A robot joint adaptive high-low power consumption dual-mode heat dissipation system and method thereof

Abstract

The application discloses a kind of robot joint adaptive high-low power consumption dual-mode heat dissipation system and method thereof, including large-flow liquid electronic pump, heat dissipation cold row, several groups of small circulation heat dissipation systems, pipeline assembly and control system, several groups of the small circulation heat dissipation systems are respectively installed in the joint area of robot four limbs, several groups of the small circulation heat dissipation systems are communicated with large-flow liquid electronic pump and heat dissipation cold row by pipeline assembly, constitute global large circulation heat dissipation loop;The control system is electrically connected with each group of small circulation heat dissipation system, large-flow liquid electronic pump, heat dissipation cold row respectively, for realizing adaptive dual-mode heat dissipation control based on joint motor real-time temperature and operating power.Through the above mode, the application improves heat dissipation performance, light weight and structural rigidity are considered, can be adjusted according to actual temperature, power consumption self-regulation size circulation heat dissipation method, under the condition of ensuring enough heat dissipation capacity, avoid heat dissipation redundancy, reduce overall power consumption.

Description

Technical Field

[0001] This invention relates to the field of robot heat dissipation technology, and in particular to a robot joint adaptive high and low power dual-mode heat dissipation system and method. Background Technology

[0002] The working conditions of servo joint motors in collaborative robots and humanoid robots vary greatly, including two extreme conditions: long-term low-power standby / light-load operation and short-term high-power burst overload. Joint servo motors tend to be small in size and high in power density. The short-term overload of a single joint can reach 8 to 10 times the rated torque. The windings and stator core generate concentrated heat, which places stringent requirements on the adaptability, energy efficiency and stability of the motor heat dissipation system. Existing stator housing heat dissipation methods fall into three categories: pre-embedded copper tube die casting, salt core casting, and sleeve-type water cooling. All have significant shortcomings. Traditional housings have only a single-layer outer wall channel: coolant circulates only in the outer shell interlayer, with no cooling on the stator interior or frame support area. The core ends and winding hot spots cannot directly reach for heat exchange, resulting in an axial temperature difference of 25–35°C. Permanent magnets are prone to high-temperature demagnetization and insulation aging. The support frame is assembled separately from the housing: the frame is machined separately with interference fit, resulting in numerous parts and high thermal resistance due to assembly gaps. The frame only provides support and has no heat dissipation function; the narrow cavity prevents additional cooling pipes. The molding process is limited: traditionally machined and die-cast stator housings can only have a single cooling channel in the housing interlayer. Complex branched, conformal microchannels cannot be implemented. The internal support frame only provides structural support and positioning reinforcement, without heat dissipation function. The limited heat dissipation contact area leads to low heat dissipation efficiency under light loads and insufficient heat dissipation capacity under high loads, failing to adapt to the wide operating conditions and variable load characteristics of robot motors.

[0003] Conventional integrated liquid cooling channels employ a high-flow centralized heat dissipation system throughout. Under conditions of low power consumption and low heat generation in the motor, the cooling system operates under continuous high load, resulting in serious energy waste, excessive heat dissipation redundancy, and low system efficiency. On the other hand, a simple air-cooled structure cannot cope with high-power overload conditions and is prone to failures such as high winding temperature, permanent magnet demagnetization, and positioning accuracy drift.

[0004] Based on the above defects and shortcomings, it is necessary to improve the existing technology and design a robot joint adaptive high and low power dual-mode heat dissipation system and its method. Summary of the Invention

[0005] The main technical problem solved by this invention is to provide a robot joint adaptive high and low power consumption dual-mode heat dissipation system and method, which provides uniform and efficient heat dissipation. Based on the hollow topology integrated 3D printing structure, it takes into account both joint lightweighting and structural rigidity, can adaptively match the heat dissipation requirements of different working conditions, avoid heat dissipation redundancy, and reduce the overall energy consumption of the machine.

