Robotic thermal management system and robot

Abstract

The application provides a robot heat management system and a robot, and relates to the field of robot heat management technology. The robot heat management system comprises a heat exchange assembly, a joint module and a first connecting piece. The heat exchange assembly has a refrigerant inlet and a refrigerant outlet; the joint module has a heat exchange cavity and a backflow flow channel that are in communication with each other; and the first connecting piece is connected with the joint module to form part of the skeleton structure of the robot and is connected with the heat exchange assembly. A first flow channel of the first connecting piece is in communication with the refrigerant outlet and the heat exchange cavity, and a second flow channel is in communication with the refrigerant inlet and the backflow flow channel. By arranging the first connecting piece to serve as the support function of the part of the skeleton structure of the robot and internally arranging the first flow channel and the second flow channel as the channels for the refrigerant to flow through, the overall weight and volume of the robot can be reduced, the heat dissipation efficiency can be improved by utilizing the heat conduction performance of the structure itself to assist heat dissipation, the refrigerant flow resistance can be reduced, and the stability of the heat dissipation effect can be ensured.

Description

Technical Field

[0001] This application relates to robot thermal management technology, and more particularly to a robot thermal management system and a robot. Background Technology

[0002] With the increasing demands for robot performance in industrial automation, intelligent manufacturing, and high-end manufacturing, robot technology is developing towards higher precision, higher load capacity, and longer continuous operation. Robots need to frequently perform complex movements, and their core components such as joint modules, drive motors, controllers, and reducers generate a significant amount of heat during high-speed operation or high-load work. If this heat cannot be effectively dissipated in a timely manner, the component temperature will rise, directly affecting the robot's motion accuracy, response speed, and lifespan, and may even lead to component burnout or system failure.

[0003] In some application scenarios of existing technologies, the heat dissipation efficiency of robots is low and the heat dissipation effect is poor, making it difficult to meet the heat dissipation requirements of robots. Summary of the Invention

[0004] In view of this, this application provides a robot thermal management system and a robot, which aims to improve the robot's heat dissipation efficiency and stabilize the heat dissipation effect.

[0005] To achieve the above objectives, this application provides a robot thermal management system and a robot, which adopts the following technical solution:

[0006] In a first aspect, this application provides a robot thermal management system, comprising:

[0007] The heat exchanger assembly has a refrigerant inlet and a refrigerant outlet;

[0008] The joint module has interconnected heat exchange chambers and return flow channels;

[0009] A first connector is connected to the joint module to form part of the robot's skeletal structure. The first connector is also connected to the heat exchange assembly. A first flow channel and a second flow channel are provided within the first connector.

[0010] The first flow channel connects the refrigerant outlet and the heat exchange chamber, and the second flow channel connects the refrigerant inlet and the return flow channel.

[0011] In one possible implementation, the robot thermal management system provided in this application further includes a second connector, which is rotatably connected to the joint module to form part of the skeletal structure;

[0012] The second connector has a third flow channel and a fourth flow channel. The third flow channel is connected to the heat exchange cavity, and the fourth flow channel is connected to the return flow channel.

[0013] And / or, the third flow channel is connected to the fourth flow channel.

[0014] In one possible implementation, the robot thermal management system provided in this application has at least two joint modules.

[0015] The second connector is disposed between the two joint modules, the third flow channel connects the heat exchange chambers of the two joint modules, and the fourth flow channel connects the return flow channels of the two joint modules.

[0016] In one possible implementation, the robot thermal management system provided in this application includes a joint module comprising a joint housing and a joint body disposed inside the joint housing, wherein the joint body is rotatably connected to the second connector.

[0017] The heat exchange cavity is formed by the outer wall of the joint body and the inner wall of the joint shell. Two flow channel structure strips are provided in the heat exchange cavity, and the return flow channel is formed between the two flow channel structure strips.

[0018] The joint housing has a first through hole communicating with the heat exchange chamber and a second through hole communicating with the return flow channel. The first through hole communicates with the first flow channel, and the second through hole communicates with the second flow channel.

