Liquid cooling heat dissipation robot joint module and robot

Abstract

The invention discloses a liquid cooling heat dissipation robot joint module and a robot, and belongs to the technical field of robots, and the liquid cooling heat dissipation robot joint module comprises a motor assembly which comprises a stator and an outer rotor arranged outside the stator in a sleeving manner, and further comprises a shell; the input end of the speed reducer is in transmission connection with the output end of the outer rotor; the liquid cooling system comprises a first liquid cooling flow channel integrated in the shell, at least part of the first liquid cooling flow channel is arranged around the stator, the first liquid cooling flow channel is provided with a first liquid inlet and a first liquid outlet, and cooling liquid can take away heat generated by the stator. According to the liquid cooling heat dissipation robot joint module, an efficient, reliable, compact and low-noise heat dissipation mode is provided for a high-power-density robot joint in an extremely limited space, and meanwhile the situation that the size, weight and complexity of the module are remarkably increased is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a liquid cooling heat dissipation robot joint module and a robot. BACKGROUND

[0002] With the development of robot technology towards high precision, high power density and miniaturization, especially in the field of humanoid robots, collaborative robots and high-precision industrial robot arms, the performance of the core driving unit-joint module is extremely demanding. The joint module usually integrates a motor, a reducer, a driving circuit and a sensor, which will generate a large amount of heat when continuously outputting large torque in a limited space. The main heat sources include motor winding joule heat, core loss and reducer gear meshing friction heat.

[0003] In the prior art, the heat dissipation mode of the robot joint module is mainly natural air cooling or forced air cooling. Natural air cooling relies on heat exchange between the shell and the air, and is limited by the contact area and the thermal conductivity, so the heat dissipation efficiency is very low, which cannot meet the continuous working demand of high-performance joints. Forced air cooling forms air convection through a fan, but the introduction of the fan increases the volume, weight and noise of the module, and its heat dissipation efficiency is restricted by the environment, making it difficult to form an effective heat dissipation path. SUMMARY

[0004] In order to solve the above problems in the prior art, the purpose of the present application is to provide a liquid cooling heat dissipation robot joint module and a robot, which can provide a high-efficiency, reliable, compact and low-noise heat dissipation mode for high-power-density robot joints in an extremely limited space, while avoiding significantly increasing the volume, weight and complexity of the module.

[0005] The technical scheme adopted by the present application to solve the technical problems is: A liquid cooling heat dissipation robot joint module is provided, comprising: a motor assembly comprising a stator and an outer rotor sleeved outside the stator, further comprising a shell; a reducer, the input end of which is in transmission connection with the output end of the outer rotor; a liquid cooling system comprising a first liquid cooling flow channel integrated in the shell, the first liquid cooling flow channel being arranged at least partially around the stator and being provided with a first liquid inlet and a first liquid outlet, and the cooling liquid can carry away the heat generated by the stator.

[0006] Further, the first liquid cooling flow channel further extends and is in heat conduction contact with the reducer, so as to realize heat dissipation of the reducer.

[0007] Further, the liquid cooling system further comprises a second liquid cooling flow channel, which is arranged at the winding end of the stator and is used for targeted heat dissipation of the motor winding. The second liquid cooling flow channel is provided with a second liquid inlet and a second liquid outlet.

[0008] Further, the flow channel shape of the first liquid cooling flow channel and / or the second liquid cooling flow channel is one of annular, serpentine or spiral.

[0009] Further, a Tesla valve structure is arranged in the first liquid cooling flow channel and / or the second liquid cooling flow channel, for enhancing the turbulent degree of the cooling liquid to strengthen heat exchange.

[0010] Further, the first liquid cooling flow channel and the second liquid cooling flow channel are independent of each other, and constitute a parallel liquid cooling loop. Alternatively, the first liquid outlet of the first liquid cooling flow channel and the second liquid inlet of the second liquid cooling flow channel are connected through a pipeline, and a serial cooling loop is constituted.

[0011] Further, the speed reducer is one of a harmonic reducer, a cycloid pin wheel reducer or a planetary gear reducer.

[0012] Further, the robot further comprises: a temperature sensor arranged near the motor assembly and / or the speed reducer; a controller connected with the temperature sensor, and adjusting the flow of the cooling liquid according to the temperature signal detected by the temperature sensor.

[0013] Further, the cooling liquid is water-glycol mixed liquid or insulating fluorinated liquid.

[0014] A robot comprises a liquid cooling heat dissipation robot joint module.

