Humanoid robot and control method thereof

Abstract

The application provides a humanoid robot and a control method thereof, and relates to the technical field of robots.The humanoid robot comprises a joint motor, a first force-bearing structural member, a heat sink, a liquid pump and a fan.The joint motor comprises a motor shell, and the first force-bearing structural member, the heat sink and the liquid pump are fixed to the motor shell.The shell wall of the motor shell has a first liquid cooling flow channel, the heat sink has a second liquid cooling flow channel, and the first force-bearing structural member has a third liquid cooling flow channel.The first liquid cooling flow channel, the second liquid cooling flow channel, the third liquid cooling flow channel and the liquid pump are connected in series to form a liquid cooling circulation loop, and the liquid pump is used to drive the circulation flow of cooling liquid in the liquid cooling circulation loop to perform liquid cooling heat dissipation on the joint motor.The fan is arranged on the heat sink, and the fan is used to perform air cooling heat dissipation on the heat sink.In this way, the joint motor can be efficiently and low-noise cooled.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a humanoid robot and its control method. Background Technology

[0002] Humanoid robots are characterized by their flexible movements and can be applied in industrial, commercial, medical, and home service scenarios. Two load-bearing structural components in a humanoid robot that require relative movement are often connected by articulated motors. Driving these motors to move the connected structural components enables the humanoid robot to perform flexible movements.

[0003] As humanoid robots develop towards high power density and continuous operation under high load, the problem of joint motor overheating is becoming increasingly prominent. How to achieve efficient and low-noise heat dissipation for joint motors has become an urgent problem to be solved in the field of humanoid robot design. Summary of the Invention

[0004] In view of the above problems, this application provides a humanoid robot and its control method, which can efficiently and quietly dissipate heat from the joint motors.

[0005] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0006] In a first aspect, embodiments of this application provide a humanoid robot, including a joint motor, a first load-bearing structural component, a heat sink, a liquid pump, and a fan;

[0007] The joint motor includes a motor housing, a first load-bearing structural component, a heat sink, and a liquid pump fixed to the motor housing;

[0008] The housing wall of the motor has a first liquid cooling channel, the heat sink has a second liquid cooling channel, and the first load-bearing structural component has a third liquid cooling channel. The first liquid cooling channel, the second liquid cooling channel, the third liquid cooling channel and the liquid pump are connected in series to form a liquid cooling circulation loop. The liquid pump is used to drive the coolant in the liquid cooling circulation loop to circulate and dissipate heat from the joint motor through liquid cooling.

[0009] The fan is located on the heat sink and is used to provide air cooling for the heat sink.

[0010] The humanoid robot provided in this application embodiment employs a two-stage heat dissipation system using a series-connected heat sink and a first load-bearing structural component. The coolant has a long heat dissipation path and a large surface area for cooling, facilitating efficient heat dissipation of the joint motors through a small heat sink and a low-speed, small-sized fan. The low fan speed and small size result in lower noise during joint motor cooling. The low fan speed and small size also reduce power consumption, allowing the humanoid robot to have a longer operating time. The small size of the heat sink minimizes its impact on the robot's agile movements when located at the joint motors. This two-stage heat dissipation system, using a series-connected heat sink and first load-bearing structural component, provides high heat dissipation redundancy. In the event of fan failure, natural cooling can be achieved through a large heat dissipation surface and a long heat dissipation path, preventing rapid overheating of the joint motors due to fan failure and improving the reliability of joint motor operation.

[0011] Furthermore, the first liquid cooling channel is integrated into the casing wall of the motor housing, making the motor housing multi-functional. The first load-bearing structural component is reused to dissipate heat from the joint motor, also serving multiple purposes. This allows for a simpler structure for the humanoid robot, facilitating its miniaturization and lightweight design.

[0012] In addition, the heat sink and the first load-bearing structural component are fixed to the motor housing, which makes the connection between the first liquid cooling channel, the second liquid cooling channel and the third liquid cooling channel more stable, and the reliability of liquid cooling of the joint motor by the coolant circulating in the liquid cooling loop is better.

[0013] In addition, placing the fan on the heat sink makes the fan installation more convenient and facilitates efficient air cooling of the heat sink.

[0014] In some embodiments, the motor housing is provided with a first liquid inlet and a first liquid outlet that communicate with the first liquid cooling channel;

[0015] The heat sink is equipped with a second liquid inlet and a second liquid outlet that are connected to the second liquid cooling channel.