[0019] In one possible implementation, the robot thermal management system provided in this application further includes a first connection port on the joint module, a second connection port on the second connector, the first connection port communicating with the heat exchange chamber, and the second connection port communicating with the third flow channel.

[0020] The first connection port and the second connection port are connected by a flexible connecting pipe.

[0021] In one possible implementation, the robot thermal management system provided in this application has the first connection port located above the axis of the joint module in the height direction of the joint module.

[0022] In one possible implementation, the robot thermal management system provided in this application has an installation port on the joint housing, through which the second connector passes and connects to the joint body; a sealing element is provided at the circumferential groove of the installation port, the sealing element being used to seal the gap between the second connector and the joint housing.

[0023] In one possible implementation, the robot thermal management system provided in this application includes a heat exchange component comprising a mounting plate and a heat exchange element;

[0024] The mounting plate is used to be mounted on the robot to form part of the robot's skeletal structure, and the mounting plate has a first refrigerant channel and a second refrigerant channel.

[0025] The heat exchanger has the refrigerant outlet and the refrigerant inlet;

[0026] The first refrigerant channel connects the refrigerant outlet and the first channel, and the second refrigerant channel connects the refrigerant inlet and the second channel.

[0027] In one possible implementation, the robot thermal management system provided in this application has fins and / or a cooling fan on the heat exchange component.

[0028] Secondly, this application provides a robot, including a robot body and a robot thermal management system as described above; the robot thermal management system is connected to the robot body to form part of the skeletal structure of the robot body.

[0029] The robot thermal management system and robot provided in this application include a heat exchange component, a joint module, and a first connector. The heat exchange component has a refrigerant inlet and a refrigerant outlet; the joint module has an interconnected heat exchange chamber and a return flow channel; the first connector is connected to the joint module to form part of the robot's skeletal structure, and the first connector is connected to the heat exchange component, with a first flow channel and a second flow channel formed within it; the first flow channel connects the refrigerant outlet and the heat exchange chamber, and the second flow channel connects the refrigerant inlet and the return flow channel.

[0030] By setting the first connector to serve as part of the robot's skeletal structure to provide mechanical support, and also to incorporate the first and second flow channels as channels for refrigerant flow, the overall weight and volume of the robot can be reduced, saving internal installation space. Furthermore, the structure's own thermal conductivity can be used to assist in heat dissipation and improve heat dissipation efficiency. At the same time, the built-in first and second flow channels can reduce refrigerant fluid resistance and ensure the stability of heat dissipation.

[0031] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the technical solutions provided by this application, other technical features contained in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0032] The specific embodiments of this application are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of this application, and this application is not limited to the specific embodiments described below.

[0033] Figure 1 This is a schematic diagram of the robot provided in an embodiment of this application;

[0034] Figure 2 This is a partial structural schematic diagram of the robot provided in an embodiment of this application;

[0035] Figure 3 This is a schematic diagram of the structure of the robot thermal management system provided in an embodiment of this application;

[0036] Figure 4 This is a schematic diagram of the joint module, the first connector, and the second connector provided in the embodiments of this application;

[0037] Figure 5 A schematic diagram of the joint module provided in the embodiments of this application. Figure 1 ;

[0038] Figure 6 A schematic diagram of the joint module provided in the embodiments of this application. Figure 2 ;

[0039] Figure 7 This is a schematic diagram of the internal structure of the joint module provided in an embodiment of this application.

[0040] Explanation of reference numerals in the attached figures:

[0041] 10. Robot body; 100. Heat exchange assembly; 101. Refrigerant inlet; 102. Refrigerant outlet; 103. Fins; 110. Mounting plate; 1101. First refrigerant flow channel; 1102. Second refrigerant flow channel; 120. Heat exchange component; 200. Joint module; 201. Heat exchange chamber; 202. Return flow channel; 203. First through hole; 204. Second through hole; 205. First connection port; 206. Mounting port; 210. Joint shell; 220. Joint body; 230. Flow channel structure strip; 300. First connector; 301. First flow channel; 302. Second flow channel; 400. Second connector; 401. Third flow channel; 402. Fourth flow channel; 403. Second connection port; 500. Flexible connecting pipe; 600. Sealing component.

