Liquid cooling joint module and robot

Abstract

The liquid cooling joint module comprises a speed reducer, a motor and a controller, at least two of the speed reducer, the motor and the controller are provided with liquid cooling channels, and the liquid cooling channels are sequentially communicated and connected with an external pipeline to form a closed circulating cooling flow channel. The closed circulation cooling flow channel is formed through the liquid cooling channel, compared with a natural cooling mode, restriction of the environment temperature and natural convection intensity can be effectively eliminated, the heat dissipation capacity is enhanced, and the problem that equipment is overheated due to insufficient heat dissipation when instantaneous power is increased is solved. The liquid cooling channel directly takes away heat of the speed reducer, the motor, the controller and other core components, direct heat exchange between the surface of a metal part and the environment is reduced, the surface high-temperature risk is reduced, and therefore the hidden danger that people are scalded when touching the metal part is avoided, and the use safety and subjective experience are improved.

Description

Technical Field

[0001] This invention relates to the field of heat dissipation technology for power transmission devices, specifically to a liquid-cooled joint module and robot. Background Technology

[0002] Existing joint modules typically rely on natural cooling for heat dissipation. However, their efficiency is severely limited by ambient temperature and the intensity of natural convection. A sudden increase in power can cause a decrease in heat dissipation capacity, potentially leading to overheating. During operation, heat is directly exchanged with the environment through metal parts, generating high temperatures on the surface. Touching these hot components can cause burns and result in a poor user experience. Summary of the Invention

[0003] In view of this, the present invention provides a liquid-cooled joint module and robot to solve the problem of low heat dissipation efficiency of existing heat dissipation methods for joint modules.

[0004] In a first aspect, the present invention provides a liquid-cooled joint module, including a reducer, a motor and a controller, wherein at least two of the reducer, the motor and the controller are provided with liquid-cooling channels, and each of the liquid-cooling channels is sequentially connected and connected to an external pipeline to form a closed circulating cooling channel.

[0005] The beneficial effects of the aforementioned liquid-cooled joint module are as follows: By forming a closed-loop cooling channel through the liquid cooling system, compared to natural cooling, it effectively overcomes the limitations of ambient temperature and natural convection intensity, enhancing heat dissipation capacity and preventing overheating due to insufficient heat dissipation during sudden power increases. The liquid cooling channel directly removes heat from core components such as the reducer, motor, and controller, reducing direct heat exchange between the metal parts and the environment, lowering the risk of high surface temperatures, and thus avoiding burns from personnel touching the parts, improving safety and user experience.

[0006] In one optional implementation, there are two liquid cooling channels, namely a first liquid channel and a second liquid channel, wherein the first liquid channel is disposed on the motor and the second liquid channel is disposed on the controller.

[0007] The beneficial effects of the above technical solution are as follows: the first liquid channel, located on the motor, can directly remove the heat generated during motor operation; the second liquid channel, located on the controller, can efficiently dissipate heat from core components such as the controller power board, achieving precise heat dissipation for the two key heat sources—the motor and the controller—and avoiding localized heat accumulation caused by a single heat dissipation path. Furthermore, the liquid cooling channels directly remove heat from inside the motor and controller, reducing heat transfer to the surface through metal parts, thereby lowering the surface temperature of the joint module, avoiding the risk of burns when touched, and improving user safety and user experience.

[0008] In one optional embodiment, the motor includes a stator, a rotor, and a motor housing, wherein the first liquid channel is disposed on the motor housing, and the motor housing is provided with a first interface and a second interface respectively communicating with the second liquid channel.

[0009] In one optional embodiment, the controller includes a power board and a controller housing, the second liquid channel is disposed on the controller housing, and the controller housing is provided with a third interface, a fourth interface, a fifth interface and a sixth interface, the third interface being connected to the first interface, the fourth interface being connected to the second interface, and the fifth and sixth interfaces being respectively connected to external pipelines.