[0016] The first load-bearing structural component is provided with a third liquid inlet and a third liquid outlet that are connected to the third liquid cooling channel.

[0017] The first liquid outlet port is connected to the second liquid inlet port through the first flexible connecting tube, so that the first liquid outlet port and the second liquid inlet port are connected.

[0018] The second liquid outlet is connected to the third liquid inlet via a second flexible connecting tube, so that the second liquid outlet and the third liquid inlet are connected.

[0019] The third liquid outlet is connected to the first liquid inlet via a third flexible connecting tube, so that the third liquid outlet and the first liquid inlet are connected.

[0020] In this way, after absorbing the heat generated by the joint motor in the first liquid-cooled channel, the coolant enters the second liquid-cooled channel. Forced convection by the fan on the heat sink removes some of the absorbed heat, lowering the coolant temperature. The coolant then flows out of the second liquid-cooled channel and into the third liquid-cooled channel, resulting in a lower temperature rise in the first load-bearing structural component. Using the first load-bearing structural component for heat dissipation of the joint motor has minimal impact on surrounding personnel and objects. Furthermore, the relative positional precision requirements between the motor housing, the first load-bearing structural component, and the heat sink are relatively low, and the connections between the first liquid outlet and the second liquid inlet, the second liquid outlet and the third liquid inlet, and the third liquid outlet and the first liquid inlet are relatively convenient.

[0021] In some embodiments, the second liquid cooling channel includes a first sub-channel and a second sub-channel, with a first liquid inlet port connected to the first sub-channel and a first liquid outlet port connected to the second sub-channel.

[0022] The heat sink is also provided with a fourth liquid outlet interface connected to the first sub-channel and a fourth liquid inlet interface connected to the second sub-channel. The liquid inlet end of the liquid pump is connected to the fourth liquid outlet interface, and the liquid outlet end of the liquid pump is connected to the fourth liquid inlet interface, so that the liquid pump is connected in series between the first sub-channel and the second sub-channel.

[0023] The liquid pump is fixedly connected to the heat sink, and the liquid pump is fixed to the motor housing through the heat sink.

[0024] This makes the assembly of the liquid pump more convenient and facilitates its connection to the liquid cooling circulation loop.

[0025] In some embodiments, a second load-bearing structural member is also included;

[0026] The joint motor also includes a motor rotor, which is located inside the motor housing;

[0027] The first load-bearing structural component is sleeved on the outer radial side of the motor housing, and the second load-bearing structural component is connected to the motor rotor at one end of the motor housing, and is fixedly connected to the other end of the motor housing by a heat sink.

[0028] This design allows for a more compact structure at the joint motor, and the placement of the heat sink is less likely to affect the movement of the second load-bearing structural component, thus facilitating the humanoid robot's flexible movements. Furthermore, it allows for the installation of a relatively large heat sink, resulting in better cooling performance of the coolant.

[0029] In some embodiments, the motor housing is provided with a first liquid inlet and a first liquid outlet that communicate with the first liquid cooling channel. The first liquid inlet and the first liquid outlet are located on the end face of the motor housing connected to the heat sink.

[0030] In this way, it is convenient to connect the first liquid inlet interface with the third liquid outlet interface provided on the first load-bearing structural component, and the first liquid outlet interface with the second liquid inlet interface provided on the heat sink, and it is not likely to affect the movement of the humanoid robot, so that the first liquid cooling channel, the second liquid cooling channel and the third liquid cooling channel can be connected in series to form a stable and reliable liquid cooling circulation loop.

[0031] In some embodiments, the first load-bearing structural member is provided with a third liquid inlet and a third liquid outlet that communicate with the third liquid cooling channel. The third liquid inlet and the third liquid outlet are located on the inner surface of the first load-bearing structural member and are located on the side of the motor housing away from the second load-bearing structural member.

[0032] In this way, it is convenient to connect the third liquid inlet to the second liquid outlet on the heat sink, and the third liquid outlet to the first liquid inlet on the motor housing, and it is less likely to affect the movement of the humanoid robot, so that the first liquid cooling channel, the second liquid cooling channel and the third liquid cooling channel can be connected in series to form a stable and reliable liquid cooling circulation loop.

[0033] In some embodiments, the heat sink includes a cold plate structure and a support structure;

[0034] The cold plate structure is fixedly connected to the end of the motor housing away from the second load-bearing structure through the support structure, so that the cold plate structure is spaced apart on the side of the motor housing away from the second load-bearing structure.

