Biped intelligent robot thermal management system

Abstract

The invention discloses a heat management system for a biped intelligent robot, which relates to the technical field of intelligent robots and comprises a battery system, a core control system, an execution system, a cooling liquid pump, a replaceable heat management module and a cooling liquid multi-way valve. The battery system comprises a battery body and a battery management system, and a cooling liquid path in the battery system can be connected with each subsystem in a series connection, parallel connection or series-parallel connection combined manner; the core control system comprises a sensing module, a cognition and decision module, a control module and a communication module. According to the heat management system for the biped intelligent robot, a centralized heat management architecture is adopted, and heat can be distributed and adjusted as required for one or more subsystems in the core control system, the execution system and the battery system according to a preset heat management priority; and corresponding thermal management function modules are allowed to be flexibly configured according to requirements of different application scenes.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, specifically to a thermal management system for a bipedal intelligent robot. Background Technology

[0002] Bipedal intelligent robots are intelligent systems that deeply integrate perception, action, and cognition. They learn and perform tasks through physical interaction with their environment. These robots are typically equipped with multiple subsystems, including a core control system (comprising perception, cognition and decision-making, control, and communication modules), an execution system, and a battery system, to achieve complex environmental perception, decision-making, and action execution. A bipedal intelligent robot thermal management system is a comprehensive thermal management solution specifically designed for bipedal intelligent robots. It aims to ensure that the robot's key components (such as the processing chips and power devices in the core control system, the drive motors and reducers in the execution system, and the power battery and battery management system) remain within a suitable operating temperature range under various working environments. This system ensures stable operation and high performance of the robot through efficient heat transfer, distribution, and regulation mechanisms.

[0003] However, in practical applications, existing technologies often employ distributed thermal management layouts, with each subsystem equipped with independent dedicated thermal management devices, making heat exchange and coordinated regulation between subsystems impossible. Under high heat load conditions, the heat dissipation demand of a single component may exceed the design capacity of its corresponding thermal management device, leading to thermal management control failure. Conversely, under low heat load or standby conditions, redundant thermal management devices increase the system's mass burden and energy consumption, reducing the overall energy efficiency ratio. Furthermore, existing thermal management systems primarily rely on passive cooling technologies (such as heat sinks and chassis cooling) and forced air cooling. Passive cooling solutions have limited heat dissipation capacity and cannot meet the heat dissipation requirements of high power density devices, and their cooling effect is highly dependent on ambient temperature and airflow conditions. Forced air cooling solutions suffer from technical defects such as delayed thermal response, insufficient dynamic adjustment capabilities, and limited effectiveness in handling localized hot spots.

[0004] Furthermore, existing thermal management system designs primarily focus on high-temperature heat dissipation needs, lacking consideration for heating functions in low-temperature environments, thus limiting the environmental adaptability of bipedal intelligent robots. In low-temperature working environments, robots face a series of technical problems, including decreased charging and discharging efficiency of power batteries, abnormal computing performance of control systems, reduced detection accuracy of sensing systems, lubrication failure of mechanical systems, and low-temperature embrittlement of structural materials, which seriously affect the robot's operational reliability and task execution capabilities. Summary of the Invention

[0005] The purpose of this invention is to provide a thermal management system for a bipedal intelligent robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a thermal management system for a bipedal intelligent robot, comprising: The battery system includes a battery body and a battery management system, and the coolant circuit inside the battery system can be connected to each subsystem (i.e., the battery body and the battery management system) in series, parallel or a combination of series and parallel. The core control system includes a sensing module, a cognition and decision-making module, a control module, and a communication module. Similar to the battery system, the coolant circuit inside the core control system can be connected to each module (i.e., the sensing module, the cognition and decision-making module, the control module, and the communication module) in series, parallel, or a combination of series and parallel. The execution system consists of several joint actuators, and each joint actuator includes a joint motor and a reducer. The execution mechanisms with higher loads on the bipedal robot are the joints at and below the waist: waist, left and right hips, left and right knees, and left and right ankles. A coolant pump, which drives the coolant to circulate throughout the coolant circuit, is the power source in the thermal management system. A replaceable thermal management module is used to replace different modules for different scenarios, including air-cooled modules, single cooling modules, single heating modules, and heat pump modules (cooling and heating). The coolant multi-way valve is responsible for switching the working mode and changing the fluid connection method between components. It connects the outlet of the coolant pump to one, multiple, or all of the battery system, core control system, and execution system to achieve targeted thermal management.