[0010] The beneficial effects of the above technical solution are as follows: the first liquid channel is set in the motor housing, which can directly dissipate the heat generated by the motor during operation through the coolant; the second liquid channel is set in the controller housing, which can efficiently remove the heat from the power board, thereby achieving targeted heat dissipation for the two key heat sources, the motor and the controller.

[0011] By connecting the first and second interfaces of the motor housing to the third and fourth interfaces of the controller housing, the first and second liquid channels are connected end to end. Combined with the fifth and sixth interfaces, they are connected to external pipelines to form a closed circulation channel. Compared with natural cooling, this can significantly enhance heat dissipation efficiency, get rid of the constraints of ambient temperature and natural convection intensity, and effectively solve the problem of insufficient heat dissipation when instantaneous power increases.

[0012] In one alternative embodiment, the motor housing includes a first housing and a second housing, the first housing being disposed around the stator and rotor, the second housing being disposed at an end of the first housing, and a portion of the second housing extending into the inside of the stator.

[0013] In one alternative embodiment, the motor is an internal rotor motor, the stator is in contact with the inner wall of the first housing, and the first liquid channel is disposed on the first housing.

[0014] In one optional embodiment, the motor is an external rotor motor, and the second housing includes:

[0015] An annular end plate, which is connected to the first housing; An annular protrusion is provided on the side of the annular end plate facing the reducer. The stator is provided on the periphery of the annular protrusion and in contact with it. The first liquid channel is provided on the annular protrusion.

[0016] The beneficial effects of the above technical solution are as follows: the annular protrusion directly contacts the outer periphery of the stator, and the first liquid channel is set on the annular protrusion, allowing the heat generated during stator operation to be quickly transferred to the annular protrusion through direct contact, and then efficiently discharged through the liquid cooling channel. Compared with non-contact or indirect heat dissipation structures, this significantly shortens the heat transfer path and improves the heat dissipation response speed. The stator and the outer periphery of the annular protrusion are in contact, forming a large-area fit, ensuring that the heat of the stator is evenly transferred to the annular protrusion.

[0017] In a second aspect, the present invention provides a robot comprising multiple power unit systems; the power unit systems include: At least one structural part; At least one of the liquid-cooled joint modules, wherein the liquid-cooling channel of the liquid-cooled joint module is connected to the liquid-cooling channel of at least one structural component through a connecting pipe to form a closed circulating cooling channel.

[0018] The beneficial effects of the above technical solution are as follows: the present invention can connect the liquid cooling channel of the robot limb and the liquid cooling channel of the liquid cooling joint module through the connecting pipe to form a liquid cooling heat dissipation channel to support the heat dissipation of the joint module during operation.

[0019] This invention employs a liquid-cooled robot, which has a lower surface temperature of the robot's joint modules compared to natural cooling methods, reducing the risk of burns from touching high-temperature components.

[0020] In one optional embodiment, the structural component with liquid cooling channels is a metal component. The metal component has excellent thermal conductivity and can quickly conduct the heat from the high-temperature coolant flowing through its liquid cooling channels to its overall structure. Then, it can efficiently exchange heat with the external environment through the outer surface of the structural component, thereby rapidly reducing the temperature of the coolant.

[0021] In one alternative embodiment, at least one of the power unit systems further includes a drive pump disposed on a circulating cooling channel; The liquid outlet of the structural component is connected to the liquid inlet of the drive pump through a first connecting pipe, the liquid outlet of the liquid-cooled joint module is connected to the liquid inlet of the structural component through a second connecting pipe, and the liquid outlet of the drive pump is connected to the liquid inlet of the liquid-cooled joint module through a third connecting pipe.

[0022] In one alternative implementation, the robot further includes: Battery; The battery compartment contains the battery. The circulating cooling channel flows through the battery compartment to regulate the ambient temperature of the battery compartment with coolant. This effectively maintains the temperature inside the battery compartment within the optimal operating range of the battery, preventing performance degradation or shortened lifespan due to excessively high temperatures. It also prevents the battery discharge efficiency from decreasing in low-temperature environments, ensuring stable battery output.

