Robotic multi-channel temperature control system

Abstract

The application discloses a robot multi-path temperature control system, which comprises a refrigeration cycle module, a robot multi-path liquid cooling heat exchange module and a double-core heat exchanger HE. The double-core heat exchanger HE is internally provided with a refrigerant flow channel and two cooling liquid flow channels which are isolated from each other. The two cooling liquid flow channels are adjacently arranged with the cooling liquid flow channel. The refrigeration cycle module is communicated with the refrigerant flow channel. The robot multi-path liquid cooling heat exchange module is communicated with the two cooling liquid flow channels. The application can reduce the temperature of a heating element to below the ambient temperature, expand the working temperature range, reduce specific function heaters and other components, greatly expand the adaptability to low-temperature environments, realize the temperature uniformity of the heating element through the robot multi-path liquid cooling heat exchange module, reduce the number of components through a multi-way valve, reduce the volume, and strengthen the heat conduction efficiency through the double-core heat exchanger HE.

Description

Technical Field

[0001] This invention relates to a multi-channel temperature control system for robots. Background Technology

[0002] With the rapid development of the global robotics industry, the requirements for temperature control of robots under various complex working conditions are constantly increasing. High and low temperature environments and the overheating of multiple components severely limit the operating range of robots. Existing robot cooling solutions mostly use single-path air cooling or single-path liquid cooling circuits, which cannot independently control the temperature of multiple heat sources such as joint motors, batteries, and electronic components. They have low heat exchange efficiency, dispersed pipeline structures, and lack multi-branch reversing and diversion structures, making it difficult to adapt to the dynamically changing heat generation requirements under different loads. Their temperature control accuracy and environmental adaptability are also insufficient.

[0003] Meanwhile, traditional robots typically require additional components such as independent heaters and PTC heating modules to cope with low-temperature environments. This not only increases the space occupied by the whole machine and raises assembly and material costs, but also requires independent power supply and temperature control circuits, resulting in increased energy consumption, slow heating response, uneven heat distribution, and only localized point heating. It cannot simultaneously and evenly improve the low-temperature working conditions of batteries, joint motors, and electronic components. In extremely low-temperature scenarios, it is still prone to failures such as decreased battery activity, motor drive jamming, and electronic control failure. Its low-temperature adaptability is a prominent shortcoming.

[0004] Therefore, there is an urgent need to design a multi-channel temperature control system for robots to achieve independent heat exchange in multiple heat-generating components, achieve self-heating by relying on its own electric drive structure, reduce the assembly of additional heating components, and broaden the robot's high and low temperature operating range. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-channel temperature control system for robots.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] The robot's multi-channel temperature control system includes a refrigeration cycle module, a robot multi-channel liquid-cooled heat exchange module, and a dual-core heat exchanger HE. The dual-core heat exchanger HE has one isolated refrigerant channel and two isolated coolant channels. The two coolant channels are arranged adjacent to each other. The refrigeration cycle module is connected to the refrigerant channel, and the robot multi-channel liquid-cooled heat exchange module is connected to the two coolant channels. Refrigerant flows through the refrigerant channel, and coolant flows through the coolant channel. Heat exchange is completed between the refrigerant and coolant within the dual-core heat exchanger HE, enabling heat transfer between the refrigeration cycle module and the robot multi-channel liquid-cooled heat exchange module.

[0008] Preferably, the refrigeration cycle module includes an electric miniature compressor CM, an external heat exchanger C1, a dryer tank D1, and an electronic expansion valve EXV1. The electric miniature compressor CM is connected to the external heat exchanger C1 via a refrigerant pipeline. The external heat exchanger C1 is connected to the dryer tank D1 via a refrigerant pipeline. The dryer tank D1 is connected to the electronic expansion valve EXV1 via a refrigerant pipeline. The electronic expansion valve EXV1 is connected to a refrigerant flow channel via a refrigerant pipeline. The refrigerant flow channel is connected to the electric miniature compressor CM via a refrigerant pipeline.

[0009] Preferably, the refrigeration cycle module also includes a pressure and temperature sensor PT and a pressure sensor P1. The pressure and temperature sensor PT is installed on the refrigerant line between the refrigerant flow channel and the electric miniature compressor CM, and the pressure sensor P1 is installed on the refrigerant line between the dryer tank D1 and the electronic expansion valve EXV1.

[0010] Preferably, the refrigeration cycle module also includes a brushless electronic fan FN, which is mounted on the external heat exchanger C1.

[0011] Preferably, the robot's multi-channel liquid cooling heat exchange module includes a battery electronic component heat exchange branch and a joint motor component cooling branch. The two coolant channels include a first coolant channel and a second coolant channel. The battery electronic component heat exchange branch is connected to the first coolant channel, and the joint motor component cooling branch is connected to the second coolant channel.