[0035] At least a portion of the second liquid cooling channel is located in the cold plate structure. The cold plate structure is provided with a second liquid inlet and a second liquid outlet that communicate with the second liquid cooling channel. The second liquid inlet and the second liquid outlet are located on the surface of the cold plate structure facing the motor housing.

[0036] In this way, the connection between the second liquid inlet and the first liquid outlet on the motor housing, and between the second liquid outlet and the third liquid inlet on the first load-bearing structural member, is convenient and unlikely to affect the humanoid robot's movements. This facilitates the connection of the first, second, and third liquid cooling channels in series to form a stable and reliable liquid cooling circulation loop. Furthermore, the support structure provides space between the cold plate structure and the motor housing for mounting components, which is beneficial for assembling components such as the liquid pump.

[0037] In some embodiments, the heat sink includes a cold plate structure and a fin array structure;

[0038] The cold plate structure is fixedly installed at the end of the motor housing away from the second load-bearing structural member, and at least a portion of the second liquid cooling channel is located in the cold plate structure.

[0039] The fan and fin array structure are fixedly connected to the surface of the cold plate structure away from the motor housing. The fin array structure is a ring array structure that surrounds the fan. The fan is located in the space enclosed by the fin array structure and the cold plate structure. The fan is a centrifugal fan.

[0040] In this way, by setting up the fin array structure, the heat sink can have a larger heat dissipation area, which is conducive to efficient heat dissipation. In addition, the fin array structure can be reused as a protective structure for the fan, making it difficult for people and objects to come into contact with the fan impeller. The fin array structure serves multiple purposes, so as to achieve efficient heat dissipation of the heat sink in a small space.

[0041] In some embodiments, the heat sink also includes a cover plate;

[0042] The fin array structure includes an annular connecting plate and multiple fins arranged circumferentially along the annular connecting plate.

[0043] The annular connecting plates are spaced apart on the side of the cold plate structure away from the motor housing. The fins are located between the annular connecting plates and the cold plate structure. One end of the fin is fixedly connected to the annular connecting plate, and the other end of the fin is fixedly connected to the cold plate structure. The annular connecting plates form an air inlet, and the air outlet is formed between two adjacent fins, the annular connecting plates, and the cold plate structure.

[0044] The cover plate is fixedly connected to the surface of the annular connecting plate away from the motor housing. The fan is located in the space enclosed by the cover plate, the cold plate structure, and the fin array structure. The cover plate has multiple ventilation holes at the position opposite to the air inlet.

[0045] In this way, the cover plate can increase the heat dissipation area of ​​the heat sink, which is beneficial to the efficient heat dissipation of the heat sink. In addition, the cover plate can be reused as a protective structure for the fan, making it difficult for personnel and objects to come into contact with the fan impeller. The cover plate serves multiple purposes, enabling efficient heat dissipation of the heat sink in a small space. Furthermore, the multiple fins arranged at circumferential intervals along the annular connecting plate are connected as a whole, which makes the structure of the fin array structure more stable and the heat dissipation through the fin array structure more reliable. In addition, the annular connecting plate makes the connection between the cover plate and the fin array structure more convenient.

[0046] In some embodiments, the outer surface of the first load-bearing structural member is provided with a heat dissipation enhancement structure.

[0047] In this way, the heat exchange area between the first load-bearing structural component and the ambient air can be increased by setting a heat dissipation enhancement structure, which helps to improve the heat dissipation effect on the joint motor.

[0048] In some embodiments, a controller is also included;

[0049] The joint motor is equipped with a temperature sensor, which is used to detect the temperature of the joint motor.

[0050] The temperature sensor is electrically connected to the controller to enable signal interaction between the temperature sensor and the controller. The controller is electrically connected to the fan to enable signal interaction between the controller and the fan. The controller can control the fan based on the temperature detected by the temperature sensor.

[0051] In this way, the fan speed can be dynamically adjusted based on the temperature of the joint motor detected by the temperature sensor to match the heat dissipation requirements. When the temperature sensor detects a high temperature, the fan can run at a high speed. When the temperature sensor detects a low temperature, the fan can run at a low speed or be turned off. This achieves energy saving, resulting in higher energy efficiency and longer battery life for the humanoid robot. In addition, it can further reduce the noise of the humanoid robot when operating in low-load mode.