[0023] In one optional embodiment, the battery compartment is provided with a circumferential pipe surrounding the battery. The inlet of the circumferential pipe is connected to a first bypass branch and a third bypass branch. The first bypass branch is connected to a first connecting pipe, and the third bypass branch is connected to a third connecting pipe. The outlet of the circumferential pipe is connected to a second bypass branch, and the second bypass branch is connected to a second connecting pipe.

[0024] In one optional embodiment, a first electric valve is provided on the first bypass branch, a second electric valve is provided on the second bypass branch, and a third electric valve is provided on the third bypass branch. When the ambient temperature is below a preset threshold, the first and second electric valves open and the third electric valve closes, allowing the coolant in the liquid cooling channel to absorb the heat of the joint module and flow through the battery compartment to keep or heat up the battery compartment. When the ambient temperature is higher than a preset threshold, the first and third electric valves open and the second electric valve closes, allowing the coolant in the liquid cooling channel to flow through the battery compartment to lower its ambient temperature.

[0025] The beneficial effects of the above technical solution are as follows: through the coordinated control of the first electric valve, the second electric valve, and the third electric valve, the waste heat of the joint module is used to raise the temperature when the ambient temperature is lower than the preset threshold, and the coolant is introduced to cool the temperature when it is higher than the preset threshold, so as to ensure that the battery is always in the optimal operating temperature range, effectively improving the battery activity, energy density and cycle life.

[0026] In one alternative embodiment, an ambient temperature sensor is also provided inside the battery compartment. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 A schematic diagram of the structure of a liquid-cooled joint module provided for the invention; Figure 2 An exploded view of a liquid-cooled joint module provided for the invention; Figure 3 An exploded view of a liquid-cooled joint module provided for the invention; Figure 4 An exploded view of a liquid-cooled joint module provided for the invention; Figure 5 A schematic diagram of the structure of the second housing of a liquid-cooled joint module provided for the invention; Figure 6 A schematic diagram of the structure of a controller housing for a liquid-cooled joint module provided for the invention; Figure 7 A schematic diagram of the liquid channel in a liquid-cooled joint module provided for the invention; Figure 8 A schematic diagram of a connector connection for a liquid-cooled joint module provided for the invention; Figure 9 A schematic diagram of the liquid cooling channel composition of a robot's power unit system provided for the invention; Figure 10 A schematic diagram of a liquid cooling channel for a robot provided for the invention; Figure 11 A schematic diagram of the structure of a robot provided for the invention.

[0029] Explanation of reference numerals in the attached figures: 1. Liquid-cooled joint module; 11. Reducer; 12. Motor; 121. Stator; 122. Rotor; 123. Motor housing; 1231. First housing; 1232. Second housing; 12321. Annular end plate; 12322. Annular protrusion; 124. First liquid channel; 126. First interface; 127. Second interface; 13. Controller; 131. Power board; 132. Controller housing; 133. Fifth interface; 134. Sixth interface; 135. Second liquid channel; 136. Third interface; 137. Fourth interface; 2. Power unit system; 21. Structural parts; 22. Drive pump; 23. Battery compartment; 24. First bypass branch; 25. Second bypass branch; 26. Third bypass branch; 27. First electric valve; 28. Second electric valve; 29. ​​Third electric valve; 210. Circular pipe; 211. Battery; 3. Connecting pipe; 31. First connecting pipe; 32. Second connecting pipe; 33. Third connecting pipe. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Existing joint modules typically rely on natural cooling for heat dissipation. However, their efficiency is severely limited by ambient temperature and the intensity of natural convection. A sudden increase in power can cause a decrease in heat dissipation capacity, potentially leading to overheating. During operation, heat is directly exchanged with the environment through metal parts, generating high temperatures on the surface. Touching these hot components can cause burns and result in a poor user experience.