[0015] Compared with the prior art, the robot has the following beneficial effects: 1. The liquid cooling heat dissipation robot joint module of the present application can dissipate heat from the motor housing and the speed reducer through the liquid cooling flow channel, and can realize targeted cooling of the two main heat sources in the joint module, so that the cooling liquid can efficiently absorb and carry away a large amount of heat, and the motor and the speed reducer can operate at a safe temperature, thereby solving the heat dissipation bottleneck problem of high-performance motors in a closed space. 2. The liquid cooling heat dissipation robot joint module of the present application integrates a Tesla valve structure in the liquid cooling flow channel, and the structure can force the cooling liquid to generate intense vortex and collision, and can efficiently destroy the thermal boundary layer of the flow channel wall, so that the heat dissipation efficiency can be improved by orders of magnitude compared with ordinary flow channels. 3、The liquid cooling heat dissipation robot joint module provided by the application can control the working temperature of the motor and the reducer in the optimal range through the cooling liquid and the temperature sensor, effectively prevent the problems of permanent magnet demagnetization, winding insulation aging, lubricating oil failure and gear box precision loss caused by overheating, in addition, the liquid cooling completely abandons the running components such as the fan, the running noise is extremely low, and the fully-sealed liquid cooling system makes the joint module not affected by the external dust, oil stains, moisture and other harsh environments. BRIEF DESCRIPTION OF DRAWINGS

[0016] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 is a structural schematic view of the application; Figure 2 is a structural schematic view from another perspective; Figure 3 is a sectional view; Figure 4 is a structural schematic view of the first liquid cooling flow channel; Figure 5 is a structural schematic view of the second embodiment; Figure 6 is a sectional view; Figure 7 is a structural schematic view of the liquid cooling flow channel of the third embodiment; Figure 8 is a structural schematic view of the Tesla valve of the fourth embodiment.

[0017] In the figure: 1-stator, 2-outer rotor, 3-reducer, 4-housing, 5-first liquid cooling flow channel, 6-first liquid inlet, 7-first liquid outlet, 8-second liquid cooling flow channel, 9-second liquid inlet, 10-second liquid outlet, 11-Tesla valve. DETAILED DESCRIPTION

[0018] The application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related application, and not to limit the application. In addition, it should be noted that only the parts related to the application are shown in the drawings for ease of description.

[0019] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict. The application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0020] Embodiment one: As Figures 1-3As shown, this embodiment provides a liquid-cooled robot joint module, including a motor assembly, a reducer 3, and a liquid cooling system. The motor assembly includes a stator 1 and an outer rotor 2 sleeved outside the stator 1, and also includes a motor housing 4. The input end of the reducer 3 is drively connected to the output end of the outer rotor 2. The housing 4 is located between the motor assembly and the reducer 3.

[0021] The liquid cooling system includes a first liquid cooling channel 5 integrated within the housing 4. In this embodiment, the first liquid cooling channel 5 is arranged around the stator 1. The first liquid cooling channel 5 is provided with a first liquid inlet 6 and a first liquid outlet 7. The coolant in the first liquid cooling channel 5 can carry away the heat generated by the stator 1 and the drive circuit.

[0022] In this embodiment, as Figure 4 As shown, the first liquid cooling channel 5 has an annular shape. Furthermore, the first liquid cooling channel 5 extends further and makes thermal contact with the reducer 3, dissipating heat from both the motor assembly and the reducer 3. During operation, coolant enters the first liquid cooling channel 5 through the first inlet 6, flows through the outer periphery of the stator 1 and the reducer 3, absorbing the heat generated by the motor and reducer 3 during operation, and then flows out from the first outlet 7, achieving efficient heat dissipation for the motor and reducer 3.

[0023] The coolant is a water-ethylene glycol mixture or an insulating fluorinated liquid. When an insulating fluorinated liquid is selected, the boiling point of the coolant is set to be higher than the normal operating temperature but lower than the critical temperature of the component. Under this configuration, the liquid cooling system can not only efficiently dissipate heat through single-phase liquid cooling under normal operating conditions, but also has a safety redundancy feature. That is, when the system experiences extreme conditions such as instantaneous overload, if the local heat flux density suddenly increases, the coolant can undergo local phase change boiling on the heating surface, using its huge latent heat of phase change to quickly remove heat, thereby providing an additional safety barrier for the system and preventing thermal runaway.

[0024] In this embodiment, the reducer 3 is a planetary gear reducer, and the first liquid cooling channel 5 is arranged around the gear ring. The large amount of frictional heat generated by the meshing of the planetary gears and the gear ring is rapidly transferred to the first liquid cooling channel 5 through the gear ring, and then efficiently carried away by the coolant.

[0025] The liquid-cooled robot joint module exemplified in this embodiment provides efficient, low-noise, and reliable heat dissipation for high-power-density joint modules without significantly increasing their size and weight, thereby improving their power density, operational stability, and environmental adaptability.

[0026] Example 2: This embodiment is based on Embodiment 1, such as... Figures 5-6As shown, a second annular liquid cooling channel 8 is added, which has a similar structure to the first liquid cooling channel 5. The second liquid cooling channel 8 is located at the winding end of the stator 1 and is used for targeted heat dissipation of the motor windings. The second liquid cooling channel 8 has a second liquid inlet 9 and a second liquid outlet 10. In this embodiment, the first liquid cooling channel 5 and the second liquid cooling channel 8 are independent of each other and form a parallel liquid cooling circuit. The independent arrangement of the two liquid cooling channels is more conducive to efficient heat dissipation.