[0052] Secondly, embodiments of this application provide a control method for a humanoid robot, used to control the humanoid robot in any of the above embodiments;

[0053] The method includes:

[0054] When the temperature of the joint motor of the humanoid robot is greater than or equal to the first temperature threshold, the humanoid robot's liquid pump is turned on and the humanoid robot's fan rotates at the first speed.

[0055] When the temperature of the joint motor is less than the first temperature threshold and greater than or equal to the second temperature threshold, the liquid pump is turned on and the fan rotates at the second speed.

[0056] The first temperature threshold is greater than the second temperature threshold, and the first rotational speed is greater than the second rotational speed.

[0057] This allows for dynamic adjustment of the fan speed based on the joint motor temperature to match cooling requirements. When the joint motor temperature is high, the fan can operate at a high speed; when the joint motor temperature is low, the fan can operate at a low speed. This achieves energy savings, resulting in higher energy efficiency and longer battery life for the humanoid robot. Furthermore, it also further reduces noise levels when the humanoid robot is operating in low-load mode.

[0058] In some embodiments, the method further includes:

[0059] When the temperature of the joint motor is below the third temperature threshold, the liquid pump turns on and the fan turns off.

[0060] The third temperature threshold is less than or equal to the second temperature threshold.

[0061] In this way, when the temperature of the joint motor is lower than the third temperature threshold, the joint motor can be cooled by natural heat dissipation, which can further improve the energy efficiency of the humanoid robot, increase the battery life of the humanoid robot, and reduce the noise of the humanoid robot.

[0062] In some embodiments, when the temperature of the joint motor is greater than or equal to a first temperature threshold, the liquid pump drives the coolant to flow in the liquid cooling circulation loop of the humanoid robot at a first flow rate.

[0063] When the temperature of the joint motor is less than the first temperature threshold and greater than or equal to the second temperature threshold, the liquid pump drives the coolant to flow in the liquid cooling circulation loop at a second flow rate.

[0064] The first flow rate is greater than the second flow rate.

[0065] This allows for dynamic adjustment of the liquid pump's power based on the joint motor's temperature, thereby regulating the coolant flow rate in the liquid cooling circulation loop and matching heat dissipation requirements. When the joint motor temperature is high, the liquid pump can operate at high power to drive the coolant at a larger flow rate within the liquid cooling circulation loop. Conversely, when the joint motor temperature is low, the liquid pump can operate at low power to drive the coolant at a smaller flow rate. This achieves energy savings, resulting in higher energy efficiency and longer runtime for the humanoid robot. Furthermore, it also further reduces noise levels when the humanoid robot operates in low-load modes. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 A schematic diagram of a humanoid robot provided in an embodiment of this application;

[0068] Figure 2 for Figure 1 Another illustration of the humanoid robot provided in the image;

[0069] Figure 3 A perspective view of a joint motor provided in an embodiment of this application;

[0070] Figure 4 A perspective view of a heat sink provided in an embodiment of this application;

[0071] Figure 5A perspective view of a first load-bearing structural member provided in an embodiment of this application;

[0072] Figure 6 for Figure 1 An exploded diagram of the humanoid robot provided in the image;

[0073] Figure 7 for Figure 1 Another exploded diagram of the humanoid robot provided in the image;

[0074] Figure 8 A schematic diagram of a joint motor provided in an embodiment of this application;

[0075] Figure 9 A schematic diagram of a first load-bearing structural member provided in an embodiment of this application;

[0076] Figure 10 for Figure 1 Another illustration of a humanoid robot provided in the image;

[0077] Figure 11 for Figure 1 Another exploded diagram of the humanoid robot provided in the image;

[0078] Figure 12 for Figure 1 Another illustration of a humanoid robot provided in the image;

[0079] Figure 13 for Figure 1 Another exploded diagram of the humanoid robot provided in the image;

[0080] Figure 14 An exploded schematic diagram of a heat sink provided in an embodiment of this application.

[0081] Explanation of reference numerals in the attached figures:

[0082] 100. Joint motor; 110. Motor housing;

[0083] 200. First load-bearing structural component;

[0084] 300, Heat sink; 310, Cold plate structure; 311, First plate; 312, Second plate; 320, Support structure; 330, Fin array structure; 331, Fin; 332, Annular connecting plate; 340, Cover plate;

[0085] 400. Liquid pump;

[0086] 500, Fan;

[0087] 610. First flexible connecting pipe; 620. Second flexible connecting pipe; 630. Third flexible connecting pipe;

[0088] P1, First liquid cooling channel; P2, Second liquid cooling channel; P21, First sub-channel; P22, Second sub-channel; P3, Third liquid cooling channel;

[0089] J11, First liquid inlet port; J12, First liquid outlet port; J21, Second liquid inlet port; J22, Second liquid outlet port; J31, Third liquid inlet port; J32, Third liquid outlet port; J41, Fourth liquid inlet port; J42, Fourth liquid outlet port;

[0090] N, air inlet; H, ventilation hole; S, flow channel. Detailed Implementation

[0091] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0092] This application provides a humanoid robot that can be applied to industrial, commercial, medical, and home service scenarios. This humanoid robot can operate with high power density and high load.