[0032] Based on this, the present invention provides a liquid-cooled joint module and robot. This liquid-cooled joint module integrates a power unit system and a liquid-cooled circulation component. A drive pump drives the coolant to circulate within a circumferential pipe, first to third connecting pipes, and various bypass branches. Heat-generating components in the power unit system, such as structural parts, the drive pump, and the battery compartment, exchange heat through direct or indirect contact with the coolant, significantly improving heat dissipation efficiency. This overcomes the dependence of natural cooling on ambient temperature and convection intensity, allowing for rapid heat dissipation even during sudden power increases, preventing overheating. Simultaneously, the heat from the heat-generating components is absorbed by the coolant, significantly reducing the temperature of surface metal parts, eliminating the risk of burns from contact, and optimizing the user experience.

[0033] Combination Figures 1 to 11 As shown, the specific embodiments of the present invention will be described in detail below with reference to the robot of the first aspect of the present invention and the robot of the second aspect of the present invention.

[0034] According to an embodiment of the present invention, in a first aspect, a liquid-cooled joint module is provided, including a reducer 11, a motor 12 and a controller 13, at least two of the reducer 11, the motor 12 and the controller 13 are provided with liquid-cooling channels, and each liquid-cooling channel is sequentially connected and connected to an external pipeline to form a closed circulating cooling channel.

[0035] In this embodiment, a closed-loop cooling channel is formed through the liquid cooling channel. Compared with natural cooling, this effectively overcomes the constraints of ambient temperature and natural convection intensity, enhances heat dissipation capacity, and avoids overheating problems caused by insufficient heat dissipation when the instantaneous power increases. The liquid cooling channel directly removes heat from core components such as the reducer 11, motor 12, and controller 13, reducing direct heat exchange between the surface of metal parts and the environment, lowering the risk of high surface temperatures, thereby avoiding the risk of burns when personnel touch the parts, and improving user safety and subjective experience.

[0036] In some embodiments, there are two liquid cooling channels, namely a first liquid channel 124 and a second liquid channel 135. The first liquid channel 124 is disposed on the motor 12, and the second liquid channel 135 is disposed on the controller 13.

[0037] In this embodiment, the first liquid channel 124 is disposed on the motor 12, which can directly remove the heat generated by the motor during operation; the second liquid channel 135 is disposed on the controller 13, which can efficiently remove the heat from core components such as the controller power board, achieving precise heat dissipation for the two key heat sources, the motor 12 and the controller 13, and avoiding local heat accumulation caused by a single heat dissipation path. Furthermore, the liquid cooling channels directly remove heat from inside the motor and controller, reducing heat transfer to the surface through metal parts, thereby lowering the surface temperature of the joint module, avoiding the risk of burns when touched, and improving safety and user experience.

[0038] In some embodiments, the motor 12 is an external rotor motor. The motor 12 includes a stator 121, a rotor 122 and a motor housing 123. A first liquid channel 124 is disposed on the motor housing 123, and the motor housing 123 is provided with a first interface 126 and a second interface 127 respectively communicating with the second liquid channel 135.

[0039] The controller 13 includes a power board 131 and a controller housing 132. A second liquid channel 135 is disposed on the controller housing 132. The controller housing 132 is provided with a third interface 136, a fourth interface 137, a fifth interface 133, and a sixth interface 134. The third interface is connected to the first interface 126, and the fourth interface is connected to the second interface 127, forming a cooling channel. The inlet and outlet of the cooling channel are the fifth interface 133 and the sixth interface 134, respectively. The fifth interface 133 and the sixth interface 134 are respectively connected to external pipelines. The heat generated by the power board 131 can be carried away through the second liquid channel 135.

[0040] In this embodiment, the first liquid channel 124 is disposed in the motor housing 123, which can directly dissipate the heat generated by the motor during operation through the coolant; the second liquid channel 135 is disposed in the controller housing 132, which can efficiently remove the heat from the power board 131, thereby achieving targeted heat dissipation for the two key heat sources, the motor and the controller.