[0006] To address the aforementioned technical problems, the present invention provides a robot joint adaptive high-low power dual-mode heat dissipation system, comprising a high-flow-rate liquid electric pump, a heat sink, several small-loop heat dissipation systems, piping components, and a control system. The high-flow-rate liquid electric pump, the heat sink, and their associated cooling fans are centrally installed in the robot's torso area. The several small-loop heat dissipation systems are respectively installed in the robot's limb joint areas. These small-loop heat dissipation systems are connected to the high-flow-rate liquid electric pump and the heat sink via piping components, forming a global large-loop heat dissipation loop. The control system is electrically connected to each small-loop heat dissipation system, the high-flow-rate liquid electric pump, and the heat sink, and is used to achieve adaptive dual-mode heat dissipation control based on the real-time temperature and operating power of the joint motors. Each small-loop cooling system corresponds to a single robot joint motor and includes a stator housing, a hollow support frame, branch electro-hydraulic pumps, and a three-way solenoid valve. The stator housing is installed inside the hollow support frame and covers the outside of the joint motor. Multiple branch flow channels are arranged circumferentially around the stator housing, and a surrounding cooling channel is formed inside the hollow support frame. The surrounding cooling channel is arranged circumferentially around the joint motor and completely covers the heat-generating area of ​​the joint motor stator. The multiple branch flow channels, the surrounding cooling channel, and the branch electro-hydraulic pump are connected by pipelines to form a single-joint internal circulation loop. The internal circulation loop can be switched to the global large-loop cooling loop through the three-way solenoid valve.

[0007] Preferably, both sides of the stator housing are provided with a collection port that communicates with multiple branch flow channels. The inner cavity of the collection port is fixedly equipped with four diversion guide plates. The four diversion guide plates are symmetrically distributed in a cross shape, which evenly divides the inner cavity of the collection port into multiple independent flow channels.

[0008] Preferably, the hollow support frame is arranged to fit uniformly against the outer wall of the stator core of the joint motor, and adopts a hollow topology lightweight structure.

[0009] Preferably, the stator shell and the hollow support frame are integrally formed by SLM metal 3D printing, without assembly welds and splicing gaps.

[0010] Preferably, the control system includes a temperature acquisition module for acquiring real-time temperature signals of the joint motor housing, a power acquisition module for acquiring real-time output power signals of the joint motor, and a control program. The control system has preset temperature thresholds and power thresholds, and determines the motor heating condition and outputs control signals by combining the two parameters.

[0011] Preferably, the temperature acquisition module and the power acquisition module are built into the motor; the temperature acquisition module is a temperature sensor built into the motor.

[0012] A robot joint adaptive high-low power dual-mode heat dissipation control method, applied to a robot joint adaptive high-low power dual-mode heat dissipation system, includes the following steps: S1. Real-time acquisition: The control system acquires the temperature signal of the housing of each joint motor in real time through the temperature sensor, and synchronously acquires the real-time operating power signal of each joint motor through the power acquisition module. S2. Operating Condition Determination: The control system compares the real-time temperature and real-time power with the preset temperature threshold and power threshold to determine whether the joint motor is in a low-power, low-heat-dissipation operating condition or a high-power, high-heat-dissipation operating condition. S3, Low-power adaptive heat dissipation control: When the real-time temperature of the motor is lower than the temperature threshold and the real-time power is lower than the power threshold, it is determined to be a low-power and low-heat-dissipation operating condition; the control system controls the three-way solenoid valve to cut off the connection between the internal circulation loop and the global large circulation heat dissipation loop, and opens the internal circulation path between the multiple branch flow channels of the stator housing and the surrounding cooling flow channel of the hollow support frame, starts the branch electronic liquid pump, and the cooling medium circulates at low speed only in the single joint internal circulation loop, while controlling the high-flow liquid electronic pump, heat dissipation radiator and matching fan to stop. S4. High power consumption adaptive heat dissipation control: When the real-time temperature of the motor is higher than the temperature threshold or the real-time power is higher than the power threshold, it is determined to be a high power consumption and high heat dissipation condition. The control system controls the three-way solenoid valve to switch the path, conduct the single joint internal circulation loop and the global large circulation heat dissipation loop, and simultaneously start the high-flow liquid electric pump, heat dissipation radiator and matching fan. The cooling medium achieves full-domain high-flow circulation under the drive of the high-flow liquid electric pump, and after being forced to exchange heat and cool down by the heat dissipation radiator, it flows back to complete the continuous heat dissipation under high load conditions.

[0013] Preferably, in step S3, the cooling medium is evenly distributed to multiple branch channels through the cross-shaped flow guide plates in the collection port of the stator shell. After parallel synchronous heat exchange is completed, it is then gathered and collected by the flow guide plate on the other side and flows into the surrounding cooling channel.

[0014] Preferably, in step S4, multiple sets of joint small-circulation heat dissipation systems are simultaneously connected to the global large-circulation heat dissipation circuit to absorb the concentrated heat from the stator core and winding ends of the joint motor in all directions. The high-temperature cooling medium is uniformly returned to the torso heat dissipation radiator, and the entire joint is cooled synchronously and evenly through forced convection cooling.