[0042] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0044] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] In the description of the embodiments of this application, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0046] In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise specified precisely.

[0047] The terms “first,” “second,” “third,” “fourth,” etc., used in the description of this application and in the above-mentioned figures are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0048] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0049] As the background technology states, with the increasing demands on robot performance in industrial automation, intelligent manufacturing, and high-end manufacturing, modern robots are developing towards high precision, high load capacity, and long-term continuous operation.

[0050] Robots need to perform complex actions frequently, and their core components (such as joint modules, drive motors, controllers, and reducers) generate a lot of heat when operating at high speeds or under heavy loads. If the heat cannot be dissipated effectively and in a timely manner, the temperature of the components will rise sharply, directly affecting the robot's motion accuracy, response speed, and lifespan, and may even cause problems such as component burnout and system failure.

[0051] For example, on automotive assembly lines, robots need to continuously move heavy objects and perform high-precision welding operations. The continuous heat generated by joint modules and drive motors reduces their dynamic response capabilities, leading to assembly errors. In medical surgical robots, temperature fluctuations in joints can affect the positioning accuracy of surgical instruments, threatening patient safety. Furthermore, as the application scenarios for robots expand, their thermal management solutions must also possess high reliability, lightweight design, and compact space to adapt to the demands for motion flexibility and structural stability under complex working conditions. Existing thermal management technologies struggle to meet the comprehensive requirements of these scenarios regarding robot heat dissipation efficiency, structural integration, and long-term reliability.

[0052] In related technologies, robot thermal management solutions include air-cooling and water-cooling solutions, among which:

[0053] Air cooling solutions dissipate heat through forced convection by fans or natural convection. However, their heat dissipation efficiency is relatively low, making them only suitable for low-power, low-heat-generating applications. For high-load, high-power-density joint modules and drive motors, air cooling is insufficient to meet heat dissipation requirements, significantly increasing the risk of component overheating.

[0054] Water cooling solutions absorb heat through coolant circulation and transfer it to the radiator. However, existing water cooling systems require separate piping, supports, and other components, which occupy internal space in the robot, increase its overall weight, and the additional piping can interfere with the range of motion of the robot's joints, reducing its mobility.

[0055] In addition, the cold plate and the joint module are mostly designed separately. The cold plate is fixed to the joint module shell with bolts. This connection method has contact thermal resistance. Heat loss will occur during the process of heat transfer from the joint module shell to the cold plate, reducing heat dissipation efficiency. Moreover, the separate structure requires a separate design for the installation interface of the cold plate, which further increases the structural complexity and assembly difficulty.

[0056] To address the aforementioned technical issues, this application provides a robot thermal management system and a robot. In this solution, the robot thermal management system includes a heat exchange component, a joint module, and a first connector. The heat exchange component has a refrigerant inlet and a refrigerant outlet; the joint module has an interconnected heat exchange chamber and a return flow channel; the first connector is connected to the joint module to form part of the robot's skeletal structure. The first connector is also connected to the heat exchange component, and a first flow channel and a second flow channel are formed within the first connector; the first flow channel connects the refrigerant outlet and the heat exchange chamber, and the second flow channel connects the refrigerant inlet and the return flow channel.

[0057] By setting the first connector to serve as part of the robot's skeletal structure to provide mechanical support, and also to incorporate the first and second flow channels as channels for refrigerant flow, the overall weight and volume of the robot can be reduced, saving internal installation space. Furthermore, the structure's own thermal conductivity can be used to assist in heat dissipation and improve heat dissipation efficiency. At the same time, the built-in first and second flow channels can reduce refrigerant fluid resistance and ensure the stability of heat dissipation.

[0058] In addition, the first and second flow channels are located inside the first connector, which can reduce the risk of wear and leakage in the first and second flow channels.

[0059] It should be noted that, Figures 1 to 7 This diagram illustrates a simplified schematic of the robot's thermal management system and its various components. The specific structures of the robot's thermal management system and other components are not limited to these examples. Figures 1 to 7 of examples.