[0041] The first interface 126 and the second interface 127 of the motor housing 123 are connected to the third interface and the fourth interface of the controller housing 132, respectively, so that the first liquid channel 124 and the second liquid channel 135 are connected end to end. Combined with the fifth interface 133 and the sixth interface 134, they are connected to the external pipeline to form a closed circulation channel. Compared with the natural cooling method, the heat dissipation efficiency can be significantly enhanced, and the constraints of ambient temperature and natural convection intensity can be eliminated, effectively solving the problem of insufficient heat dissipation when the instantaneous power increases.

[0042] Furthermore, the motor housing and the controller housing are connected through clearly defined interfaces (first to fourth interfaces), and external pipelines are connected through the fifth and sixth interfaces. The structure is clear, the connection is convenient, and it is easy to produce, assemble, and maintain.

[0043] In some embodiments, the motor housing 123 includes a first housing 1231 and a second housing 1232. The first housing 1231 is disposed around the stator 121 and the rotor 122, and the second housing 1232 is disposed at an end of the first housing 1231 and detachably connected to the first housing 1231, with a portion of the second housing 1232 extending into the inner side of the stator 121. The reducer 11 shares the first housing 1231 with the motor 12, and the reducer 11 includes gears disposed inside the first housing 1231.

[0044] In some embodiments, the motor 12 is an internal rotor motor, the stator 121 is in contact with the inner wall of the first housing 1231, and the first liquid channel 124 is disposed on the first housing 1231. The heat generated when the stator is working can be directly transferred to the first housing 1231, and then quickly absorbed and carried away by the coolant flowing in the first liquid channel 124.

[0045] In some embodiments, the motor 12 may also be an external rotor motor, and the second housing 1232 includes an annular end plate 12321 and an annular protrusion 12322. The annular end plate 12321 is connected to the first housing 1231, specifically by means of screws. The annular protrusion 12322 is disposed on the side of the annular end plate 12321 facing the reducer 11, the stator 121 is disposed around the annular protrusion 12322 and in contact with the annular protrusion 12322, and the first liquid channel 124 is disposed on the annular protrusion 12322.

[0046] In this embodiment, the annular protrusion 12322 is in direct contact with the periphery of the stator 121, and the first liquid channel 124 is disposed on the annular protrusion 12322, so that the heat generated by the stator 121 during operation can be quickly transferred to the annular protrusion 12322 through direct contact, and then efficiently discharged by the liquid cooling channel. Compared with non-contact or indirect heat dissipation structures, the heat transfer path is significantly shortened and the heat dissipation response speed is improved.

[0047] The stator 121 contacts the outer periphery of the annular protrusion 12322, forming a large-area fit to ensure that the heat of the stator is evenly transferred to the annular protrusion 12322; the liquid cooling channel is set on the annular protrusion 12322, and the flow channel can be designed along the circumference or axis of the annular protrusion 12322 to allow the coolant to fully contact the heat-generating area, avoid local heat accumulation, and further ensure the continuous and stable operation of the motor.

[0048] According to an embodiment of the present invention, in a second aspect, a robot is provided, comprising a plurality of power unit systems 2. Each power unit system 2 includes structural components 21 and liquid-cooled joint modules 1. At least one structural component 21 is provided. At least one liquid-cooled joint module 1 is provided, and the liquid-cooling channel of the liquid-cooled joint module is connected to the liquid-cooling channel of at least one structural component via a connecting pipe 3, forming a closed-loop cooling channel.

[0049] The robot system consists of n power unit systems, where n ≥ 1 and n is an integer; the nth power unit system consists of An joint modules, Bn structural parts, and Cn connecting pipes, where A ≥ 1 and A is an integer, B ≥ 1 and B is an integer, and C ≥ 2 and C is an integer.

