then be sprayed to the cold plate 221, and the second coolant of the second temperature is generated after the indirect heat dissipation of the joint motor 2 is achieved by cooling the cold plate 221, and the second coolant of the second temperature enters the second cooling coil 24 and is cooled by the external air in the second cooling coil 24, and the second coolant of the third temperature is generated and then flows back to the infusion pump 4. The heat exchange method used by the second coolant of the first temperature to cool the cold plate 221 in the cooling chamber includes droplet impact, liquid film convection, liquid film evaporation and the like.

[0048] In an embodiment of the present invention, after the second coolant is atomized by the atomizing member 21, it is sprayed at high speed from a plurality of spray ports 211 onto the cold plate 221, greatly increasing the contact area between the second coolant and the cold plate 221, enhancing the heat exchange efficiency, and being able to quickly carry away the heat conducted by the cold plate 221 from the joint motor 2, effectively reducing the motor temperature and maintaining its stable operation. The design of the surface contact between the cold plate 221 and the joint motor 2 achieves efficient indirect heat dissipation, reduces the possible impact of direct heat dissipation on the motor structure, and ensures the mechanical performance of the motor. The second cooling coil 24 cools the second coolant using external air, further enhancing the heat dissipation capacity of the heat dissipation system. The entire heat dissipation cycle process is smooth and efficient, not only meeting the heat dissipation requirements of the joint motor 2 during high-load operation but also being well adapted to the special working conditions of the narrow space and frequent movement of the movable joint parts. Without affecting the flexible movement of the joints, it effectively guarantees the stable operation of the humanoid robot joints, thereby enhancing the reliability and durability of the overall operation of the robot.

[0049] According to an embodiment of the present invention, the temperature range of the second coolant at the first temperature is 30 - 40 °C, the temperature range of the second coolant at the second temperature is 70 - 85 °C, and the temperature range of the second coolant at the third temperature is 30 - 40 °C.

[0050] According to an embodiment of the present invention, as Figure 1 shown, the joint motor 2 includes a plurality of upper limb joint motors located at a plurality of upper limb movable joint parts and a plurality of lower limb joint motors located at a plurality of lower limb movable joint parts; the second heat dissipation unit includes a plurality of upper limb heat dissipation units for respectively dissipating heat from the plurality of upper limb joint motors and a plurality of lower limb heat dissipation units for respectively dissipating heat from the plurality of lower limb joint motors; a plurality of upper limb heat dissipation units corresponding to the same upper limb share a second liquid inlet pipe 23 and a second cooling coil 24; a plurality of lower limb heat dissipation units corresponding to the same lower limb share a second liquid inlet pipe 23 and a second cooling coil 24.

[0051] In an embodiment of the present invention, the second heat dissipation units of the upper limb and lower limb joint motors are separately arranged, and the second heat dissipation units of the plurality of joint motors of the same limb share a pipeline, greatly simplifying the pipeline structure of the entire heat dissipation system. Compared with laying pipelines separately for each joint motor, a large number of complex pipeline connections are reduced, not only reducing the design and installation difficulty but also saving space, making the internal structure of the humanoid robot more compact and conducive to the optimization of the overall layout.

[0052] It should be understood that considering the requirements of lightweight and low power consumption of the robot, the first heat dissipation unit and the second heat dissipation unit can share an infusion pump 4, and the specific implementation can be flexibly adjusted according to actual needs, which is not limited in the present invention. In addition, the number of the second liquid inlet pipe 23 and the second cooling coil 24 in the same limb can also be adaptively adjusted according to the actual working conditions.

[0053] Figure 5 Schematic diagram of the third heat dissipation unit constructed according to the heat dissipation method of the present invention.

[0054] According to an embodiment of the present invention, as Figure 5 shown, the third heat dissipation unit includes a manifold microchannel evaporator 31, a condenser 32, and a vapor channel 33 and a liquid channel 34 connecting the manifold microchannel evaporator 31 and the condenser 32. Among them, the manifold microchannel evaporator 31 is in surface contact with the power battery 3. The manifold microchannel evaporator 31 has a manifold microchannel structure, and uses the capillary force generated by the microchannels to drive the working fluid to circulate, realizing the self-circulation of the working fluid.