[0007] Furthermore, the joint motor selects the heat exchange method according to the load size, as follows: For joint motors with low loads (such as wrist joints, finger joints, etc.), natural heat exchange should be prioritized instead of connecting to coolant circuits; For joint motors with heavy loads, a liquid cooling system is selected for heat dissipation.

[0008] Furthermore, the coolant multi-way valve has seven connection methods: 1) The battery system, core control system, and execution system are all high thermal control priority; Connection method: The battery system, core control system and execution system are connected in parallel, and after being combined before the inlet of the replaceable thermal management module, they are connected in series with the coolant pump and the replaceable thermal management module; Effects: Heat exchange can be achieved between the battery system, core control system, and execution system; the replaceable thermal management module can simultaneously perform thermal control on the battery system, core control system, and execution system; 2) The battery system and core control system have high thermal control priority; Connection method: The battery system and the core control system are connected in parallel, and after being combined before the inlet of the replaceable thermal management module, they are connected in series with the coolant pump and the replaceable thermal management module. Effects: Heat exchange can be achieved between the battery system and the core control system; the replaceable thermal management module can simultaneously control the thermal performance of both the battery system and the core control system. 3) The battery system and execution system have high thermal control priority; Connection method: The battery system and the execution system are connected in parallel, and after being combined before the inlet of the replaceable thermal management module, they are connected in series with the coolant pump and the replaceable thermal management module; Effects: Heat exchange can be achieved between the battery system and the execution system; the replaceable thermal management module can simultaneously control the thermal performance of both the battery system and the execution system; 4) The core control system and execution system have high thermal control priority; Connection method: The core control system and the execution system are connected in parallel, and after being combined before the inlet of the replaceable thermal management module, they are connected in series with the coolant pump and the replaceable thermal management module. Effects: Heat exchange can be achieved between the core control system and the execution system; the replaceable thermal management module can simultaneously control the heat of both the core control system and the execution system; 5) The battery system has a high thermal control priority; Connection method: Battery system, coolant pump, and replaceable thermal management module connected in series; Effect: The replaceable thermal management module provides thermal control for the battery system; 6) The core control system has a high thermal control priority; Connection method: Core control system, coolant pump, and replaceable thermal management module connected in series; Effect: The replaceable thermal management module provides thermal control for the core control system; 7) The execution system is set to high thermal control priority; Connection method: The actuator, coolant pump, and replaceable thermal management module are connected in series; Effect: The replaceable thermal management module provides thermal control for the execution system.

[0009] Furthermore, the air-cooled module includes an air heat exchanger and a fan. Usage scenario: only heat dissipation is required, and the heat exchange requirement is low. Workflow: Driven by the coolant pump, the coolant enters the air heat exchanger through the inlet. When the ambient temperature is lower than the coolant temperature, heat is transferred from the coolant to the air heat exchanger and dissipated into the environment. When the fan is off, it operates in natural cooling mode; when the fan is on, it operates in forced air cooling mode, which accelerates the heat exchange between the air heat exchanger and the ambient air, thereby accelerating the cooling of the coolant. The cooled coolant then enters the coolant pump through the outlet, ultimately achieving cooling.

[0010] Furthermore, the single refrigeration module includes a second coolant heat exchanger, a second air heat exchanger, a second compressor, a second gas-liquid separator, a second expansion valve, and a second fan. Usage scenario: only heat dissipation is required, and the heat exchange requirement is relatively high. Workflow: Driven by the coolant pump, the coolant flows through the second coolant heat exchanger, exchanging heat with the refrigerant flowing through it under the drive of the second compressor. After passing through the second expansion valve, the refrigerant undergoes a phase change, transforming from a high-temperature, high-pressure state to a low-temperature, low-pressure state. When the refrigerant temperature is lower than the coolant flowing through the second coolant heat exchanger, heat is transferred from the coolant to the relatively low-temperature refrigerant, thus entering the refrigerant circuit. The refrigerant, driven by the work of the second compressor, flows through the second air heat exchanger, exchanging heat with the environment. Refrigeration... The refrigerant absorbs heat from the coolant in the second coolant heat exchanger, and its temperature rises further after the second compressor operates, exceeding that of the air surrounding the second air heat exchanger. At this point, the heat is transferred from the refrigerant to the relatively low-temperature environment. When the second fan is off, it is in natural cooling mode; when the second fan is on, it is in forced air cooling mode, which can accelerate the heat exchange between the second air heat exchanger and the ambient air. Driven by the coolant pump, the coolant, cooled by the second coolant heat exchanger, flows out from the outlet of the replaceable thermal management module, completing the cooling process.