[0050] In this embodiment, the coolant flowing through the liquid-cooled joint module 1 cools the liquid-cooled joint module 1, and the temperature of the coolant rises. Then it flows into the liquid-cooling channel of the structural component 21, and dissipates heat to the outside through the structural component 21, thereby lowering the temperature of the coolant. The cooled coolant can be recycled back to the liquid-cooled joint module 1 to realize the recycling of the coolant.

[0051] In this embodiment, the liquid cooling channels of the robot limbs and the liquid cooling channels of the liquid-cooled joint module can be connected by the connecting pipe 3 to form a liquid cooling heat dissipation channel to support the heat dissipation of the joint module during operation.

[0052] This embodiment uses a liquid-cooled robot, which has a lower surface temperature of the robot's joint modules compared to natural cooling methods, reducing the risk of burns from touching high-temperature components.

[0053] The working principle of this embodiment is as follows: the specific heat capacity of the coolant is greater than that of the aluminum alloy. When it absorbs the same amount of heat, its temperature rise is smaller than that of the aluminum alloy. The medium with a large specific heat capacity is used to absorb heat and reduce the temperature rise.

[0054] Liquid cooling channels are not only located inside the joint modules, but also in the power unit of the robot system, where the parts connecting the joint modules are metal parts. These liquid cooling channels are connected by pipes to form heat dissipation channels. The metal parts in the power unit of the robot system also participate in the heat dissipation of the joint modules through the heat dissipation channels, thus improving the heat dissipation effect.

[0055] In some embodiments, the structural component 21 is provided with a liquid cooling channel and a pipe joint. The structural component 21 with the liquid cooling channel is a metal component. The metal component has excellent thermal conductivity and can quickly conduct the heat in the high-temperature coolant flowing through its liquid cooling channel to its own overall structure. Then, it can efficiently exchange heat with the external environment through the outer surface of the structural component 21, thereby quickly reducing the temperature of the coolant.

[0056] The structural component 21 can be made of lightweight, high thermal conductivity materials such as aluminum alloy and magnesium alloy. Its liquid cooling channel can be arranged along the length of the structural component 21 to make full use of the large surface area of ​​the structural component 21 in contact with the outside air for heat dissipation.

[0057] In some embodiments, at least one power unit system 2 further includes a drive pump 22, which is disposed on the circulating cooling channel to provide continuous power to the coolant in the circulating cooling channel, driving the coolant to circulate stably between the liquid cooling channel of the liquid-cooled joint module 1 and the liquid cooling channel of the structural component 21. Through the action of the drive pump 22, it is ensured that the high-temperature coolant is promptly discharged from the liquid-cooled joint module 1 and delivered to the structural component 21 for heat dissipation, while simultaneously pumping the cooled coolant back to the liquid-cooled joint module 1, effectively improving the circulation efficiency of the coolant.

[0058] The liquid outlet of the liquid-cooled joint module 1 is connected to the liquid inlet of the structural component 21 through a second connecting pipe 32. The liquid outlet of the structural component 21 is connected to the liquid inlet of the drive pump 22 through a first connecting pipe 31. The liquid outlet of the drive pump 22 is connected to the liquid inlet of the liquid-cooled joint module 1 through a third connecting pipe 33.

[0059] In some embodiments, the robot further includes a battery 211 and a battery compartment 23. The battery is disposed within the battery compartment 23, which may be mounted on a structural component 21. A circulating cooling channel flows through the battery compartment 23 to regulate the ambient temperature of the battery compartment 23 with coolant. This effectively maintains the temperature within the battery compartment within the battery's optimal operating range, preventing performance degradation or shortened lifespan due to excessively high temperatures. It also prevents decreased battery discharge efficiency in low-temperature environments, ensuring stable battery output.