[0012] Preferably, the heat exchange branch for battery electronic components includes a four-way valve SV1, a water pump WP1, a four-way valve SV2, a three-way valve TV2, a heat spreader, a battery-type heating element, a thermally conductive sheet, thermally conductive silicone, and an electronic heating element. The fourth and third ports of the four-way valve SV1 are connected to a first coolant channel via coolant pipes. The first port of the four-way valve SV1 is connected to the water pump WP1 via a coolant pipe. The water pump WP1 is connected to the first port of the four-way valve SV2 via a coolant pipe. The fourth port of the four-way valve SV2 is connected to the second port of the three-way valve TV2 via a coolant pipe. The first port of the three-way valve TV2 is connected to the heat spreader via a coolant pipe. The battery-type heating element is positioned close to the heat spreader. The third port of the three-way valve TV2 is connected to the thermally conductive sheet via a coolant pipe. Both the thermally conductive sheet and the heat spreader are connected to the second port of the four-way valve SV1 via coolant pipes. The thermally conductive sheet is attached to the surface of the electronic heating element using thermally conductive silicone.

[0013] Preferably, the joint motor component cooling branch includes a water pump WP2, a main joint motor, four-limb joint motors, and a three-way valve TV1. The second port of the four-way valve SV2 is connected to the water pump WP2 via a coolant pipeline. The second coolant flow channel is connected to the water pump WP2 via a coolant pipeline. The water pump WP2 is connected to one end of the main joint motor and one end of the four-limb joint motor via coolant pipelines. The other ends of the main joint motor and the four-limb joint motors are both connected to the second port of the three-way valve TV1 via coolant pipelines. The first port of the three-way valve TV1 is connected to the third port of the four-way valve SV2 via a coolant pipeline. The third port of the three-way valve TV1 is connected to the second coolant flow channel via a coolant pipeline.

[0014] The beneficial effects of this invention are as follows:

[0015] 1. This invention can reduce the temperature of the heating element to below the ambient temperature, thus expanding its operating temperature range;

[0016] 2. This invention utilizes the heat generated by the robot's own joint motors to achieve low-temperature preheating, reducing the need for components such as specific functional heaters, and greatly expanding its adaptability to low-temperature environments.

[0017] 3. This invention achieves temperature uniformity of the heating element through a robot's multi-channel liquid-cooled heat exchange module;

[0018] 4. This invention reduces the number of parts and shrinks the size by using a multi-way valve.

[0019] 5. This invention enhances heat transfer efficiency through a dual-core heat exchanger (HE). Attached Figure Description

[0020] Figure 1 This is a system block diagram of the present invention;

[0021] Figure 2 This is a structural diagram of working mode one;

[0022] Figure 3 This is a structural diagram of working mode two;

[0023] Figure 4 This is a structural diagram of working mode three;

[0024] Figure 5 This is a structural diagram of working mode four;

[0025] Figure 6 This is a structural diagram of working mode five;

[0026] Figure 7 This is a structural diagram of working mode six;

[0027] Figure 8This is a structural diagram of working mode seven. Detailed Implementation

[0028] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0029] like Figure 1 As shown, the robot's multi-channel temperature control system includes a refrigeration cycle module 1, a robot multi-channel liquid-cooled heat exchange module, and a dual-core heat exchanger HE. The dual-core heat exchanger HE has an isolated refrigerant channel 43 and two coolant channels. The two coolant channels are arranged adjacent to each other. The refrigeration cycle module 1 is connected to the refrigerant channel 43, and the robot multi-channel liquid-cooled heat exchange module is connected to the two coolant channels. Refrigerant flows inside the refrigerant channel 43, and coolant flows inside the coolant channels. The refrigerant and coolant exchange heat within the dual-core heat exchanger HE, enabling heat transfer between the refrigeration cycle module 1 and the robot multi-channel liquid-cooled heat exchange module.

[0030] like Figure 1 As shown, the refrigeration cycle module 1 includes an electric miniature compressor CM, an external heat exchanger C1, a dryer tank D1, and an electronic expansion valve EXV1. The electric miniature compressor CM is connected to the external heat exchanger C1 via a refrigerant pipeline. The external heat exchanger C1 is connected to the dryer tank D1 via a refrigerant pipeline. The dryer tank D1 is connected to the electronic expansion valve EXV1 via a refrigerant pipeline. The electronic expansion valve EXV1 is connected to the refrigerant flow channel 43 via a refrigerant pipeline. The refrigerant flow channel 43 is connected to the electric miniature compressor CM via a refrigerant pipeline.