[0011] Furthermore, the single heating module includes four coolant heat exchangers, four air heat exchangers, four compressors, four gas-liquid separators, four expansion valves, and four fans. Usage scenario: only heating is required. Workflow: Driven by compressor four, the refrigerant flows through air heat exchanger four, exchanging heat with the surrounding environment. After passing through expansion valve four, the refrigerant undergoes a phase change, changing from a high-temperature, high-pressure state to a low-temperature, low-pressure state. When the refrigerant temperature is lower than the ambient temperature of air heat exchanger four, heat is conducted from the environment to the relatively low-temperature refrigerant, thus entering the refrigerant circuit. When fan four is off, it is in natural heat exchange mode; when fan four is on, it is in forced heat exchange mode, which can accelerate the heat exchange between air heat exchanger four and ambient air. Driven by the work of compressor four, the refrigerant flows through coolant heat exchanger four, exchanging heat with coolant. The refrigerant absorbs heat from the environment in air heat exchanger four, and its temperature further increases after the compressor works, exceeding the temperature of the coolant in coolant heat exchanger four. At this time, heat is conducted from the refrigerant to the relatively low-temperature coolant. Driven by coolant pump, the coolant heated by coolant heat exchanger four flows out from the outlet of the replaceable thermal management module, completing the cooling function.

[0012] Furthermore, the heat pump module includes a coolant heat exchanger, an air heat exchanger, a compressor, a gas-liquid separator, an expansion valve, a fan, and a refrigerant four-way valve. Application scenarios: where both cooling and heating are required. Work process: The connection relationship between the three coolant heat exchangers, the three air heat exchangers, the three compressors, and the three gas-liquid separators is changed by using a refrigerant four-way valve to realize the switching between cooling mode and heating mode of the heat pump.

[0013] Furthermore, the heat pump module is divided into a cooling mode and a heating mode. The connection method and working process of the cooling mode are the same as those of a single cooling module, and the connection method and working process of the heating mode are the same as those of a single heating module.

[0014] Furthermore, the internal hydraulic circuit connection of the execution system (3) is as follows: the execution mechanisms of each foot's hip, knee, and ankle are connected in series, the execution mechanisms of the two feet are connected in parallel, and the execution mechanism of the waist is connected in series.

[0015] This invention provides a thermal management system for a bipedal intelligent robot. It adopts a centralized thermal management architecture, enabling on-demand heat allocation and adjustment for one or more subsystems within the core control system, execution system, and battery system according to preset thermal management priorities. Furthermore, it allows for flexible configuration of corresponding thermal management function modules based on the needs of different application scenarios, offering the following advantages: 1. This thermal management system adopts a centralized thermal management layout, with each subsystem sharing the same thermal management module, effectively reducing redundant configuration of thermal management components; through switchable heat exchange loop connection methods, heat exchange and coordinated regulation between the core control system, execution system, and battery system are realized; based on a preset thermal management priority algorithm, on-demand cooling or heating control can be implemented for each subsystem and key component, improving the utilization efficiency of thermal management resources.

[0016] 2. This thermal management system uses a closed-loop liquid cooling system as the main thermal management method, making full use of the high heat transfer coefficient and large heat capacity of the liquid medium to achieve efficient heat transfer; combined with passive thermal management technology as an auxiliary means, it overcomes the technical defects of the lag in thermal response of single passive heat dissipation technology, improves the system's dynamic response capability to changes in heat load, and meets the technical requirements of highly dynamic changes in the working conditions of bipedal intelligent robots.