[0055] In the embodiment of the present invention, the settings of the vapor channel 33 and the liquid channel 3431 greatly increase the heat dissipation area and the capillary driving force. The manifold microchannel evaporator 31 is in surface contact with the power battery 3, and can efficiently absorb the heat generated by the battery. When the heat is transferred to the manifold microchannel evaporator 31, the internal cooling working fluid is heated and evaporated, and a large amount of heat is efficiently carried away by using the latent heat of phase change. This process quickly reduces the battery temperature and ensures the stable performance of the battery. The cooling working fluid vapor flows in the vapor channel 33 to the condenser 32, and after dissipating the heat in the condenser 32, it is re-liquefied. The liquid working fluid flows back to the manifold microchannel evaporator 31 along the liquid channel 33 under the driving of the capillary force generated at the gas-liquid interface in the microchannel capillary core, completing an efficient heat transfer cycle. The layout of the manifold microchannel evaporator 31, the condenser 32, the vapor channel 33 and the liquid channel 34 can well fit the shape of the power battery 3 and adapt to the limited space in the chest of the humanoid robot. Without additional complex driving devices such as pumps or fans, the coolant circulation is realized by relying on the natural thermosiphon principle, which not only reduces the energy consumption, but also reduces the risk of heat dissipation failure caused by equipment failure. This efficient and stable heat dissipation method effectively extends the service life of the power battery 3, improves the safety of the battery, provides a reliable energy guarantee for the continuous and stable operation of the humanoid robot, and ensures that the robot can work normally under various working conditions.

[0056] According to an embodiment of the present invention, continue as Figure 5As shown in the figure, the use of the third heat dissipation unit to perform self-driven indirect heat dissipation on the power battery 3 located in the chest of the humanoid robot includes: the liquid-phase working medium at the first temperature absorbs heat and evaporates in the manifold microchannel evaporator 31, realizing indirect heat dissipation of the power battery 3 and generating a gas-phase working medium at the second temperature. The gas-phase working medium at the second temperature is transported to the condenser 32 along the steam channel 33, dissipates heat to the external air through the condenser 32, and the gas-phase working medium at the second temperature condenses in the condenser 32 to generate a liquid-phase working medium at the third temperature. The liquid-phase working medium at the third temperature returns to the manifold microchannel evaporator 31 along the liquid channel 34 under the drive of capillary force.

[0057] In the embodiment of the present invention, the liquid-phase working medium at the first temperature is closely attached to the power battery 3 in the manifold microchannel evaporator 31, rapidly evaporates by absorbing heat, absorbs a large amount of heat during the phase change process, can efficiently take away the heat generated by the battery, quickly reduce the battery temperature, ensure that the battery is always in the appropriate working temperature range, and maintain a good performance state. The gas-phase working medium is quickly transported to the condenser 32 through the steam channel 33, exchanges heat with the external air by natural convection, dissipates the heat and condenses into a liquid-phase working medium in the condenser 32, and then returns to the manifold microchannel evaporator 31 under the action of capillary force, forming a continuous and stable cycle. This process is completely driven by the physical properties of the working medium itself without additional energy consumption, greatly improving the energy efficiency ratio of the third heat dissipation unit.

[0058] According to the embodiment of the present invention, the temperature range of the liquid-phase working medium at the first temperature is 30 - 40 °C, the temperature range of the gas-phase working medium at the second temperature is 60 - 100 °C, and the temperature range of the liquid-phase working medium at the third temperature is 30 - 40 °C.

[0059] Exemplarily, the first coolant, the second coolant, and the liquid-phase working medium involved in the above embodiments can be independently selected from any one of water, ethylene glycol aqueous solution, and hydrofluoroether coolants, and the present invention is not limited thereto.

[0060] Figure 6 It is a schematic diagram of the control system constructed according to the heat dissipation method of the present invention.

[0061] According to the embodiment of the present invention, as Figure 6 shown, a control system for controlling the first heat dissipation unit and the second heat dissipation unit is provided in the humanoid robot. Specifically, the control system includes a first temperature sensor 51, a second temperature sensor 52, a first flow regulating valve 53, a second flow regulating valve 54, a first flow meter 55, a second flow meter 56, a total flow regulating valve 57, a control line 58, and a data acquisition line 59.