[0031] like Figure 1 As shown, the refrigeration cycle module 1 also includes a pressure and temperature sensor PT, a pressure sensor P1, and a brushless electric fan FN. The pressure and temperature sensor PT is installed on the refrigerant pipeline between the refrigerant flow channel 43 and the electric miniature compressor CM, and the pressure sensor P1 is installed on the refrigerant pipeline between the dryer tank D1 and the electronic expansion valve EXV1.

[0032] like Figure 1 As shown, the robot's multi-channel liquid cooling heat exchange module includes a battery electronic component heat exchange branch 2 and a joint motor component cooling branch 3. The two coolant channels include a first coolant channel 42 and a second coolant channel 41. The battery electronic component heat exchange branch 2 is connected to the first coolant channel 42, and the joint motor component cooling branch 3 is connected to the second coolant channel 41.

[0033] like Figure 1As shown, the battery electronic component heat exchange branch 2 includes a four-way valve SV1, a water pump WP1, a four-way valve SV2, a three-way valve TV2, a heat spreader 21, a battery-type heating element 22, a thermally conductive sheet 23, thermally conductive silicone 24, and electronic heating elements 2525. The fourth and third ports of the four-way valve SV1 are connected to the first coolant channel 42 via coolant pipes. The first port of the four-way valve SV1 is connected to the water pump WP1 via a coolant pipe. The water pump WP1 is connected to the first port of the four-way valve SV2 via a coolant pipe. The fourth port of the four-way valve SV2 is connected to the second port of the three-way valve TV2 via a coolant pipe. The first port of the three-way valve TV2 is connected to the heat spreader 21 via a coolant pipe. The battery-type heating element 22 is set in close contact with the heat spreader 21. The third port of the three-way valve TV2 is connected to the heat-conducting plate 23 via a coolant pipe. The heat-conducting plate 23 and the heat spreader 21 are both connected to the second port of the four-way valve SV1 via coolant pipes. The heat-conducting plate 23 is attached to the surface of the electronic heating element 25 via thermally conductive silicone 24.

[0034] like Figure 1 As shown, the joint motor component cooling branch 3 includes a water pump WP2, a main joint motor 31, a limb joint motor 32, and a three-way valve TV1. The second port of the four-way valve SV2 is connected to the water pump WP2 through a coolant pipeline. The second coolant flow channel 41 is connected to the water pump WP2 through a coolant pipeline. The water pump WP2 is connected to one end of the main joint motor 31 and one end of the limb joint motor 32 through coolant pipelines. The other ends of the main joint motor 31 and the limb joint motor 32 are both connected to the second port of the three-way valve TV1 through coolant pipelines. The first port of the three-way valve TV1 is connected to the third port of the four-way valve SV2 through a coolant pipeline. The third port of the three-way valve TV1 is connected to the second coolant flow channel 41 through a coolant pipeline.

[0035] Working principle:

[0036] I. High-Temperature Cooling and Heat Dissipation Condition (Cooling Cycle Module Start-up for Cooling)

[0037] In a high-temperature environment, the electric mini compressor CM starts, and the refrigerant circulates in a closed loop within the refrigeration cycle module 1: the electric mini compressor draws in low-pressure, low-temperature gaseous refrigerant, compresses it to form high-pressure, high-temperature gaseous refrigerant; the refrigerant flows into the external heat exchanger, where a brushless electric fan accelerates air convection, releasing heat and condensing into a high-pressure, medium-temperature liquid. The high-pressure, medium-temperature liquid refrigerant flows through the drying tank, where the internal desiccant adsorbs moisture and impurities in the pipeline, preventing ice blockage or dirt blockage in subsequent components, and the refrigerant flows out while still maintaining a high-pressure, medium-temperature liquid state. Subsequently, the high-pressure, medium-temperature liquid refrigerant enters the electronic expansion valve EXV1 to complete throttling and pressure reduction, becoming a low-pressure, low-temperature gas-liquid two-phase state.

[0038] The low-pressure, low-temperature gas-liquid two-phase refrigerant enters the refrigerant flow channel 43 of the dual-core heat exchanger, continuously absorbing heat from the two coolant flow channels. The low-pressure, low-temperature gas-liquid two-phase refrigerant is completely evaporated into low-pressure, low-temperature gaseous refrigerant, and finally flows back to the electric mini compressor CM to complete the refrigerant cycle. During the process, the pressure sensor P1 and the pressure and temperature sensor PT monitor the circuit conditions in real time.