[0015] Compared with the prior art, the beneficial effects of the present invention are: High heat dissipation efficiency and uniform heat exchange: The stator shell adopts a double-sided heat exchange structure with multiple parallel flow channels and a frame-surrounded cooling flow channel, which overcomes the problems of large temperature difference between the front and rear of the traditional single flow channel and the failure of heat dissipation at the rear end. All flow channels are always in the high-efficiency heat exchange range. Combined with the structural advantages of integrated molding with no thermal resistance and full coverage of the heat generation area, the heat dissipation capacity is significantly improved in the same volume, effectively suppressing the temperature rise of the motor and ensuring stable full power output of the joint motor. Balancing lightweight and structural rigidity: The hollow topology support structure replaces the traditional solid stiffeners, significantly reducing the overall weight of the joint and adapting to the miniaturization and lightweight requirements of robots; the hollow skeleton with embedded flow channels serves as both a heat dissipation channel and a structural reinforcement function, effectively improving the radial vibration resistance and deformation resistance of the joint, achieving weight reduction without compromising strength, and improving the overall structural stability of the machine. Adaptive heat dissipation and energy saving: Employing a dual-parameter determination of temperature and power, the system adaptively switches between single-joint internal circulation and global large circulation dual heat dissipation modes based on the real-time load and heat generation status of the motor. Under light load and low heat conditions, only a local small circulation is run, shutting down high-power cooling equipment in the torso to reduce energy consumption and component wear. Under heavy load and high heat conditions, a forced large circulation across the entire area is activated to ensure maximum heat dissipation capacity. This effectively avoids heat dissipation redundancy, reduces the overall power consumption of the robot, and ensures stable operation under all working conditions. Attached Figure Description

[0016] Figure 1 This is a flowchart of a robot joint adaptive high and low power dual-mode heat dissipation system.

[0017] Figure 2 This is a schematic diagram of a robot joint adaptive high and low power dual-mode heat dissipation system.

[0018] Figure 3 This is a partial cross-sectional view of the stator housing of a robot joint adaptive high and low power dual-mode heat dissipation system.

[0019] Figure 4 This is a partial cross-sectional view of the stator housing of a robot joint adaptive high and low power dual-mode heat dissipation system from another perspective.

[0020] Figure 5 This is a cross-sectional view of the hollow support skeleton of a robot joint adaptive high and low power dual-mode heat dissipation system.

[0021] Figure 6 This is a cross-sectional view from another perspective of the hollow support skeleton of a robot joint adaptive high and low power dual-mode heat dissipation system.

[0022] Figure 7 This is a partial cross-sectional view of a robot joint adaptive high and low power dual-mode heat dissipation system. Detailed Implementation

[0023] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0024] Please see Figures 1 to 7 The embodiments of the present invention include: A robot joint adaptive high and low power consumption dual-mode heat dissipation system includes a high-flow liquid electronic pump 1, a heat dissipation radiator 2, several sets of small-circulation heat dissipation systems 3, piping components 4, and a control system.

[0025] A high-flow-rate liquid electric pump 1, a heat sink 2, and a cooling fan (not shown in the figure) are centrally installed in the robot's torso area. Several small-circulation heat dissipation systems 3 are respectively set in the joint areas of the robot's limbs. The several small-circulation heat dissipation systems 3 are connected to the high-flow-rate liquid electric pump 1 and the heat sink 2 through the pipeline assembly 4 to form a global large-circulation heat dissipation loop. The control system is electrically connected to each small-circulation heat dissipation system 3, the high-flow-rate liquid electric pump 1, and the heat sink 2 to realize adaptive dual-mode heat dissipation control based on the real-time temperature and operating power of the motor.

[0026] Each small-circuit heat dissipation system 3 corresponds to a single robot joint motor. The small-circuit heat dissipation system 3 includes a stator housing 31, a hollow support frame 32, a branch electronic liquid pump 33, and a three-way solenoid valve 34. The hollow support frame 32 houses the stator housing 31 for mounting the joint motor, and the stator housing 31 covers the outside of the joint motor. The stator housing 31 has multiple branch flow channels 310 arranged around its outer periphery. The hollow support frame 32 has a surrounding cooling channel 320 formed inside. The surrounding cooling channel 320 is arranged around the joint motor and completely covers the heat-generating area of ​​the joint motor stator. The multiple branch flow channels 310, the surrounding cooling channel 320 and the branch electronic liquid pump 33 are connected by pipelines to form an internal circulation loop. The branch electronic liquid pump 33 is used to provide independent circulation power for the internal fluid circulation of a single joint. The internal circulation loop is also connected to the global large circulation heat dissipation loop through a three-way solenoid valve 34.