[0060] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments:

[0061] Reference Figure 1 , Figure 2 and Figure 3 As shown in the illustration, an embodiment of this application provides a robot thermal management system, including a heat exchange component 100, a joint module 200, and a first connector 300. The heat exchange component 100 has a refrigerant inlet 101 and a refrigerant outlet 102. The joint module 200 has a heat exchange chamber 201 and a return flow channel 202 that are interconnected. The first connector 300 is connected to the joint module 200 to form part of the robot's skeletal structure. The first connector 300 is connected to the heat exchange component 100, and a first flow channel 301 and a second flow channel 302 are formed within the first connector 300. The first flow channel 301 connects the refrigerant outlet 102 and the heat exchange chamber 201, and the second flow channel 302 connects the refrigerant inlet 101 and the return flow channel 202. Here, the heat exchange component 100 contains refrigerant, which can be a gaseous refrigerant or a liquid refrigerant. The liquid refrigerant can be water or brine. This embodiment of the application does not limit the material of the refrigerant. The refrigerant can circulate between the heat exchange component 100, the first connector 300, and the joint module 200.

[0062] In the above embodiment, by setting the first connector 300 to serve as a mechanical support function for part of the robot's skeleton structure, and also to have the first flow channel 301 and the second flow channel 302 built in as channels for refrigerant circulation, there is no need for the independent pipes and fixed brackets required by traditional water cooling, which can reduce the overall weight and volume of the robot and save internal installation space.

[0063] In this embodiment of the application, the first flow channel 301 and the second flow channel 302 in the first connector 300 can be formed inside the first connector 300 by precision machining processes, such as CNC milling, laser drilling, and internal flow channel forming technology.

[0064] The first connector 300 can be made of high-strength alloy material, such as aluminum alloy or titanium alloy, and can also utilize the thermal conductivity of the alloy material itself to assist in heat dissipation and improve heat dissipation efficiency.

[0065] Simultaneously, the built-in first flow channel 301 and second flow channel 302 can reduce the refrigerant fluid resistance and ensure the stability of the heat dissipation effect. Here, Figure 3 The shapes of the first flow channel 301 and the second flow channel 302 shown are for illustrative purposes only. In actual applications, the orientation or shape of the first flow channel 301 and the second flow channel 302 should be adapted to the morphology of the skeletal structure. To avoid interference with joint movement or internal components, the cross-sections of the first flow channel 301 and the second flow channel 302 are circular or elliptical to further reduce the flow resistance of the refrigerant. Specifically, the cross-sections of the first flow channel 301 and the second flow channel 302 are circular with an inner diameter of 8 to 15 mm to reduce fluid resistance. To further reduce fluid resistance, the inner walls of the first flow channel 301 and the second flow channel 302 can also be polished to reduce scale buildup and fluid resistance, while improving thermal conductivity.

[0066] In one possible implementation, the robot thermal management system further includes a second connector 400, which is rotatably connected to the joint module 200 to form a partial skeletal structure; the second connector 400 has a third flow channel 401 and a fourth flow channel 402, the third flow channel 401 being connected to the heat exchange chamber 201 and the fourth flow channel 402 being connected to the return flow channel 202.

[0067] In the above embodiment, the second connector 400 serves as the robot's skeletal structure, rotatably connected to the joint module 200 to achieve mechanical support and motion transmission. The second connector 400 incorporates a third flow channel 401 and a fourth flow channel 402, which serve as channels for refrigerant flow. This eliminates the need for additional independent heat dissipation pipes and fixing brackets at the joint rotation points, further reducing weight, size, and internal installation space. The refrigerant circulates within the enclosed, built-in third flow channel 401 and fourth flow channel 402, improving the reliability and lifespan of the robot's thermal management system.