[0039] The refrigerant channel 43 is isolated from and in close contact with the first coolant channel 42 and the second coolant channel 41 for heat exchange. The two coolants circulate in the battery electronic component heat exchange branch 2 and the joint motor component cooling branch 3, respectively. The coolant carries the heat generated by the battery, electronic components and joint motor, and transfers the heat to the low-pressure low-temperature gas-liquid two-phase refrigerant in the dual-core heat exchanger HE. After absorbing heat, the low-pressure low-temperature gas-liquid two-phase refrigerant completely evaporates into low-pressure low-temperature gaseous refrigerant and flows back to the electric small compressor CM to complete the cycle, thereby achieving continuous heat absorption and cooling.

[0040] Battery electronic component heat exchange branch circulation.

[0041] The 4th port of the four-way valve SV1 is connected to the 1st port, the 2nd port of the four-way valve SV1 is connected to the 3rd port, the 4th port of the four-way valve SV2 is connected to the 1st port, and the 1st and 3rd ports of the three-way valve TV2 are both connected to the 2nd port.

[0042] The micro water pump WP1 drives the coolant to flow out of the first coolant channel 42, through the fourth port of the four-way valve SV1 into the first port, and then into the water pump WP1. After being pressurized, it flows to the first port of the four-way valve SV2, then into the fourth port of the four-way valve SV2, and then to the three-way valve TV2. The three-way valve TV2 splits the flow. One coolant flows through the first port of the three-way valve TV2 to the heat spreader 21, and the other coolant flows through the third port of the three-way valve TV2 to the heat guide fins 23. The two coolants directly absorb the heat generated by the battery-type heating elements and the electronic heating elements, thereby raising the temperature of the coolant and dissipating heat from the battery-type heating elements and the electronic heating elements. The two heated coolants flow through the second port of the four-way valve SV1 to the third port of the four-way valve SV1, and then the heated coolant returns to the first coolant channel 42.

[0043] II. Low-temperature electric drive self-heating mode (cooling cycle module stops, and the motor's waste heat is used to raise the temperature).

[0044] The second port of the three-way valve TV1 is connected to the first port, the third port of the four-way valve SV2 is connected to the fourth port, the first port of the four-way valve SV2 is connected to the second port, the first and third ports of the three-way valve TV2 are both connected to the second port, and the second port of the four-way valve SV1 is connected to the first port.

[0045] In low-temperature environments, the electric mini compressor CM and brushless electric fan FN stop, the refrigeration cycle stops, and only the two coolant branches operate, relying on the heat generated by the joint motor itself to achieve preheating and insulation of the entire unit.

[0046] The miniature water pump WP2 continuously drives the coolant to flow through the main joint motor 31 and the four-limb joint motor 32, absorbing the copper loss and iron core loss waste heat generated by the motor operation, thus heating the coolant into a high-temperature coolant. The high-temperature coolant flows into the first port of the three-way valve TV1 through the second port, and is then sequentially delivered to the third and fourth ports of the four-way valve SV2, and then sequentially delivered to the second port of the three-way valve TV2. From there, it splits into two paths: one path sequentially delivers the coolant to the third port of the three-way valve TV2 and the heat-conducting plate, and the other path sequentially delivers the coolant to the three-way valve TV2. At port 1 of valve 2, the high-temperature coolant heats electronic heating elements through the heat conduction plate and battery heating elements through the heat conduction plate. At this time, the high-temperature coolant becomes low-temperature coolant. The two low-temperature coolants merge and flow through port 2 of four-way valve SV1, then through port 1 of four-way valve SV1 and micro water pump WP1 to port 1 of four-way valve SV2, and then flow back to port 2 of four-way valve SV2, completing the low-temperature waste heat heating cycle of the whole machine.

[0047] The entire process does not require additional PTC or independent heaters. It relies on the robot's own electric drive waste heat to complete the low-temperature heating, simplifying parts, reducing overall energy consumption, and improving adaptability to extremely low temperature environments.

[0048] III. Multi-channel independent temperature control logic

[0049] The dual-core heat exchanger HE has two independent coolant flow channels inside. With the help of multiple sets of reversing valves SV1, SV2, TV1, and TV2, it can flexibly switch between single-branch and dual-branch circulation modes: when only the battery is heating up, the joint motor branch heat exchange can be shut off; when only the motor is heating up under high load, the coolant flow rate of the battery branch can be reduced, realizing differentiated and independent temperature control of the battery, motor, and electronic components. It can adapt to the dynamic changes in heat load of the robot under no-load, light-load, and heavy-load conditions, and improve the temperature control accuracy.

[0050] Work Mode 1:

[0051] For battery-type heating elements—cooling: the 4th port of the four-way valve SV1 is connected to the 1st port; the 2nd port of the four-way valve SV1 is connected to the 3rd port; the 4th port of the four-way valve SV2 is connected to the 1st port; and the 2nd port of the three-way valve TV2 is connected to the 1st port.