[0027] In this embodiment, the multi-branch flow channel 310 is configured with five channels. The stator housing 31 has a collection port 311 on both sides that communicates with the multi-branch flow channel 310. The collection port 311 is connected to the surrounding cooling flow channel 320 through a pipe. The inner cavity of the collection port 311 is fixedly equipped with four diversion guide plates 312. The four diversion guide plates 312 are symmetrically distributed in a cross shape in the inner cavity of the collection port 311, which evenly divides the inner cavity of the collection port 311 into multiple flow channels. After the cooling medium is input from the medium collection port 311, it is evenly diverted to each group of branch flow channels by the four cross-shaped diversion guide plates 312 to complete the diversion. The cooling medium returning from each group of branch flow channels is gathered and collected again by the four cross-shaped diversion guide plates on the other side to the collection port, and flows with the surrounding cooling flow channel 320 to realize the convergence and output of multiple cooling media.

[0028] Traditional single-path multi-turn flow channels are single continuous pipes with cooling media flowing unidirectionally along the pipe. The temperature of the medium in the front flow channel is low, while the medium in the rear flow channel continuously absorbs heat and rises in temperature. The temperature difference between the beginning and end of the pipe is extremely large, and the heat dissipation efficiency at the rear end is greatly reduced. In this invention, five branch flow channels are connected in parallel for heat exchange. The cooling medium in each of the branch flow channels 310 is kept at a low temperature for heat exchange, and all the branch flow channels 310 are in the high-efficiency heat exchange range. Under the same external volume, the overall heat dissipation is significantly better than that of the single-path multi-turn winding structure.

[0029] The hollow support frame 32 is evenly fitted to the outer wall of the stator core of the joint motor, which greatly increases the heat exchange contact area between the stator and the cooling medium. The frame adopts a hollow topology structure, which achieves lightweight design while ensuring structural support strength, and adapts to the miniaturization and lightweight requirements of robot joints.

[0030] The stator housing 31 and hollow support frame 32 of each small circulation heat dissipation system 3 are integrally formed with the stator housing 31 by SLM metal 3D printing, with no assembly welds or splicing gaps, completely eliminating the assembly contact thermal resistance of traditional split structures.

[0031] This embodiment is provided with two sets of small-circulation heat dissipation systems 3, namely a first heat dissipation system 3a and a second heat dissipation system 3b. The hollow support frame 32 of the first heat dissipation system 3a is provided with two sets of parallel surrounding cooling channels 320. The two surrounding cooling channels 320 are connected in series with the multi-branch channels 310 of the stator shell 31 and connected to the branch electronic liquid pump 33. The first heat dissipation system 3a is connected to the high-flow liquid electronic pump 1 through the first pipe 01. The first heat dissipation system 3a is connected in series with the second heat dissipation system 3b through the second pipe 02. The stator shell of the first heat dissipation system 3a is provided with a first loop channel 03. The stator shell of the second heat dissipation system 3b is provided with a second loop channel 04. The first loop channel 03 and the second loop channel 04 are connected through a third pipe 05. The second heat dissipation system 3b is connected to the second loop channel 04 through a fourth pipe 06. The first loop channel 03 is connected to the heat dissipation radiator 2 through a fifth pipe 07. The heat dissipation radiator 2 and the high-flow liquid electronic pump 1 are connected in series.

[0032] The control system includes a temperature sensor and a power acquisition module built into the motor. The temperature sensor collects the real-time temperature signal of the motor casing, and the power acquisition module simultaneously collects the real-time output power signal of the motor. The control system has a built-in control program. The control system receives the temperature signal and the power signal, sets temperature threshold and power threshold, and determines the real-time load heating condition of the joint motor by jointly determining the temperature and power parameters. It then outputs corresponding electrical control signals to control the start and stop of the branch electronic liquid pump, the valve core switching of the three-way solenoid valve, the start and stop of the main body high-flow liquid electronic pump, and the start and stop of the cooling radiator fan, thereby realizing fully automatic program control based on the temperature of the motor body.