[0068] In one possible implementation, such as Figure 4 As shown, the third flow channel 401 and the fourth flow channel 402 are connected. By limiting the interconnection between the third flow channel 401 and the fourth flow channel 402, the flow path and heat exchange mode of the refrigerant within the second connector 400 can be flexibly adjusted, optimizing heat dissipation uniformity and adapting to robot skeleton structures with different structures and loads, thus enhancing adaptability. For example, the third flow channel 401 and the fourth flow channel 402 can be connected in a serpentine manner, which can increase the contact area between the refrigerant and the second connector 400, improve heat conduction, and enhance heat dissipation efficiency.

[0069] It should be noted here that the third flow channel 401 and the fourth flow channel 402 are connected, which can be achieved by setting the connection point between the third flow channel 401 and the fourth flow channel 402 within the second connector 400 (e.g., Figure 4 (As shown), the connection point between the third flow channel 401 and the fourth flow channel 402 can also be located outside the second connector 400. For example, the connection can be achieved by using a connecting pipe outside the second connector 400. Alternatively, the third flow channel 401 can be connected to the downstream component of the second connector 400, and the fourth flow channel 402 can be connected to the downstream component of the second connector 400. Here, the downstream component of the second connector 400 can be other skeletal structures such as a robot arm or fingers.

[0070] In one possible implementation, continue to refer to Figure 2 and Figure 3 As shown, the number of joint modules 200 is set to at least two; the second connector 400 is disposed between the two joint modules 200, the third flow channel 401 connects the heat exchange chamber 201 of the two joint modules 200, and the fourth flow channel 402 connects the return flow channel 202 of the two joint modules 200.

[0071] In the above embodiments, the third flow channel 401 and the fourth flow channel 402 of the second connector 400 are respectively connected to the heat exchange chamber 201 and the return flow channel 202 of two adjacent joint modules 200, so that multiple joint modules 200 share the same refrigerant circulation loop. The refrigerant can flow through each joint module 200 sequentially for heat exchange, avoiding local overheating of a single joint module 200, while ensuring uniform temperature and consistent heat dissipation of the multi-joint robot. For example, the inlet and outlet of the third flow channel 401 of the second connector 400 are respectively connected to the heat exchange chamber 201 of two adjacent joint modules 200, and the inlet and outlet of the fourth flow channel 402 are respectively connected to the return flow channel 202 of two adjacent joint modules 200.

[0072] The second connector 400 serves both as the skeletal structure between two adjacent joint modules 200, forming part of the robot's skeleton, and as a connecting carrier for heat dissipation channels. Its structural layout matches the robot's mechanical transmission structure and does not occupy additional motion space. In this embodiment, the second connector 400 is rotatably connected to both adjacent joint modules 200. This embodiment does not limit the rotatable connection structure between the second connector 400 and the joint modules 200.

[0073] In one possible implementation, refer to Figure 5 , Figure 6 and Figure 7 As shown, the joint module 200 includes a joint housing 210 and a joint body 220 disposed inside the joint housing 210. The joint body 220 is rotatably connected to the second connector 400. Here, the rotatable connection structure between the joint body 220 and the second connector 400 is not limited in this embodiment.

[0074] The joint shell 210 is a single shell formed by die casting. The joint shell 210 has an internal cavity, within which the joint body 220 is disposed. The outer wall of the joint body 220 and the inner wall of the joint shell 210 enclose a heat exchange cavity 201. (Refer to...) Figure 6 and Figure 7 As shown, two flow channel structural strips 230 are provided inside the heat exchange cavity 201, forming a return flow channel 202 between the two flow channel structural strips 230. The shape of the flow channel structural strips 230 matches the shape of the heat exchange cavity 201. For example, the heat exchange cavity 201 is an annular structure, and the flow channel structural strips 230 are annular strips that match the heat exchange cavity 201. The inner wall of the flow channel structural strips 230 is connected to the outer wall of the joint body 220, and the inner wall of the flow channel structural strips 230 and the outer wall of the joint body 220 are sealed together. The outer wall of the flow channel structural strips 230 is connected to the inner wall of the joint shell 210, and the outer wall of the flow channel structural strips 230 and the inner wall of the joint shell 210 are sealed together to ensure the sealing of the return flow channel 202.