[0017] 3. This thermal management system allows for the replacement of different thermal management modules based on the actual temperature conditions of the robot's environment. Specifically: a wind-cooled heat dissipation module is used in normal temperature environments; a cooling module is used in high-temperature environments; a heating module is used in low-temperature environments; and a heat pump module is used in complex environments with large temperature variations, achieving bidirectional regulation of cooling and heating. This ensures that the bipedal intelligent robot can operate stably and reliably across a wide temperature range, from the normal perceived temperature range to extreme high and low temperatures. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the thermal management system for a bipedal intelligent robot according to the present invention; Figure 2 This is a schematic diagram of the coolant multi-way valve connection method of a thermal management system for a bipedal intelligent robot according to the present invention; Figure 3 This is a schematic diagram of a second connection method for the multi-way valve of the coolant in the thermal management system of a bipedal intelligent robot according to the present invention; Figure 4 This is a schematic diagram of three connection methods for the multi-way valve of the coolant in the thermal management system of a bipedal intelligent robot according to the present invention; Figure 5 This is a schematic diagram of the coolant multi-way valve connection method of a thermal management system for a bipedal intelligent robot according to the present invention; Figure 6 This is a schematic diagram of the coolant multi-way valve connection method of a thermal management system for a bipedal intelligent robot according to the present invention; Figure 7 This is a schematic diagram of the coolant multi-way valve connection method of a thermal management system for a bipedal intelligent robot according to the present invention; Figure 8This is a schematic diagram of the coolant multi-way valve connection method of a thermal management system for a bipedal intelligent robot according to the present invention; Figure 9 This is a schematic diagram of the air-cooling module of the thermal management system for a bipedal intelligent robot according to the present invention; Figure 10 This is a schematic diagram of a single refrigeration module of a thermal management system for a bipedal intelligent robot according to the present invention; Figure 11 This is a schematic diagram of a single heating module in the thermal management system of a bipedal intelligent robot according to the present invention; Figure 12 This is a schematic diagram of the heat pump module of a thermal management system for a bipedal intelligent robot according to the present invention; Figure 13 This is a schematic diagram of the cooling mode of the heat pump module in the thermal management system of a bipedal intelligent robot according to the present invention. Figure 14 This is a schematic diagram of the heating mode of the heat pump module in the thermal management system of a bipedal intelligent robot according to the present invention.

[0019] In the diagram: 1. Battery system; 2. Core control system; 3. Execution system; 311. Left forefoot motor 1; 312. Left forefoot motor 2; 313. Right forefoot motor 1; 314. Right forefoot motor 2; 315. Left hindfoot motor 1; 316. Left hindfoot motor 2; 317. Right hindfoot motor 1; 318. Right hindfoot motor 2; 321. Left lumbar motor 1; 322. Right lumbar motor 1; 323. Left hip motor 1; 324. Right hip motor 1; 325. Left knee motor 1; 326. Right knee motor 1; 331. Left lumbar motor 2; 332. Right lumbar motor 2; 333. Left hip motor 2; 334. Right hip motor 2; 335. Left knee motor 2; 336. Right knee motor 2 ; 4. Coolant pump; 5. Replaceable thermal management module; 511. Air heat exchanger I; 512. Fan I; 521. Coolant heat exchanger II; 522. Air heat exchanger II; 523. Compressor II; 524. Gas-liquid separator II; 525. Expansion valve II; 526. Fan II; 531. Coolant heat exchanger III; 532. Air heat exchanger III; 533. Compressor III; 534. Gas-liquid separator III; 535. Expansion valve III; 536. Fan III; 537. Refrigerant four-way valve; 541. Coolant heat exchanger IV; 542. Air heat exchanger IV; 543. Compressor IV; 544. Gas-liquid separator IV; 545. Expansion valve IV; 546. Fan IV; 6. Coolant multi-way valve. Detailed Implementation

[0020] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0021] Example 1 like Figure 1 As shown, a thermal management system for a bipedal intelligent robot includes a battery system 1, a core control system 2, an execution system 3, a coolant pump 4, a replaceable thermal management module 5, and a coolant multi-way valve 6. Battery system 1: includes battery body and battery management system, and the coolant circuit inside battery system 1 can be connected to each subsystem (i.e. battery body and battery management system) in series, parallel or series-parallel combination.

[0022] The core control system 2 includes a sensing module, a cognition and decision-making module, a control module, and a communication module. Similar to the battery system 1, the coolant circuit inside the core control system 2 can be connected to each module (i.e., the sensing module, the cognition and decision-making module, the control module, and the communication module) in series, parallel, or a combination of series and parallel.

[0023] Execution System 3: Composed of several joint actuators, each including a joint motor and a reducer. The actuators with higher loads in the bipedal robot are the joints below the waist: waist, left and right hips, left and right knees, and left and right ankles. For joint motors with lower loads (such as wrist joints and finger joints), natural heat exchange is preferred, and coolant circuits are not connected; for joint motors with higher loads, a liquid cooling system is selected for heat dissipation.