[0027] Example 3: like Figure 7 As shown, in this embodiment, based on embodiment two, the flow channel shapes of the first liquid cooling channel 5 and the second liquid cooling channel 8 are both designed as spirals, so that the flow path of the coolant is highly consistent with the shape of the heat source, the flow channel is longer, and the heat exchange time is more sufficient.

[0028] Example 4: This implementation is based on Example 2, such as Figure 8 As shown, a Tesla valve 11 structure is installed in the first liquid cooling channel 5 and the second liquid cooling channel 8. The Tesla valve 11 structure is integrated in the liquid cooling channel. As a passive turbulence generator, this structure can force the coolant to generate violent eddies and collisions, efficiently destroying the thermal boundary layer on the channel wall, so that the heat dissipation efficiency is improved by orders of magnitude compared with ordinary channels.

[0029] Example 5: This embodiment, based on Embodiment 2, adds temperature sensors and a controller. In this embodiment, multiple temperature sensors are located around the first liquid cooling channel 5, and are directly installed in the winding slots of the motor stator 1, and in key heat-generating components such as the gear ring or housing of the reducer 3. Temperature sensors located around the second liquid cooling channel 8 are installed on the wall of the second liquid cooling channel 8, with the sensing end close to the end of the winding assembly. The controller is connected to the temperature sensors and adjusts the opening of the flow control valve according to the temperature signals detected by the temperature sensors, thereby regulating the flow rate of the coolant in the first and second liquid cooling channels 5 and 8 respectively.

[0030] When a temperature increase is detected, the controller controls the flow control valve to increase the coolant flow rate; when the temperature decreases, the flow rate is reduced accordingly, achieving intelligent temperature control and optimizing energy utilization.

[0031] Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-mentioned technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-mentioned technical features or their equivalent features without departing from the inventive concept. For example, technical solutions formed by substituting the above-mentioned features with technical features disclosed in this application (but not limited to) that have similar functions.

Claims

1. A liquid-cooled robot joint module, characterized in that, include: The motor assembly includes a stator (1) and an outer rotor (2) sleeved outside the stator (1), and also includes a housing (4); The input end of the reducer (3) is connected to the output end of the outer rotor (2) in a transmission connection; The liquid cooling system includes a first liquid cooling channel (5) integrated within the housing (4), the first liquid cooling channel (5) being arranged at least partially around the stator (1) and having a first liquid inlet (6) and a first liquid outlet (7), wherein the coolant can carry away the heat generated by the stator (1).

2. The liquid-cooled heat dissipation robot joint module according to claim 1, characterized in that, The first liquid cooling channel (5) extends further and makes thermal contact with the reducer (3) to dissipate heat from the reducer (3).

3. The liquid-cooled heat dissipation robot joint module according to claim 1, characterized in that, The liquid cooling system also includes a second liquid cooling channel (8), which is located at the winding end of the stator (1) and is used to provide targeted heat dissipation for the motor windings; The second liquid cooling channel (8) is provided with a second liquid inlet (9) and a second liquid outlet (10).

4. The liquid-cooled heat dissipation robot joint module according to claim 3, characterized in that, The flow channel shape of the first liquid cooling channel (5) and / or the second liquid cooling channel (8) is one of annular, serpentine or spiral.

5. The liquid-cooled heat dissipation robot joint module according to claim 1 or 3, characterized in that, The first liquid cooling channel (5) and / or the second liquid cooling channel (8) are provided with a Tesla valve (11) structure to enhance the turbulence of the coolant and strengthen heat transfer.

6. The liquid-cooled heat dissipation robot joint module according to claim 3, characterized in that, The first liquid cooling channel (5) and the second liquid cooling channel (8) are independent of each other and form a parallel liquid cooling circuit; Alternatively, the first liquid outlet (7) of the first liquid cooling channel (5) and the second liquid inlet (9) of the second liquid cooling channel (8) are connected by a pipeline to form a series cooling circuit.

7. The liquid-cooled heat dissipation robot joint module according to claim 1, characterized in that, The reducer (3) is one of a harmonic reducer, a cycloidal pinwheel reducer or a planetary gear reducer.

8. The liquid-cooled heat dissipation robot joint module according to claim 1, characterized in that, Also includes: A temperature sensor is located near the motor assembly and / or reducer (3); The controller is connected to the temperature sensor and adjusts the flow rate of the coolant according to the temperature signal detected by the temperature sensor.

9. The liquid-cooled heat dissipation robot joint module according to claim 1, characterized in that, The coolant is a water-ethylene glycol mixture or an insulating fluorinated liquid.

10. A robot, characterized in that, Includes the liquid-cooled heat dissipation robot joint module as described in any one of claims 1-9.

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