[0062] Specifically, the temperatures of the chip 1 and the joint motor 2 are detected by the first temperature sensor 51 and the second temperature sensor 52 respectively, and the monitored data is transmitted to the feedback controller 5 through the data acquisition line 59. The feedback controller 5 adjusts the first flow regulating valve 53 and the second flow regulating valve 54 through the control line 58 to control the flow rates of the first coolant and the second coolant, and transmits the acquired flow rate information to the feedback controller 5 through the first flow meter 55 and the second flow meter 56. Meanwhile, the feedback controller can also adjust the total flow regulating valve 57 to control the flow rate of the coolant flowing through the infusion pump 4.

[0063] According to an embodiment of the present invention, continuing as Figure 6 shown, the method for dissipating heat from a bio-vascular bionic liquid cooling network for a humanoid robot provided by the present invention further includes: monitoring the temperature of the chip 1 by the first temperature sensor 51 and sending the temperature of the chip 1 to the feedback controller 5, so that the feedback controller 5 adjusts the opening degree of the first flow regulating valve 53 installed in the first liquid inlet pipe 13 based on the temperature of the chip 1 to change the flow rate of the first coolant with the first temperature in the first liquid inlet pipe 13; monitoring the temperature of the joint motor 2 by the second temperature sensor 52 and sending the temperature of the joint motor 2 to the feedback controller 5, so that the feedback controller 5 adjusts the opening degree of the second flow regulating valve 54 installed in the second liquid inlet pipe 23 based on the temperature of the joint motor 2 to change the flow rate of the second coolant with the first temperature in the second liquid inlet pipe 23.

[0064] In the embodiment of the present invention, through the collaborative work of the first temperature sensor 51, the second temperature sensor 53 and the feedback controller 5, precise temperature control of the key heat-generating components of the humanoid robot is achieved, and the technical effect is remarkable. The first temperature sensor 51 monitors the temperature of the chip 1 in real time and transmits the data to the feedback controller 5. The feedback controller 5 precisely adjusts the opening degree of the first flow regulating valve 53 according to the temperature of the chip 1 and dynamically adjusts the flow rate of the first coolant. When the temperature of the chip 2 rises, the flow rate of the first coolant is increased to enhance heat dissipation; when the temperature decreases, the flow rate is decreased to avoid over-cooling. This intelligent regulation greatly improves the accuracy and efficiency of heat dissipation of the chip 1, ensures the stable operation of the chip 1, and maintains its high-performance computing ability. The second temperature sensor and the feedback controller 5 operate in the same logic. The temperature of the joint motor 2 is monitored in real time, and the feedback controller 5 adjusts the second flow regulating valve 54 accordingly to flexibly control the flow rate of the second coolant. The heat dissipation requirements under different working states of the joint motor 2 are precisely matched to ensure that the motor always maintains an appropriate temperature under complex motion conditions, improve the working stability and reliability of the motor, reduce the failures caused by overheating, and provide a solid guarantee for the flexible and stable operation of the joints of the humanoid robot. The entire system optimizes the heat dissipation effect and improves the overall performance of the robot through intelligent perception and precise regulation.

[0065] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments have been described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. A biomimetic liquid-cooling network heat dissipation method for humanoid robots, the method comprising: Using a first heat dissipation unit to perform embedded near-junction heat dissipation with a driving source on the chips located in the brain of the humanoid robot; Using a second heat dissipation unit to perform indirect heat dissipation with a driving source on the joint motors located at the movable joint parts of the humanoid robot; Using a third heat dissipation unit to perform self-driven indirect heat dissipation on the power battery located in the chest of the humanoid robot.

2. The method according to claim 1, wherein: The first heat dissipation unit includes a manifold microchannel etched in the silicon-based channel of the chip, a channel inlet and a channel outlet communicating with the manifold microchannel, a first liquid inlet pipe communicating with the channel inlet, a first cooling coil communicating with the channel outlet, and an infusion pump.

3. The method according to claim 2, wherein: Performing embedded near-junction heat dissipation with a driving source on the chips located in the brain of the humanoid robot includes: Using the infusion pump to drive the first coolant at the first temperature to enter the manifold microchannel through the first liquid inlet pipe and the channel inlet to absorb the heat of the chip, generating the first coolant at the second temperature, and the first coolant at the second temperature enters the first cooling coil through the channel outlet and is cooled by the outside air in the first cooling coil, and after generating the first coolant at the third temperature, it flows back to the infusion pump; The heat transfer method adopted by the first coolant at the first temperature to absorb the heat of the chip in the multiple channels includes at least one of jet flow, convection, and evaporation.