[0093] Figure 1 This is a schematic diagram of a humanoid robot provided in an embodiment of this application. Figure 2 for Figure 1 Another illustration of the humanoid robot provided.

[0094] like Figure 1 , Figure 2 As shown in the embodiments of this application, the humanoid robot includes a joint motor 100, a first load-bearing structural member 200, and a second load-bearing structural member.

[0095] The articulated motor 100 includes a motor housing 110, a motor stator, and a motor rotor. The motor stator and motor rotor are housed within the motor housing 110. The motor stator is fixedly connected to the motor housing 110, and the motor rotor is rotatably connected to the motor housing 110. A first load-bearing structural member 200 is fixed to the motor housing 110, and a second load-bearing structural member is connected to the motor rotor. The articulated motor 100 drives the second load-bearing structural member to move relative to the first load-bearing structural member 200, thereby enabling flexible movements of the humanoid robot.

[0096] For example, the motor stator is arranged around the outside of the motor rotor.

[0097] For example, the joint motor 100 may include, but is not limited to, a hip joint motor, a knee joint motor, an elbow joint motor, etc. That is, at least one of the hip joint motor, knee joint motor, elbow joint motor, etc. of the humanoid robot is the joint motor 100 used to drive the relative movement of two connected load-bearing structural members.

[0098] Figure 3 This is a perspective view of a joint motor provided in an embodiment of this application. Figure 4 A perspective view of a heat sink provided in an embodiment of this application. Figure 5 A perspective view of a first load-bearing structural member provided in an embodiment of this application. Figure 6 for Figure 1 An exploded diagram of the humanoid robot provided in the image. Figure 7 for Figure 1 Another exploded illustration of the humanoid robot provided in the image.

[0099] like Figures 1-7 As shown in the embodiment of this application, the humanoid robot also includes a heat sink 300, a liquid pump 400, and a fan 500. The heat sink 300 and the liquid pump 400 are fixed to the motor housing 110.

[0100] The housing wall of the motor housing 110 has a first liquid cooling channel P1, the heat sink 300 has a second liquid cooling channel P2, and the first load-bearing structural member 200 has a third liquid cooling channel P3. The first liquid cooling channel P1, the second liquid cooling channel P2, the third liquid cooling channel P3 and the liquid pump 400 are connected in series to form a liquid cooling circulation loop. The liquid pump 400 is used to drive the coolant in the liquid cooling circulation loop to circulate and dissipate heat from the joint motor 100.

[0101] Fan 500 is located on heat sink 300 and is used to provide air cooling for heat sink 300.

[0102] In this way, a two-stage heat dissipation system, consisting of a heat sink 300 and a first load-bearing structural component 200 connected in series, provides a longer coolant heat dissipation path and a larger surface area for coolant cooling. This facilitates efficient heat dissipation of the articulated motor 100 through the smaller heat sink 300 and the smaller, lower-speed fan 500. The lower speed and smaller size of the fan 500 result in lower noise during heat dissipation of the articulated motor 100. The lower speed and smaller size of the fan 500 also result in lower power consumption, allowing the humanoid robot to have a longer operating time. The smaller size of the heat sink 300 ensures that its placement at the articulated motor 100 does not significantly affect the robot's agile movements. This two-stage heat dissipation system, with the heat sink 300 and the first load-bearing structural component 200 connected in series, provides high heat dissipation redundancy. In the event of a fan 500 failure, natural cooling can be achieved through the larger heat dissipation surface and longer heat dissipation path, preventing rapid overheating of the articulated motor 100 due to fan 500 failure and improving the reliability of the articulated motor 100's operation.

[0103] Furthermore, the first liquid cooling channel P1 is integrated into the shell wall of the motor housing 110, making the motor housing 110 multi-functional. The first load-bearing structural component 200 is reused to dissipate heat from the joint motor 100, making the first load-bearing structural component 200 multi-functional as well. In this way, the structure of the humanoid robot can be made relatively simple, which is conducive to the miniaturization and lightweight design of the humanoid robot.