[0052] like Figure 2As shown, the electric mini compressor CM draws in low-pressure, low-temperature gaseous refrigerant, compresses it to form high-pressure, high-temperature gaseous refrigerant; the refrigerant flows into the external heat exchanger C1, and with the help of the brushless electric fan FN, accelerates air convection, the refrigerant releases heat and condenses into high-pressure, medium-temperature liquid.

[0053] High-pressure, medium-temperature liquid refrigerant flows through the dryer tank D1, where the internal desiccant adsorbs moisture and impurities in the pipeline, preventing ice blockage or dirt blockage in subsequent components. The refrigerant continues to flow out in a high-pressure, medium-temperature liquid state. Subsequently, the high-pressure, medium-temperature liquid refrigerant enters the electronic expansion valve EXV1 to complete throttling and pressure reduction, changing into a low-pressure, low-temperature gas-liquid two-phase state.

[0054] The low-pressure, low-temperature gas-liquid two-phase refrigerant enters the refrigerant flow channel 43 of the dual-core heat exchanger, continuously absorbs the heat of the coolant in the first coolant flow channel 42, and completely evaporates into a low-pressure, low-temperature gaseous state, eventually flowing back to the electric mini compressor CM to complete the refrigerant cycle; during the process, the pressure sensor P and the pressure and temperature sensor PT monitor the circuit conditions in real time.

[0055] Meanwhile, the micro water pump WP1 drives the coolant circulation, and the coolant flows into the heat spreader after passing through the four-way valve SV2 and the three-way valve TV2. Since the battery-type heating element 22 is set in close contact with the heat spreader 21, the coolant flowing through the heat spreader directly absorbs the heat generated by the battery-type heating element. The heated coolant then enters the first coolant flow channel 42 of the dual-core heat exchanger through the four-way valve SV1, transferring heat to the refrigerant in the refrigerant flow channel 43. The coolant then cools down again and flows back to the micro water pump WP1.

[0056] The heat spreader is used to balance the overall temperature of battery-type heating elements. It also has a heat absorption function, which can reduce the temperature difference between battery cells and protect the battery-type heating elements.

[0057] Operating mode 2: Electronic heating element - cooling, four-way valve SV1 - 4-1 connection, 2-3 connection; four-way valve SV2 - 4-1 connection; three-way valve TV2 - 2-3 connection.

[0058] like Figure 3 As shown, the electric mini compressor CM draws in low-pressure, low-temperature gaseous refrigerant, compresses it to form high-pressure, high-temperature gaseous refrigerant; the refrigerant flows into the external heat exchanger C1, and with the help of the brushless electric fan FN, accelerates air convection, the refrigerant releases heat and condenses into high-pressure, medium-temperature liquid.

[0059] High-pressure, medium-temperature liquid refrigerant flows through the dryer tank D1, where the internal desiccant adsorbs moisture and impurities in the pipeline, preventing ice blockage or dirt blockage in subsequent components. The refrigerant continues to flow out in a high-pressure, medium-temperature liquid state. Subsequently, the high-pressure, medium-temperature liquid refrigerant enters the electronic expansion valve EXV1 to complete throttling and pressure reduction, changing into a low-pressure, low-temperature gas-liquid two-phase state.

[0060] The low-pressure, low-temperature gas-liquid two-phase refrigerant enters the refrigerant flow channel 43 of the dual-core heat exchanger, continuously absorbs the heat of the coolant in the first coolant flow channel 42, and completely evaporates into a low-pressure, low-temperature gaseous state, eventually flowing back to the electric mini compressor CM to complete the refrigerant cycle; during the process, the pressure sensor P and the pressure and temperature sensor PT monitor the circuit conditions in real time.

[0061] Simultaneously, the miniature water pump WP1 drives the coolant circulation. The coolant flows sequentially through the four-way valve SV2 and the three-way valve TV2 before flowing into the heat-conducting plate. The heat-conducting plate is attached to the surface of the electronic heating element using thermally conductive silicone. The coolant flowing through the heat-conducting plate directly absorbs the heat generated by the electronic heating element. The heated coolant then enters the first coolant flow channel 42 of the dual-core heat exchanger through the four-way valve SV1, transferring heat to the refrigerant in the refrigerant flow channel 43. The coolant then cools down again and flows back to the miniature water pump WP1.

[0062] The core function of a heat-conducting plate is heat transfer and temperature uniformity; it does not generate heat itself, nor does it actively absorb heat.

[0063] Working Mode 3:

[0064] For battery-type and electronic-type heating elements—cooling, four-way valve SV1—4-1 connected, 2-3 connected; four-way valve SV2—4-1 connected; three-way valve TV2—2-3, 2-1 connected.