[0060] In some embodiments, the battery compartment 23 is provided with an annular pipe 210 surrounding the battery. The annular pipe 210 can uniformly heat or cool the internal environment of the battery compartment. The liquid inlet of the annular pipe 210 is connected to a first bypass branch 24 and a third bypass branch 26, respectively. The first bypass branch 24 is connected to a first connecting pipe 31, and the third bypass branch 26 is connected to a third connecting pipe 33. The liquid outlet of the annular pipe 210 is connected to a second bypass branch 25, and the second bypass branch 25 is connected to a second connecting pipe 32.

[0061] A first electric valve 27 is installed on the first bypass branch 24, a second electric valve 28 is installed on the second bypass branch 25, and a third electric valve 29 is installed on the third bypass branch 26. The electric valves can be on / off valves or proportional control valves.

[0062] When the ambient temperature is below a preset threshold, the liquid-cooled joint module generates heat during robot operation. In low-temperature environments, battery activity and energy density are low. The first electric valve 27 and the second electric valve 28 are fully open or proportionally opened, while the third electric valve 29 is closed. This allows the coolant in the liquid-cooled flow channel to absorb heat from the joint module and flow through the battery compartment, maintaining or raising the ambient temperature of the battery compartment. This increases the battery's operating temperature, which in turn improves battery activity, energy density, and lifespan. In low-temperature environments, no additional energy input is required. Simply controlling the opening and closing of the first electric valve 27, the second electric valve 28, and the third electric valve 29 allows the coolant absorbing heat from the joint module to flow directly through the circumferential pipe, converting waste heat into a heat source for the battery compartment. This achieves cascaded energy utilization and improves the system's energy efficiency.

[0063] When the ambient temperature is higher than the preset threshold, the liquid-cooled shutdown module heats up when the robot is working. The high temperature environment is not conducive to the long-term stable operation of the battery. The first electric valve 27 and the third electric valve 29 are fully open or proportionally opened, and the second electric valve 28 is closed, so that the coolant in the liquid-cooled flow channel flows through the battery compartment to reduce its ambient temperature. The lower ambient temperature of the battery is beneficial for the robot to extend the operating time under peak conditions.

[0064] In this embodiment, through the coordinated control of the first electric valve, the second electric valve, and the third electric valve, the waste heat of the joint module is used to raise the temperature when the ambient temperature is below the preset threshold, and coolant is introduced to lower the temperature when the ambient temperature is above the preset threshold, so as to ensure that the battery is always in the optimal operating temperature range, effectively improving the battery activity, energy density, and cycle life.

[0065] In some embodiments, an ambient temperature sensor is also installed inside the battery compartment 23 to detect the internal temperature of the battery compartment 23. The ambient temperature sensor is electrically connected to the robot's main control system and can feed back the detected temperature data to the main control system in real time. Based on the temperature data, the main control system automatically determines whether it is necessary to activate the heat preservation or cooling mode, and controls the opening and closing states of the first electric valve 27, the second electric valve 28, and the third electric valve 29 accordingly, thereby achieving precise closed-loop control of the internal temperature of the battery compartment.

[0066] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A liquid-cooled joint module, comprising a reducer (11), a motor (12), and a controller (13), characterized in that, At least two of the reducer (11), motor (12) and controller (13) are provided with liquid cooling channels, and each of the liquid cooling channels is connected in sequence and connected to an external pipeline to form a closed circulating cooling channel.

2. The liquid-cooled joint module according to claim 1, characterized in that, The liquid cooling channel is provided in two parts, namely a first liquid channel (124) and a second liquid channel (135). The first liquid channel (124) is provided on the motor (12), and the second liquid channel (135) is provided on the controller (13).

3. The liquid-cooled joint module according to claim 2, characterized in that, The motor (12) includes a stator (121), a rotor (122) and a motor housing (123). The first liquid channel (124) is disposed on the motor housing (123). The motor housing (123) is provided with a first interface (126) and a second interface (127) respectively communicating with the second liquid channel (135).