[0075] Reference Figure 5As shown, the joint housing 210 has a first through hole 203 communicating with the heat exchange chamber 201 and a second through hole 204 communicating with the return flow channel 202. The first through hole 203 is connected to the first flow channel 301, and the second through hole 204 is connected to the second flow channel 302.

[0076] In the above embodiment, the heat exchange cavity 201 is directly formed by the inner wall of the joint shell 210 and the outer wall of the joint body 220. The return flow channel 202 is formed by two flow channel structure strips 230 within the heat exchange cavity 201. This eliminates the need for additional independent heat dissipation cavities or pipelines outside or inside the joint module 200, thus not increasing the volume or weight of the joint module 200 or occupying additional installation space. The heat exchange cavity 201 surrounds the joint body 220, allowing the refrigerant to fully contact and exchange heat with the heat-generating parts of the joint body 220, resulting in a large heat exchange area. Furthermore, the heat conduction path is short, thereby improving heat dissipation efficiency. By separating the return flow channel 202 with two flow channel structure strips 230, the heat exchange cavity 201 and the return flow channel 202 are separated using a simple structure, preventing them from connecting and ensuring that the refrigerant circulates along a preset path, resulting in more uniform heat exchange and more stable heat dissipation.

[0077] In one possible implementation, the joint module 200 further includes a first connection port 205, and a second connection port 403 is provided on the second connector 400. The first connection port 205 is connected to the heat exchange chamber 201, and the second connection port 403 is connected to the third flow channel 401. The first connection port 205 and the second connection port 403 are connected through a flexible connecting pipe 500.

[0078] In the above embodiments, the first connection port 205 is disposed on the joint housing 210, and the second connection port 403 is disposed on the outer wall of the second connector 400. The joint module 200 and the second connector 400 are rotatably connected, and a flexible connecting tube 500 is used to connect the first connection port 205 and the second connection port 403. The flexible connecting tube 500 can adaptively bend and deform with the rotation of the joint module 200, without hindering the normal rotation of the robot joint, and without affecting the robot's motion accuracy and movement flexibility. In this embodiment, the flexible connecting tube 500 can be a transparent rubber tube. Users can also observe the flow of refrigerant in the flexible connecting tube 500 to determine whether there are blockages or other problems in the refrigerant flow channels of the robot's thermal management system, facilitating timely detection and maintenance.

[0079] It should be noted that the connection between the flexible connecting pipe 500 and the first connection port 205 and the second connection port 403 needs to be sealed, for example, by using a sealed rotary joint, to prevent refrigerant leakage.

[0080] In one possible implementation, the first connection port 205 is located above the axis of the joint module 200 in the height direction of the joint module 200.

[0081] In the above embodiment, when adding refrigerant to the thermal management system, the first connection port 205 is located above the axis of the joint module 200, which can expel air from the heat exchange chamber 201, allowing the refrigerant to fill the heat exchange chamber 201 and increasing the actual heat exchange volume. Furthermore, the refrigerant flowing from the first flow channel 301 into the heat exchange chamber 201 needs to fill the heat exchange chamber 201 from bottom to top before flowing out from the first connection port 205. This increases the heat exchange contact area between the refrigerant in the heat exchange chamber 201 and the joint body 220, improving heat exchange efficiency.

[0082] In addition, bubbles are easily generated during refrigerant circulation, and the low density of the gas will naturally float upwards. By placing the first connection port 205 at a high position above the axis, the bubbles can automatically gather near the first connection port 205 and be discharged smoothly, avoiding the accumulation of gas in the heat exchange chamber 201 to form air blockage, thus ensuring unobstructed flow and stable refrigerant circulation.

[0083] In one possible implementation, such as Figure 6 As shown, the joint housing 210 has a mounting port 206, through which the second connector 400 passes and connects to the joint body 220. A sealing element 600 is provided at the circumferential groove of the mounting port 206, which seals the gap between the second connector 400 and the joint housing 210. For example, the sealing element 600 can be a rubber sealing ring. This prevents refrigerant from leaking from the gap between the joint housing 210 and the second connector 400.