[0065] like Figure 4 As shown, the electric mini compressor CM draws in low-pressure, low-temperature gaseous refrigerant, compresses it to form high-pressure, high-temperature gaseous refrigerant; the refrigerant flows into the external heat exchanger C1, and with the help of the brushless electric fan FN, accelerates air convection, the refrigerant releases heat and condenses into high-pressure, medium-temperature liquid.

[0066] High-pressure, medium-temperature liquid refrigerant flows through the dryer tank D1, where the internal desiccant adsorbs moisture and impurities in the pipeline, preventing ice blockage or dirt blockage in subsequent components. The refrigerant continues to flow out in a high-pressure, medium-temperature liquid state. Subsequently, the high-pressure, medium-temperature liquid refrigerant enters the electronic expansion valve EXV1 to complete throttling and pressure reduction, changing into a low-pressure, low-temperature gas-liquid two-phase state.

[0067] The low-pressure, low-temperature gas-liquid two-phase refrigerant enters the refrigerant flow channel 43 of the dual-core heat exchanger, continuously absorbs the heat of the coolant in the first coolant flow channel 42, and completely evaporates into a low-pressure, low-temperature gaseous state, eventually flowing back to the electric mini compressor CM to complete the refrigerant cycle; during the process, the pressure sensor P and the pressure and temperature sensor PT monitor the circuit conditions in real time.

[0068] Simultaneously, the micro water pump WP1 drives the coolant circulation. The coolant passes through the four-way valve SV2 and the three-way valve TV2, then splits into two paths: one flows into the heat-conducting fins, and the other into the heat spreader. The heat-conducting fins are attached to the surface of the electronic heating elements using thermally conductive silicone. The coolant flowing through the heat-conducting fins directly absorbs the heat generated by the electronic heating elements. The heated coolant then enters the first coolant channel 42 of the dual-core heat exchanger through the four-way valve SV1, transferring heat to the refrigerant in the refrigerant channel 43. The coolant then cools down again and flows back to the micro water pump WP1. Similarly, the coolant flowing through the heat spreader directly absorbs the heat generated by the battery-type heating elements. The heated coolant then enters the first coolant channel 42 of the dual-core heat exchanger through the four-way valve SV1, transferring heat to the refrigerant in the refrigerant channel 43. The coolant then cools down again and flows back to the micro water pump WP1.

[0069] Working Mode Four:

[0070] The heating element of the motor type, the main joint motor and the limb joint motor - cooling, the three-way valve TV1 - 2-3 are connected.

[0071] like Figure 5 As shown, the electric mini compressor CM draws in low-pressure, low-temperature gaseous refrigerant, compresses it to form high-pressure, high-temperature gaseous refrigerant; the refrigerant flows into the external heat exchanger C1, and with the help of the brushless electric fan FN, accelerates air convection, the refrigerant releases heat and condenses into high-pressure, medium-temperature liquid.

[0072] High-pressure, medium-temperature liquid refrigerant flows through the dryer tank D1, where the internal desiccant adsorbs moisture and impurities in the pipeline, preventing ice blockage or dirt blockage in subsequent components. The refrigerant continues to flow out in a high-pressure, medium-temperature liquid state. Subsequently, the high-pressure, medium-temperature liquid refrigerant enters the electronic expansion valve EXV1 to complete throttling and pressure reduction, changing into a low-pressure, low-temperature gas-liquid two-phase state.

[0073] The low-pressure, low-temperature gas-liquid two-phase refrigerant enters the refrigerant flow channel 43 of the dual-core heat exchanger, continuously absorbs the heat of the coolant in the first coolant flow channel 42, and completely evaporates into a low-pressure, low-temperature gaseous state, eventually flowing back to the electric mini compressor CM to complete the refrigerant cycle; during the process, the pressure sensor P and the pressure and temperature sensor PT monitor the circuit conditions in real time.

[0074] Meanwhile, the miniature water pump WP2 drives the coolant circulation. The coolant flows into the main joint motor and the limb joint motor in sequence. The coolant absorbs the heat generated by the main joint motor and the limb joint motor, and dissipates and cools the main joint motor and the limb joint motor. After the coolant is heated, it flows through the three-way valve TV1 to the second coolant flow channel 41, and transfers the heat to the refrigerant in the refrigerant flow channel 43. The coolant itself cools down again and flows back to the miniature water pump WP2.

[0075] Work Mode 5:

[0076] Battery-related and electronic components – heating: four-way valve SV1 – 2-1 connected; four-way valve SV2 – 1-2 connected, 3-4 connected; three-way valve TV1 – 2-1 connected; three-way valve TV2 – 2-3, 2-1 connected.