[0024] Coolant pump 4: Drives the coolant to circulate throughout the entire coolant circuit and is the power source in the thermal management system.

[0025] Replaceable thermal management module 5: Different modules can be replaced for different scenarios, including air-cooled modules, single cooling modules, single heating modules, and heat pump modules (cooling and heating).

[0026] Coolant multi-way valve 6: Responsible for switching the working mode, changing the liquid circuit connection between components, and connecting the outlet of coolant pump 4 to one, multiple or all of the battery system 1, core control system 2 and execution system 3 to achieve directional thermal management; Example 2 like Figure 2 As shown, battery system 1, core control system 2, and execution system 3 all have high thermal control priority. Battery system 1, core control system 2, and execution system 3 are connected in parallel, and after converging before the inlet of the replaceable thermal management module 5, they are connected in series with coolant pump 4 and replaceable thermal management module 5.

[0027] Heat exchange can be achieved between battery system 1, core control system 2, and execution system 3; the replaceable thermal management module 5 simultaneously performs thermal control on battery system 1, core control system 2, and execution system 3.

[0028] Example 3 like Figure 3 As shown, battery system 1 and core control system 2 have high thermal control priority. Battery system 1 and core control system 2 are connected in parallel, and after converging before the inlet of replaceable thermal management module 5, they are connected in series with coolant pump 4 and replaceable thermal management module 5.

[0029] Heat exchange can be achieved between the battery system 1 and the core control system 2; the replaceable thermal management module 5 simultaneously performs thermal control on the battery system 1 and the core control system 2.

[0030] Example 4 like Figure 4 As shown, battery system 1 and execution system 3 have high thermal control priority. Battery system 1 and execution system 3 are connected in parallel, and after converging before the inlet of the replaceable thermal management module 5, they are connected in series with coolant pump 4 and replaceable thermal management module 5.

[0031] Heat exchange can be achieved between battery system 1 and execution system 3; the replaceable thermal management module 5 simultaneously performs thermal control on battery system 1 and execution system 3.

[0032] Example 5 like Figure 5 As shown, the core control system 2 and the execution system 3 have high thermal control priority. The core control system 2 and the execution system 3 are connected in parallel, and after converging before the inlet of the replaceable thermal management module 5, they are connected in series with the coolant pump 4 and the replaceable thermal management module 5.

[0033] The core control system 2 and the execution system 3 can exchange heat; the replaceable thermal management module 5 can simultaneously control the heat of the core control system 2 and the execution system 3.

[0034] Example 6 like Figure 6 As shown, battery system 1 has a high thermal control priority. Battery system 1, coolant pump 4, and replaceable thermal management module 5 are connected in series.

[0035] The replaceable thermal management module 5 performs thermal control on the battery system 1.

[0036] Example 7 like Figure 7 As shown, the core control system 2 has a high thermal control priority. The core control system 2, coolant pump 4, and replaceable thermal management module 5 are connected in series.

[0037] The replaceable thermal management module 5 performs thermal control on the core control system 2.

[0038] Example 8 like Figure 8As shown, execution system 3 has a high thermal control priority. Execution system 3, coolant pump 4, and replaceable thermal management module 5 are connected in series.

[0039] The replaceable thermal management module 5 performs thermal control on the execution system 3.

[0040] Example 9 like Figure 9 As shown, the air-cooled module includes an air heat exchanger 511 and a fan 512. Usage scenario: only heat dissipation is required, and the heat exchange requirement is low.

[0041] The specific operation is as follows: the coolant, driven by the coolant pump 4, enters the air heat exchanger 511 through the inlet. When the ambient temperature is lower than the coolant temperature, heat enters the air heat exchanger 511 from the coolant and is dissipated into the environment through it. When the fan 512 is off, it is in natural cooling mode. When the fan 512 is on, it is in forced air cooling mode, which can accelerate the heat exchange between the air heat exchanger 511 and the ambient air, thereby accelerating the heat dissipation of the coolant. The cooled coolant enters the coolant pump 4 through the outlet, finally achieving cooling.

[0042] Example 10 like Figure 10 As shown, the single refrigeration module includes a coolant heat exchanger 2 521, an air heat exchanger 2 522, a compressor 2 523, a gas-liquid separator 2 524, an expansion valve 2 525, and a fan 2 526. Usage scenario: only heat dissipation is required, and the heat exchange requirement is relatively high.