[0084] In one possible implementation, the heat exchange assembly 100 includes a mounting plate 110 and a heat exchange element 120; the mounting plate 110 is used to be mounted on the robot to form part of the robot's skeletal structure, and a first refrigerant flow channel 1101 and a second refrigerant flow channel 1102 are formed in the mounting plate 110; the heat exchange element 120 has a refrigerant outlet 102 and a refrigerant inlet 101; the first refrigerant flow channel 1101 connects the refrigerant outlet 102 and the first flow channel 301, and the second refrigerant flow channel 1102 connects the refrigerant inlet 101 and the second flow channel 302.

[0085] Here, the mounting plate 110 can be formed using a die-casting process. During the die-casting process, the structure of the mounting plate 110 forms the first refrigerant channel 1101 and the second refrigerant channel 1102. The mounting plate 110 serves as part of the robot's skeletal structure, providing mechanical support, and also houses the first refrigerant channel 1101 and the second refrigerant channel 1102 as refrigerant circulation channels. This eliminates the need for separate mounting brackets, external piping, and fixing structures for the heat exchange component 100, further reducing the number of parts, lowering the overall weight and volume of the robot, and saving internal installation space.

[0086] In this embodiment, the number of the first refrigerant channel 1101 and the second refrigerant channel 1102 is not limited. However, it is necessary to ensure that the first refrigerant channel 1101 and the second refrigerant channel 1102 correspond one-to-one. Different numbers of the first refrigerant channel 1101 and the second refrigerant channel 1102 can be designed according to actual use. For example, in a robot, one set of first refrigerant channels 1101 and the second refrigerant channel can be used to connect the refrigerant circulation channel of the left arm, and another set of first refrigerant channels 1101 and the second refrigerant channel can be used to connect the refrigerant circulation channel of the right arm.

[0087] In addition, by adopting a direct connection between the first refrigerant flow channel 1101 and the second refrigerant flow channel 1102 inside the mounting plate 110, the number of pipe joints and transition parts is greatly reduced, the probability of refrigerant leakage and loosening of joints is reduced, and the stability of the thermal management system under long-term operation is improved.

[0088] In one possible implementation, the heat exchanger 120 is provided with fins 103 and / or a cooling fan. The heat exchanger 120 can be a heat exchanger, such as an evaporator or a condenser. A cooling fan (not shown) is provided on the heat exchanger 120 to accelerate convective heat exchange with the air. Fins 103 can also be provided on the heat exchanger 120. The fins 103 can significantly increase the heat dissipation area of ​​the heat exchanger 120, prolong the heat exchange time between the air and the heat exchanger 120, further accelerate the heat exchange efficiency between the heat exchanger 120 and the environment, and improve the heat dissipation effect of the heat exchanger 120.

[0089] In one possible implementation, this application provides a robot, including a robot body 10 and the aforementioned robot thermal management system, which has been described in detail above and will not be repeated here. This robot possesses the technical effects of the aforementioned robot thermal management system, namely, it can improve the robot's heat dissipation efficiency and stabilize the heat dissipation effect.

[0090] The implementation principle of a robot thermal management system and a robot according to an embodiment of this application is as follows: The robot thermal management system includes a heat exchange component 100, a joint module 200, and a first connector 300. The heat exchange component 100 has a refrigerant inlet 101 and a refrigerant outlet 102; the joint module 200 has a heat exchange chamber 201 and a return flow channel 202 that are interconnected; the first connector 300 is connected to the joint module 200 to form part of the robot's skeletal structure. The first connector 300 is connected to the heat exchange component 100, and a first flow channel 301 and a second flow channel 302 are formed inside the first connector 300; the first flow channel 301 connects the refrigerant outlet 102 and the heat exchange chamber 201, and the second flow channel 302 connects the refrigerant inlet 101 and the return flow channel 202.