[0077] Heat utilization of motor-type heating elements, including main joint motors and limb joint motors.

[0078] like Figure 6 As shown, the miniature water pump WP1 pushes the coolant to the first port of the four-way valve SV2, and then through the second port of the four-way valve SV2, the coolant is pushed by the miniature water pump WP2 into the main joint motor and the four-limb joint motor. The coolant carries away the heat from the main joint motor and the four-limb joint motor, which dissipates heat. The heated coolant passes through the second port of the three-way valve TV1, the first port of the three-way valve TV1, the third port of the four-way valve SV2, and the fourth port of the four-way valve SV2, and then flows to the second port of the three-way valve TV2. It then splits into two paths: one path flows through the third port of the three-way valve TV2 into the heat-conducting plate, and the other path flows through the first port of the three-way valve TV2 into the heat spreader. Thus, the heated coolant heats the battery components and electronic components. After cooling down, the coolant returns to the miniature water pump WP1 through the four-way valve SV1.

[0079] Work Mode Six:

[0080] Battery-related components – heating: four-way valve 1 – 2-1 connected; four-way valve SV2 – 1-2 connected, 3-4 connected; three-way valve TV1 – 2-1 connected; three-way valve TV2 – 2-1 connected.

[0081] Heat utilization of motor-type heating elements, including main joint motors and limb joint motors.

[0082] like Figure 7 As shown, the miniature water pump WP1 pushes the coolant to the first port of the four-way valve SV2, and then through the second port of the four-way valve SV2, the coolant is pushed by the miniature water pump WP2 into the main joint motor and the four-limb joint motor. The coolant carries away the heat from the main joint motor and the four-limb joint motor, which dissipate heat. The heated coolant passes through the second port of the three-way valve TV1, the first port of the three-way valve TV1, the third port of the four-way valve SV2, and the fourth port of the four-way valve SV2, and then flows to the second port of the three-way valve TV2. After passing through the first port of the three-way valve TV2, it flows into the heat spreader. Thus, the heated coolant heats the battery components. After cooling down, the coolant returns to the miniature water pump WP1 through the four-way valve SV1.

[0083] Work Mode Seven:

[0084] Electronic heating elements – heating, four-way valve SV1 – 2-1 connection; four-way valve SV2 – 1-2 connection, 3-4 connection; three-way valve TV1 – 2-1 connection; three-way valve TV2 – 2-3 connection.

[0085] like Figure 8 As shown, the miniature water pump WP1 pushes the coolant to the first port of the four-way valve SV2, and then through the second port of the four-way valve SV2, the coolant is pushed by the miniature water pump WP2 into the main joint motor and the four-limb joint motor. The coolant carries away the heat from the main joint motor and the four-limb joint motor, which dissipates heat. The heated coolant passes through the second port of the three-way valve TV1, the first port of the three-way valve TV1, the third port of the four-way valve SV2, and the fourth port of the four-way valve SV2, and then flows to the second port of the three-way valve TV2. After passing through the third port of the three-way valve TV2, it flows into the heat-conducting plate. Thus, the heated coolant heats the electronic components. After cooling down, the coolant returns to the miniature water pump WP1 through the four-way valve SV1.

[0086] The miniature water pump WP1 is used to provide circulation power.

[0087] This invention relies on the robot's own joint motor as a low-temperature heat source. It utilizes the residual heat generated by the coil copper loss and iron core loss when the motor is powered on as heating energy. In conjunction with a multi-channel coolant reversing pipeline composed of four-way valves and three-way valves, the circulation path is switched so that the coolant flows through the heating motor to absorb heat. The heated coolant is then delivered to the battery-type heating element and the electronic heating element to heat them. The low-temperature preheating and constant temperature insulation of the whole machine are completed by relying on the residual heat generated by the motor itself.

[0088] The entire heating process reuses the robot's original drive motor and liquid cooling circulation pipeline, eliminating the need for additional specialized heaters. This simplifies the number of components, reduces assembly space, lowers hardware costs, and lowers overall power consumption. Simultaneously, it can evenly regulate the temperature of battery-type heating elements, electronic heating elements, and joint motors, resulting in uniform heating and faster preheating response. In extremely low-temperature environments such as cold storage and outdoor frigid conditions, it effectively improves issues such as battery activity degradation, motor drive jamming, and low-temperature start-up failure of electronic components, significantly expanding the low-temperature environment range in which the robot can operate stably.

[0089] It should be noted that the above examples are merely one specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments and many variations are possible. In short, all variations that can be directly derived or conceived by those skilled in the art from the content disclosed in this invention should be considered within the scope of protection of this invention.