[0033] When the motor is in standby, no-load, or low-speed light-load low-power operating conditions, the temperature control system collects the real-time temperature of the motor casing through the temperature sensor, which is lower than the preset temperature threshold, and the real-time operating power of the motor is lower than the preset power threshold. The control system determines that the current operating state is a low-heat-consumption state. At this time, the temperature control system controls the three-way solenoid valve to act, cut off the passage connecting the three-way solenoid valve and the main pipe of the body, and open the loop between the flow channel of the stator casing 31 and the hollow support frame 32. At the same time, the branch electronic liquid pump 33 is started. The cooling medium circulates at low speed only in the internal circulation loop composed of the multi-branch flow channel 310 of the stator casing 31, the surrounding cooling flow channel 320 of the hollow support frame 32, and the branch electronic liquid pump 33. Relying on the integrated large heat exchange area structure, the weak residual heat of the motor is quickly removed. Under this condition, the large flow rate liquid electronic pump 1, the heat dissipation radiator 2 and the cooling fan on the body side are all stopped, and there is no additional heat dissipation energy consumption. This effectively avoids the energy waste and component wear caused by the frequent start and stop of high-power heat dissipation equipment under low load conditions.

[0034] When the motor is under high power consumption conditions such as full load, frequent start-stop, or instantaneous overload, the motor heat rises sharply. The temperature control system detects that the motor casing temperature is higher than the preset temperature threshold or the real-time power of the motor is higher than the preset power threshold through the temperature sensor. The control system determines that the current condition is a high heat consumption heavy load condition. The heat dissipation capacity of the small circulation heat dissipation system 3 reaches its limit. At this time, the temperature control system controls the three-way solenoid valve to switch the path, conduct the inner circulation loop and the large circulation heat dissipation loop, and simultaneously start the high flow liquid electric pump 1 in the body area and the cooling fan of the heat dissipation radiator 2. The cooling medium flows through the small circulation heat dissipation system of each joint under the high pressure drive of the high flow liquid electric pump, and absorbs the concentrated heat of the stator core and winding ends in all directions. The high temperature coolant flows back to the heat dissipation radiator 2 through the pipeline assembly. Through heat exchange of the radiator and forced convection of the fan, the heat is dissipated to the external environment. The cooled cooling medium flows back again to form a large-scale, high-flow-rate, high-heat-dissipation-limit forced water cooling large circulation, which effectively suppresses the uncontrolled temperature rise of the motor under heavy load conditions and ensures the continuous and stable full power output of the joint motor.

[0035] This invention discloses a robot joint adaptive high and low power consumption dual-mode heat dissipation system and method, which improves heat dissipation performance, balances lightweight design and structural rigidity, and can automatically adjust the size of the heat dissipation cycle according to the actual temperature and power consumption. While ensuring sufficient heat dissipation capacity, it avoids heat dissipation redundancy and reduces the overall power consumption of the machine.

[0036] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A robot joint adaptive high- and low-power dual-mode heat dissipation system, characterized in that: The system includes a high-flow-rate liquid electric pump (1), a heat dissipation radiator (2), several sets of small-circulation heat dissipation systems (3), a piping assembly (4), and a control system. The high-flow-rate liquid electric pump (1), the heat dissipation radiator (2), and their matching cooling fans are centrally installed in the robot's torso area. Several sets of small-circulation heat dissipation systems (3) are respectively installed in the robot's limb joint areas. Several sets of small-circulation heat dissipation systems (3) are connected to the high-flow-rate liquid electric pump (1) and the heat dissipation radiator (2) through the piping assembly (4) to form a global large-circulation heat dissipation loop. The control system is electrically connected to each set of small-circulation heat dissipation systems (3), the high-flow-rate liquid electric pump (1), and the heat dissipation radiator (2) to achieve adaptive dual-mode heat dissipation control based on the real-time temperature and operating power of the joint motor. Each small-circuit heat dissipation system (3) corresponds to a single robot joint motor and includes a stator housing (31), a hollow support frame (32), a branch electronic liquid pump (33), and a three-way solenoid valve (34). The hollow support frame (32) houses the stator housing (31), which covers the outside of the joint motor. The stator housing (31) has multiple branch flow channels (310) arranged around its outer periphery. The hollow support frame (32) has a surrounding cooling channel (320) formed inside. The surrounding cooling channel (320) is arranged around the joint motor and completely covers the stator heating area. The multiple branch flow channels (310), the surrounding cooling channel (320), and the branch electronic liquid pump (33) are connected by pipelines to form a single joint internal circulation loop. The internal circulation loop can be switched to the global large-circuit heat dissipation loop through the three-way solenoid valve (34).