[0043] The specific operation is as follows: Driven by coolant pump 4, the coolant flows through coolant heat exchanger 521, where it exchanges heat with the refrigerant flowing through coolant heat exchanger 521 under the drive of compressor 523. After passing through expansion valve 525, the refrigerant undergoes a phase change, changing from a high-temperature, high-pressure state to a low-temperature, low-pressure state. When the refrigerant temperature is lower than the coolant flowing through coolant heat exchanger 521, heat is transferred from the coolant to the relatively low-temperature refrigerant, thus entering the refrigerant circuit. The refrigerant, driven by the work of compressor 523, flows through air heat exchanger 522, exchanging heat with the environment. The refrigerant absorbs heat from the coolant in the coolant heat exchanger 521, and its temperature further increases after the compressor 523 operates, becoming higher than the air surrounding the air heat exchanger 522. At this point, the heat is transferred from the refrigerant to the relatively low-temperature environment. When the fan 526 is off, it is in natural cooling mode; when the fan 526 is on, it is in forced air cooling mode, which can accelerate the heat exchange between the air heat exchanger 522 and the ambient air. Driven by the coolant pump 4, the coolant, cooled by the coolant heat exchanger 521, flows out from the outlet of the replaceable thermal management module 5, completing the cooling process.

[0044] Example 11 like Figure 11 As shown, the single heating module includes a coolant heat exchanger 4541, an air heat exchanger 4542, a compressor 4543, a gas-liquid separator 4544, an expansion valve 4545, and a fan 4546. Usage scenario: only heating is required.

[0045] The specific operation is as follows: Driven by compressor 4543, the refrigerant flows through air heat exchanger 4542, exchanging heat with the surrounding environment. After passing through expansion valve 4545, the refrigerant undergoes a phase change, transforming from a high-temperature, high-pressure state to a low-temperature, low-pressure state. When the refrigerant temperature is lower than the ambient temperature of air heat exchanger 4542, heat is conducted from the environment to the relatively low-temperature refrigerant, thus entering the refrigerant circuit. When fan 4546 is off, it operates in natural heat exchange mode; when fan 4546 is on, it operates in forced heat exchange mode, which can accelerate the heat exchange of air heat exchanger 4542. Heat exchange between 542 and ambient air; the refrigerant flows through the coolant heat exchanger 541 through the work and drive of the compressor 4 543, and exchanges heat with the coolant; the refrigerant absorbs heat from the environment in the air heat exchanger 4 542, and its temperature further increases after the compressor works and is higher than the temperature of the coolant in the coolant heat exchanger 4 541. At this time, the heat is transferred from the refrigerant to the relatively low temperature coolant; driven by the coolant pump 4, the coolant heated by the coolant heat exchanger 4 541 flows out from the outlet of the replaceable thermal management module 5, completing the cooling of the coolant.

[0046] Example 12 like Figure 12 As shown, the heat pump module includes a coolant heat exchanger 531, an air heat exchanger 532, a compressor 533, a gas-liquid separator 534, an expansion valve 535, a fan 536, and a refrigerant four-way valve 537. Application scenario: both cooling and heating are required.

[0047] The specific operation is as follows: the connection relationship between the coolant heat exchanger 3 531, the air heat exchanger 3 532, the compressor 3 533, and the gas-liquid separator 3 534 is changed by using the refrigerant four-way valve 537 to realize the switching of the heat pump between cooling mode and heating mode.

[0048] Example 13 like Figure 13 As shown, the cooling mode of the heat pump module is the same as that of the single cooling module in terms of connection method and working process. See Example 10.

[0049] Example 14 like Figure 14 As shown, the heating mode is the same as the single heating module in terms of connection method and workflow. See Example 11.