[0091] By setting the first connector 300 to serve as a mechanical support for part of the robot's skeleton structure, and also to have the first flow channel 301 and the second flow channel 302 built in as channels for refrigerant flow, the overall weight and volume of the robot can be reduced, saving internal installation space. It can also use the thermal conductivity of the structure itself to assist in heat dissipation and improve heat dissipation efficiency. At the same time, the built-in first flow channel 301 and the second flow channel 302 can reduce the refrigerant fluid resistance and ensure the stability of the heat dissipation effect.

[0092] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein.

[0093] The embodiments in this application are intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed in this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0094] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A robot thermal management system, characterized in that, include: The heat exchange component (100) has a refrigerant inlet (101) and a refrigerant outlet (102). The joint module (200) has a heat exchange chamber (201) and a return flow channel (202) that are interconnected. The first connector (300) is connected to the joint module (200) to form part of the robot's skeletal structure. The first connector (300) is connected to the heat exchange assembly (100). The first connector (300) has a first flow channel (301) and a second flow channel (302). The first flow channel (301) connects the refrigerant outlet (102) and the heat exchange chamber (201), and the second flow channel (302) connects the refrigerant inlet (101) and the return flow channel (202). It also includes a second connector (400) which is rotatably connected to the joint module (200) for forming part of the bone structure; The second connector (400) has a third flow channel (401) and a fourth flow channel (402) inside. The third flow channel (401) is connected to the heat exchange chamber (201), and the fourth flow channel (402) is connected to the return flow channel (202); and / or, the third flow channel (401) is connected to the fourth flow channel (402). The joint module (200) includes a joint housing (210) and a joint body (220) disposed inside the joint housing (210), the joint body (220) being rotatably connected to the second connector (400); The heat exchange cavity (201) is formed by the outer wall of the joint body (220) and the inner wall of the joint shell (210). Two flow channel structure strips (230) are provided in the heat exchange cavity (201), and the return flow channel (202) is formed between the two flow channel structure strips (230). The joint housing (210) is provided with a first through hole (203) communicating with the heat exchange chamber (201) and a second through hole (204) communicating with the return flow channel (202). The first through hole (203) is communicating with the first flow channel (301), and the second through hole (204) is communicating with the second flow channel (302). The joint module (200) further includes a first connection port (205), and the second connector (400) is provided with a second connection port (403). The first connection port (205) is connected to the heat exchange chamber (201), and the second connection port (403) is connected to the third flow channel (401). The first connection port (205) and the second connection port (403) are connected by a flexible connecting pipe (500).

2. The robot thermal management system according to claim 1, characterized in that, The number of joint modules (200) is set to at least two; The second connector (400) is disposed between the two joint modules (200), the third flow channel (401) connects the heat exchange chamber (201) of the two joint modules (200), and the fourth flow channel (402) connects the return flow channel (202) of the two joint modules (200).

3. The robot thermal management system according to claim 1, characterized in that, In the height direction of the joint module (200), the first connection port (205) is located above the axis of the joint module (200).

4. The robot thermal management system according to claim 1, characterized in that, The joint housing (210) has an installation port (206), and the second connector (400) passes through the installation port (206) and connects to the joint body (220); a sealing element (600) is provided at the circumferential groove of the installation port (206), and the sealing element (600) is used to seal the gap between the second connector (400) and the joint housing (210).

5. The robot thermal management system according to any one of claims 1 to 4, characterized in that, The heat exchange assembly (100) includes a mounting plate (110) and a heat exchange element (120). The mounting plate (110) is used to be mounted on the robot to form part of the robot's skeletal structure. The mounting plate (110) has a first refrigerant channel (1101) and a second refrigerant channel (1102). The heat exchanger (120) has the refrigerant outlet (102) and the refrigerant inlet (101). The first refrigerant channel (1101) connects the refrigerant outlet (102) and the first channel (301), and the second refrigerant channel (1102) connects the refrigerant inlet (101) and the second channel (302).

6. The robot thermal management system according to claim 5, characterized in that, The heat exchanger (120) is provided with fins (103) and / or a cooling fan.

7. A robot, characterized in that, It includes a robot body (10) and a robot thermal management system as described in any one of claims 1 to 6; the robot thermal management system is connected to the robot body (10) to form part of the skeletal structure of the robot body (10).

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