4. The method according to claim 2, wherein: The first cooling coil is arranged on the back of the humanoid robot, and the arrangement method of the first cooling coil includes one of the following: in-line shape, S shape, return shape, spiral shape, snake shape.

5. The method according to any one of claims 1-4, wherein: The second heat dissipation unit includes an atomizing member, a cooling chamber, a second liquid inlet pipe communicating with the inlet of the atomizing member, a second cooling coil communicating with the outlet of the cooling chamber, and an infusion pump, wherein the atomizing member includes a plurality of injection ports arranged at the inlet of the cooling chamber, the cooling chamber includes a cold plate in surface contact with the joint motor, and the injection directions of the plurality of injection ports are directly opposite to the cold plate.

6. The method according to claim 5, wherein: Performing indirect heat dissipation with a driving source on the joint motors located at the movable joint parts of the humanoid robot includes: Using the infusion pump to drive the second coolant at the first temperature to enter the atomizing member for atomization and enter the cooling chamber through the plurality of injection ports and then be sprayed onto the cold plate, and realizing indirect heat dissipation of the joint motor by cooling the cold plate, generating the second coolant at the second temperature, and the second coolant at the second temperature enters the second cooling coil and is cooled by the outside air in the second cooling coil, and after generating the second coolant at the third temperature, it flows back to the infusion pump; The heat transfer method adopted by the second coolant at the first temperature to cool the cold plate in the cooling chamber includes liquid drop impact, liquid film convection, and liquid film evaporation.

7. The method according to claim 5, wherein: The joint motors include a plurality of upper limb joint motors located at a plurality of upper limb active joint positions, and a plurality of lower limb joint motors located at a plurality of lower limb active joint positions; The second heat dissipation unit includes a plurality of upper limb heat dissipation units for dissipating heat from the plurality of upper limb joint motors respectively, and a plurality of lower limb heat dissipation units for dissipating heat from the plurality of lower limb joint motors respectively; The plurality of upper limb heat dissipation units corresponding to the same upper limb share a second liquid inlet pipe and a second cooling coil; The plurality of lower limb heat dissipation units corresponding to the same lower limb share a second liquid inlet pipe and a second cooling coil.

8. The method according to claim 1, wherein: The third heat dissipation unit includes a manifold microchannel evaporator, a condenser, and a vapor channel and a liquid channel connecting the manifold microchannel evaporator and the condenser, wherein the manifold microchannel evaporator is in surface contact with the power battery; The manifold microchannel evaporator has a manifold microchannel structure, and uses the capillary force generated by the microchannels to drive the circulation of the working fluid, realizing the self-circulation of the working fluid.

9. The method according to claim 8, wherein Using the third heat dissipation unit to perform self-driven indirect heat dissipation on the power battery located in the chest of the humanoid robot includes: The liquid-phase working fluid at the first temperature absorbs heat and evaporates in the manifold microchannel evaporator, indirectly dissipating heat from the power battery and generating a gas-phase working fluid at the second temperature. The gas-phase working fluid at the second temperature is transported to the condenser along the vapor channel, dissipates heat to the external air through the condenser, and the gas-phase working fluid at the second temperature condenses in the condenser to generate a liquid-phase working fluid at the third temperature. The liquid-phase working fluid at the third temperature flows back to the manifold microchannel evaporator along the liquid channel under the drive of the capillary force generated by the manifold microchannels.

10. The method according to claim 6, further comprising: Monitoring the chip temperature using a first temperature sensor and sending the chip temperature to a feedback controller, so that the feedback controller adjusts the opening degree of a first flow regulating valve installed in the first liquid inlet pipe based on the chip temperature to change the flow rate of the first coolant at the first temperature in the first liquid inlet pipe; Monitoring the joint motor temperature using a second temperature sensor and sending the joint motor temperature to a feedback controller, so that the feedback controller adjusts the opening degree of a second flow regulating valve installed in the second liquid inlet pipe based on the joint motor temperature to change the flow rate of the second coolant at the first temperature in the second liquid inlet pipe.

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