[0050] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A thermal management system for a bipedal intelligent robot, characterized in that, include: The battery system (1) includes a battery body and a battery management system, and the coolant circuit inside the battery system (1) can be connected to each subsystem in series, parallel or a combination of series and parallel. The core control system (2) includes a sensing module, a cognition and decision-making module, a control module, and a communication module, and is the same as the battery system (1). The coolant circuit inside the core control system (2) can be connected to each module in series, parallel or a combination of series and parallel. The execution system (3) consists of several joint actuators, and each joint actuator includes a joint motor and a reducer. The execution mechanisms with higher loads on the bipedal robot are the joints at the waist and below: waist, left and right hips, left and right knees, and left and right ankles. Coolant pump (4), the coolant pump (4) is used to drive coolant to achieve circulation of the entire coolant circuit; A replaceable thermal management module (5) is used to replace different modules for different scenarios, including air-cooled modules, single cooling modules, single heating modules, and heat pump modules. The coolant multi-way valve (6) is responsible for switching the working mode and changing the liquid circuit connection between components. It connects the outlet of the coolant pump (4) to one, multiple or all of the battery system (1), core control system (2) and execution system (3) to achieve directional thermal management.

2. The thermal management system for a bipedal intelligent robot according to claim 1, characterized in that, The joint motor selects the heat exchange method according to the load size, as follows: For joint motors with low loads, natural heat exchange should be prioritized instead of connecting to coolant circuits. For joint motors with heavy loads, a liquid cooling system is selected for heat dissipation.

3. The thermal management system for a bipedal intelligent robot according to claim 1, characterized in that, The coolant multi-way valve (6) has seven connection methods: 1) The battery system (1), the core control system (2), and the execution system (3) are all of high thermal control priority; Connection method: The battery system (1), the core control system (2), and the execution system (3) are connected in parallel, and after being combined before the inlet of the replaceable thermal management module (5), they are connected in series with the coolant pump (4) and the replaceable thermal management module (5); Effects: Heat exchange can be achieved between the battery system (1), the core control system (2), and the execution system (3); the replaceable thermal management module (5) can simultaneously perform thermal control on the battery system (1), the core control system (2), and the execution system (3); 2) The battery system (1) and the core control system (2) are of high thermal control priority; Connection method: The battery system (1) and the core control system (2) are connected in parallel, and after being combined before the inlet of the replaceable thermal management module (5), they are connected in series with the coolant pump (4) and the replaceable thermal management module (5); Effects: Heat exchange can be achieved between the battery system (1) and the core control system (2); the replaceable thermal management module (5) can simultaneously control the heat of the battery system (1) and the core control system (2); 3) The battery system (1) and the execution system (3) have high thermal control priority; Connection method: The battery system (1) and the execution system (3) are connected in parallel, and after the flow is combined before the inlet of the replaceable thermal management module (5), they are connected in series with the coolant pump (4) and the replaceable thermal management module (5); Effects: Heat exchange can be achieved between the battery system (1) and the execution system (3); the replaceable thermal management module (5) can simultaneously control the thermal performance of the battery system (1) and the execution system (3); 4) The core control system (2) and the execution system (3) have high thermal control priority; Connection method: The core control system (2) and the execution system (3) are connected in parallel, and after being combined before the inlet of the replaceable thermal management module (5), they are connected in series with the coolant pump (4) and the replaceable thermal management module (5); Effects: Heat exchange can be achieved between the core control system (2) and the execution system (3); the replaceable thermal management module (5) can simultaneously control the heat of the core control system (2) and the execution system (3); 5) Battery system (1) has high thermal control priority; Connection method: Battery system (1), coolant pump (4), and replaceable thermal management module (5) are connected in series; Effect: The replaceable thermal management module (5) performs thermal control on the battery system (1); 6) The core control system (2) has a high thermal control priority; Connection method: The core control system (2), coolant pump (4), and replaceable thermal management module (5) are connected in series; Effect: The replaceable thermal management module (5) performs thermal control on the core control system (2); 7) The execution system (3) has a high thermal control priority; Connection method: The actuator (3), coolant pump (4), and replaceable thermal management module (5) are connected in series; Effect: The replaceable thermal management module (5) performs thermal control on the execution system (3).

4. The thermal management system for a bipedal intelligent robot according to claim 1, characterized in that, The air-cooled module includes an air heat exchanger (511) and a fan (512). Usage scenario: only heat dissipation is required, and the heat exchange requirement is low. Work process: Driven by the coolant pump (4), the coolant enters the air heat exchanger (511) through the inlet. When the ambient temperature is lower than the coolant temperature, heat enters the air heat exchanger (511) from the coolant and is dissipated into the environment through it. When the fan (512) is off, it is in natural cooling mode. When the fan (512) is on, it is in forced air cooling mode, which accelerates the heat exchange between the air heat exchanger (511) and the ambient air. The cooled coolant enters the coolant pump (4) through the outlet, and finally achieves cooling.