4. The liquid-cooled joint module according to claim 3, characterized in that, The controller (13) includes a power board (131) and a controller housing (132). The second liquid channel (135) is disposed on the controller housing (132). The controller housing (132) is provided with a third interface, a fourth interface, a fifth interface (133) and a sixth interface (134). The third interface is connected to the first interface (126), the fourth interface is connected to the second interface (127), and the fifth interface (133) and the sixth interface (134) are respectively connected to external pipelines.

5. The liquid-cooled joint module according to claim 3, characterized in that, The motor housing (123) includes a first housing (1231) and a second housing (1232). The first housing (1231) is disposed around the stator (121) and the rotor (122). The second housing (1232) is disposed at the end of the first housing (1231), and a portion of the second housing (1232) extends to the inside of the stator (121).

6. The liquid-cooled joint module according to claim 5, characterized in that, The motor (12) is an internal rotor motor, the stator (121) is in contact with the inner wall of the first housing (1231), and the first liquid channel (124) is disposed on the first housing (1231).

7. The liquid-cooled joint module according to claim 5, characterized in that, The motor (12) is an external rotor motor, and the second housing (1232) includes: An annular end plate (12321) is connected to the first housing (1231); An annular protrusion (12322) is disposed on the side of the annular end plate (12321) facing the reducer (11). The stator (121) is disposed around the annular protrusion (12322) and in contact with the annular protrusion (12322). The first liquid channel (124) is disposed on the annular protrusion (12322).

8. A robot, characterized in that, Includes multiple power unit systems (2); the power unit system (2) includes: At least one structural component (21); At least one liquid-cooled joint module (1) as described in any one of claims 1-7, wherein the liquid-cooled channel of the liquid-cooled joint module is connected to the liquid-cooled channel of at least one structural component through a connecting pipe to form a closed circulating cooling channel.

9. The robot according to claim 8, characterized in that, The structural component (21) with liquid cooling channels is a metal part.

10. The robot according to claim 8, characterized in that, At least one of the power unit systems (2) further includes a drive pump (22) disposed on a circulating cooling channel; The liquid outlet of the structural component (21) is connected to the liquid inlet of the drive pump (22) through a first connecting pipe (31), the liquid outlet of the liquid-cooled joint module (1) is connected to the liquid inlet of the structural component (21) through a second connecting pipe (32), and the liquid outlet of the drive pump (22) is connected to the liquid inlet of the liquid-cooled joint module (1) through a third connecting pipe (33).

11. The robot according to claim 10, characterized in that, The robot also includes: Battery; Battery compartment (23), in which the battery is disposed; the circulating cooling channel flows through the battery compartment (23) to regulate the ambient temperature of the battery compartment (23) by means of coolant.

12. The robot according to claim 11, characterized in that, The battery compartment (23) is provided with an annular pipe (210) surrounding the battery. The inlet of the annular pipe (210) is connected to a first bypass branch (24) and a third bypass branch (26). The first bypass branch (24) is connected to a first connecting pipe (31), and the third bypass branch (26) is connected to a third connecting pipe (33). The outlet of the annular pipe (210) is connected to a second bypass branch (25), and the second bypass branch (25) is connected to a second connecting pipe (32).

13. The robot according to claim 12, characterized in that, A first electric valve (27) is provided on the first bypass branch (24), a second electric valve (28) is provided on the second bypass branch (25), and a third electric valve (29) is provided on the third bypass branch (26). When the ambient temperature is lower than the preset threshold, the first electric valve (27) and the second electric valve (28) open and the third electric valve (29) close, so that the coolant in the liquid cooling channel absorbs the heat of the joint module and flows through the battery compartment to keep the battery compartment warm or heat it up. When the ambient temperature is higher than a preset threshold, the first electric valve (27) and the third electric valve (29) open and the second electric valve (28) close, so that the coolant in the liquid cooling channel flows through the battery compartment to reduce its ambient temperature.

14. The robot according to claim 11, characterized in that, An ambient temperature sensor is also installed inside the battery compartment (23).

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