Claims

1. A multi-channel temperature control system for robots, characterized in that, The system includes a refrigeration cycle module (1), a robot multi-channel liquid-cooled heat exchange module, and a dual-core heat exchanger HE. The dual-core heat exchanger HE has a refrigerant flow channel (43) and two coolant flow channels that are isolated from each other. The two coolant flow channels are arranged adjacent to each other. The refrigeration cycle module (1) is connected to the refrigerant flow channel (43). The robot multi-channel liquid-cooled heat exchange module is connected to the two coolant flow channels. The refrigerant flows inside the refrigerant flow channel (43), and the coolant flows inside the coolant flow channel. The refrigerant and coolant exchange heat inside the dual-core heat exchanger HE, so that the refrigeration cycle module (1) and the robot multi-channel liquid-cooled heat exchange module can transfer heat.

2. The robot multi-channel temperature control system according to claim 1, characterized in that, The refrigeration cycle module (1) includes an electric mini compressor CM, an external heat exchanger C1, a dryer D1, and an electronic expansion valve EXV1. The electric mini compressor CM is connected to the external heat exchanger C1 through a refrigerant pipeline. The external heat exchanger C1 is connected to the dryer D1 through a refrigerant pipeline. The dryer D1 is connected to the electronic expansion valve EXV1 through a refrigerant pipeline. The electronic expansion valve EXV1 is connected to the refrigerant flow channel (43) through a refrigerant pipeline. The refrigerant flow channel (43) is connected to the electric mini compressor CM through a refrigerant pipeline.

3. The robot multi-channel temperature control system according to claim 2, characterized in that, The refrigeration cycle module (1) also includes a pressure and temperature sensor PT and a pressure sensor P1. The pressure and temperature sensor PT is installed on the refrigerant pipeline between the refrigerant flow channel (43) and the electric small compressor CM, and the pressure sensor P1 is installed on the refrigerant pipeline between the dryer tank D1 and the electronic expansion valve EXV1.

4. The robot multi-channel temperature control system according to claim 3, characterized in that, The refrigeration cycle module (1) also includes a brushless electronic fan FN, which is installed on the external heat exchanger C1.

5. The robot multi-channel temperature control system according to claim 1, characterized in that, The robot's multi-channel liquid cooling heat exchange module includes a battery electronic component heat exchange branch (2) and a joint motor component cooling branch (3). The two coolant channels include a first coolant channel (42) and a second coolant channel (41). The battery electronic component heat exchange branch (2) is connected to the first coolant channel (42), and the joint motor component cooling branch (3) is connected to the second coolant channel (41).

6. The robot multi-channel temperature control system according to claim 5, characterized in that, The battery electronic component heat exchange branch (2) includes a four-way valve SV1, a water pump WP1, a four-way valve SV2, a three-way valve TV2, a heat spreader (21), a battery-type heating element (22), a heat-conducting sheet (23), a heat-conducting silicone (24), and an electronic heating element (25). The fourth and third ports of the four-way valve SV1 are connected to the first coolant flow channel (42) through coolant pipes. The first port of the four-way valve SV1 is connected to the water pump WP1 through a coolant pipe. The water pump WP1 is connected to the first port of the four-way valve SV2 through a coolant pipe. The fourth port of the four-way valve SV2 is connected to the second port of the three-way valve TV2 through a coolant pipe. The first port of the three-way valve TV2 is connected to the heat spreader (21) through a coolant pipe. The battery-type heating element (22) is set close to the heat spreader (21). The third port of the three-way valve TV2 is connected to the heat-conducting plate (23) through a coolant pipe. The heat-conducting plate (23) and the heat spreader (21) are both connected to the second port of the four-way valve SV1 through a coolant pipe. The heat-conducting plate (23) is attached to the surface of the electronic heating element (25) through thermally conductive silicone (24).

7. The robot multi-channel temperature control system according to claim 6, characterized in that, The joint motor component cooling branch (3) includes a water pump WP2, a main joint motor (31), a limb joint motor (32), and a three-way valve TV1. The second port of the four-way valve SV2 is connected to the water pump WP2 through a coolant pipeline. The second coolant flow channel (41) is connected to the water pump WP2 through a coolant pipeline. The water pump WP2 is connected to one end of the main joint motor (31) and one end of the limb joint motor (32) through coolant pipelines. The other end of the main joint motor (31) and the other end of the limb joint motor (32) are both connected to the second port of the three-way valve TV1 through coolant pipelines. The first port of the three-way valve TV1 is connected to the third port of the four-way valve SV2 through a coolant pipeline. The third port of the three-way valve TV1 is connected to the second coolant flow channel (41) through a coolant pipeline.

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