5. The thermal management system for a bipedal intelligent robot according to claim 1, characterized in that, The single refrigeration module includes a second coolant heat exchanger (521), a second air heat exchanger (522), a second compressor (523), a second gas-liquid separator (524), a second expansion valve (525), and a second fan (526). Usage scenario: only heat dissipation is required, and the heat exchange requirement is high. Work process: The coolant flows through the coolant heat exchanger (521) driven by the coolant pump (4) and exchanges heat with the refrigerant flowing through the coolant heat exchanger (521) driven by the compressor (523); After passing through expansion valve two (525), the refrigerant undergoes a phase change, changing from a high-temperature, high-pressure state to a low-temperature, low-pressure state. When the refrigerant temperature is lower than the coolant flowing through coolant heat exchanger two (521), heat is conducted from the coolant to the relatively low-temperature refrigerant, thus entering the refrigerant circuit. The refrigerant flows through air heat exchanger two (522) through the work and drive of compressor two (523), forming a heat exchange with the environment. The refrigerant absorbs heat from the coolant in coolant heat exchanger two (521), and in compressor two (523)... After the work is completed, the temperature rises further and is higher than the air around the second air heat exchanger (522). At this time, the heat is transferred to the relatively low temperature environment by the refrigerant. When the second fan (526) is off, it is in natural cooling mode. When the second fan (526) is on, it is in forced air cooling mode, which accelerates the heat exchange between the second air heat exchanger (522) and the ambient air. Driven by the coolant pump (4), the coolant cooled by the second coolant heat exchanger (521) flows out from the outlet of the replaceable thermal management module (5) to complete the cooling of the coolant.

6. The thermal management system for a bipedal intelligent robot according to claim 1, characterized in that, The single heating module includes a coolant heat exchanger (541), an air heat exchanger (542), a compressor (543), a gas-liquid separator (544), an expansion valve (545), and a fan (546). Usage scenario: only heating is required. Work process: The refrigerant flows through the air heat exchanger (542) driven by the compressor (543) and exchanges heat with the environment around the air heat exchanger (542); After passing through expansion valve four (545), the refrigerant undergoes a phase change, changing from a high-temperature and high-pressure state to a low-temperature and low-pressure state. When the refrigerant temperature is lower than the ambient temperature of air heat exchanger four (542), heat is conducted from the environment to the relatively low-temperature refrigerant and thus enters the refrigerant circuit. When fan four (546) is off, it is in natural heat exchange mode; when fan four (546) is on, it is in forced heat exchange mode, which accelerates the heat exchange between air heat exchanger four (542) and ambient air. The refrigerant flows through the coolant heat exchanger (541) through the work and drive of the compressor (543) and exchanges heat with the coolant. The refrigerant absorbs heat from the environment in the air heat exchanger (542), and its temperature rises further after the compressor works and is higher than the temperature of the coolant in the coolant heat exchanger (541). At this time, the heat is transferred from the refrigerant to the relatively low-temperature coolant. Driven by the coolant pump (4), the coolant heated by the coolant heat exchanger (541) flows out from the outlet of the replaceable thermal management module (5) to complete the heating of the coolant.

7. The thermal management system for a bipedal intelligent robot according to claim 1, characterized in that, The heat pump module includes a coolant heat exchanger (531), an air heat exchanger (532), a compressor (533), a gas-liquid separator (534), an expansion valve (535), a fan (536), and a refrigerant four-way valve (537). Application scenario: both cooling and heating are required. Work process: The connection relationship between the coolant heat exchanger three (531), the air heat exchanger three (532), the compressor three (533), and the gas-liquid separator three (534) is changed by using the refrigerant four-way valve (537) to realize the switching of the heat pump between cooling mode and heating mode.

8. The thermal management system for a bipedal intelligent robot according to claim 7, characterized in that, The heat pump module is divided into a cooling mode and a heating mode. The connection method and working process of the cooling mode are the same as those of a single cooling module, and the connection method and working process of the heating mode are the same as those of a single heating module.

9. A thermal management system for a bipedal intelligent robot according to claim 1, characterized in that, The internal hydraulic circuit connection of the execution system (3) is as follows: the execution mechanisms of each foot's hip, knee, and ankle are connected in series, the execution mechanisms of the two feet are connected in parallel, and the execution mechanism of the waist is connected in series.

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