2. The robot joint adaptive high and low power dual-mode heat dissipation system according to claim 1, characterized in that: Both sides of the stator housing (31) are provided with a collection port (311) that communicates with the multi-branch flow channel (310). The inner cavity of the collection port (311) is fixedly equipped with four diversion guide plates (312). The four diversion guide plates (312) are symmetrically distributed in a cross shape, which evenly divides the inner cavity of the collection port (311) into multiple independent flow channels.

3. The robot joint adaptive high and low power consumption dual-mode heat dissipation system according to claim 1, characterized in that: The hollow support frame (32) is uniformly attached to the outer wall of the stator core of the joint motor and adopts a hollow topology lightweight structure.

4. The robot joint adaptive high and low power dual-mode heat dissipation system according to claim 1, characterized in that: The stator shell (31) and the hollow support frame (32) are integrally formed by SLM metal 3D printing.

5. The robot joint adaptive high and low power dual-mode heat dissipation system according to claim 1, characterized in that: The control system includes a temperature acquisition module for acquiring real-time temperature signals of the joint motor housing, a power acquisition module for acquiring real-time output power signals of the joint motor, and a control program. The control system has preset temperature thresholds and power thresholds, and determines the motor heating condition and outputs control signals by combining the two parameters.

6. The robot joint adaptive high and low power dual-mode heat dissipation system according to claim 5, characterized in that: The temperature acquisition module and the power acquisition module are built into the motor; the temperature acquisition module is a temperature sensor built into the motor.

7. A robot joint adaptive high-low power dual-mode heat dissipation control method, applied to the robot joint adaptive high-low power dual-mode heat dissipation system according to any one of claims 1-6, characterized in that: Includes the following steps: S1. Real-time acquisition: The control system acquires the temperature signal of the housing of each joint motor in real time through the temperature sensor, and synchronously acquires the real-time operating power signal of each joint motor through the power acquisition module. S2. Operating Condition Determination: The control system compares the real-time temperature and real-time power with the preset temperature threshold and power threshold to determine whether the joint motor is in a low-power, low-heat-dissipation operating condition or a high-power, high-heat-dissipation operating condition. S3, Low power consumption adaptive heat dissipation control: When the real-time temperature of the motor is lower than the temperature threshold and the real-time power is lower than the power threshold, it is determined to be a low power consumption and low heat consumption working condition; the control system controls the three-way solenoid valve (34) to cut off the connection between the inner circulation loop and the global large circulation heat dissipation loop, and connects the inner circulation path of the multi-branch flow channel (310) of the stator housing (31) and the surrounding cooling flow channel (320) of the hollow support frame (32), and starts the branch electronic liquid pump (33). The cooling medium circulates at low speed only in the single joint inner circulation loop, and at the same time controls the large flow liquid electronic pump (1), heat dissipation radiator (2) and matching fan to stop. S4. High power consumption adaptive heat dissipation control: When the real-time temperature of the motor is higher than the temperature threshold or the real-time power is higher than the power threshold, it is determined to be a high power consumption and high heat dissipation condition. The control system controls the three-way solenoid valve (34) to switch the path, connect the single joint internal circulation loop and the global large circulation heat dissipation loop, and simultaneously start the high flow liquid electric pump (1), heat dissipation radiator (2) and matching fan. The cooling medium achieves full-domain high flow circulation under the drive of the high flow liquid electric pump (1), and after being forced to exchange heat and cool down by the heat dissipation radiator (2), it flows back to complete the continuous heat dissipation under high load conditions.

8. The robot joint adaptive high and low power consumption dual-mode heat dissipation control method according to claim 7, characterized in that: In step S3, the cooling medium is evenly distributed to the multi-branch flow channels (310) through the cross-shaped distribution guide plates in the collection port of the stator shell. After completing the parallel synchronous heat exchange, it is then gathered and collected by the other side distribution guide plate and flows into the surrounding cooling flow channel (320).

9. The robot joint adaptive high and low power consumption dual-mode heat dissipation control method according to claim 7, characterized in that: In step S4, multiple sets of joint small circulation heat dissipation systems (3) are simultaneously connected to the global large circulation heat dissipation circuit, which absorbs the concentrated heat of the stator core and winding ends of the joint motor in all directions. The high temperature cooling medium is uniformly returned to the body heat dissipation radiator, and the entire joint is cooled synchronously and evenly by forced convection cooling.

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