[0104] In addition, the heat sink 300 and the first load-bearing structural component 200 are both fixed to the motor housing 110, which makes the connection of the first liquid cooling channel P1, the second liquid cooling channel P2 and the third liquid cooling channel P3 more stable, and the reliability of liquid cooling heat dissipation of the joint motor 100 by the coolant circulating in the liquid cooling loop is better.

[0105] In addition, the fan 500 is located on the heat sink 300, which makes the fan 500 easier to set up and facilitates efficient air cooling of the heat sink 300.

[0106] In some examples, the pump 400 can be a piezoelectric pump, which allows for a smaller size of the pump 400, facilitating the miniaturization and lightweight design of the humanoid robot.

[0107] In some examples, the liquid pump 400 can be a magnetically levitated liquid pump, which allows for a larger head and flow rate, thus improving the liquid cooling effect on the joint motor 100. Furthermore, it reduces the operating noise of the liquid pump 400, resulting in less noise during cooling of the joint motor 100. For example, the liquid pump 400 can employ a liquid-magnetic dual-levitation bearing structure, with the pump rotor completely immersed in the coolant, eliminating mechanical friction between the pump rotor and other components of the liquid pump 400.

[0108] In some examples, the speed range of the liquid pump 400 can be 10,000 to 30,000 rpm.

[0109] In some examples, the rated flow rate of the liquid pump 400 can be 0.4 to 6 L / min. For example, the rated flow rate of the liquid pump 400 can be 0.8 L / min.

[0110] In some examples, the head of the liquid pump 400 can be 0.5 to 8 m of water column. For example, the head of the liquid pump 400 can be 6 m of water column.

[0111] For example, the first load-bearing structural member 200 exchanges heat with the ambient air through natural convection and thermal radiation.

[0112] For example, the first load-bearing structural member 200 can be made of metal to facilitate efficient heat dissipation of the coolant through it. Furthermore, this also allows for higher structural strength of the first load-bearing structural member 200 with the third liquid cooling channel P3.

[0113] For example, the first load-bearing structural component 200 can be made of aluminum alloy or magnesium-aluminum alloy. The first load-bearing structural component 200 can be manufactured by 3D printing or precision casting processes.

[0114] For example, the coolant can be a 30% to 50% ethylene glycol aqueous solution, which results in a high specific heat capacity and good antifreeze and anti-corrosion properties. For instance, a 50% ethylene glycol aqueous solution can be used, in which case the specific heat capacity is approximately 3.4 kJ / (kg·℃) and the freezing point is approximately -25℃.

[0115] In some examples, the motor housing 110 may be made of metal to facilitate the absorption of heat generated by the joint motor 100 by the coolant in the first liquid cooling channel P1. For example, the motor housing 110 may be made of aluminum alloy.

[0116] For example, the first liquid cooling channel P1 is arranged around the outside of the motor stator.

[0117] For example, the cross-section of the first liquid cooling channel P1 can be rectangular or circular, and the hydraulic diameter of the first liquid cooling channel P1 can be 0.5mm to 2mm, so that the coolant in the first liquid cooling channel P1 and the motor housing 110 have a high heat exchange efficiency, and it is also convenient to form the first liquid cooling channel P1 on the motor housing 110 with a thin shell.

[0118] For example, the cross-section of the first liquid cooling channel P1 can be a circle with a diameter of 2 mm.

[0119] For example, the first liquid cooling channel P1 may include 20 to 60 motor liquid cooling sub-channels in parallel or series-parallel hybrid layout.

[0120] In some examples, the joint motor 100 is a hip joint motor, and the cross-section of the first liquid cooling channel P1 can be a rectangle of 0.8mm × 1.5mm. The first liquid cooling channel P1 can include 40 parallel motor liquid cooling sub-channels, and the total heat exchange area between the first liquid cooling channel P1 and the coolant is approximately 0.03m². 2 .

[0121] For example, the cross-section of the third liquid cooling channel P3 can be rectangular or circular, and the hydraulic diameter of the third liquid cooling channel P3 can be 1mm to 4mm. The third liquid cooling channel P3 is meandering on the first load-bearing structural member 200, and the length of the third liquid cooling channel P3 can be 1.5 to 5 times the length of the first load-bearing structural member 200.

[0122] In some examples, the joint motor 100 is a knee joint motor, the first load-bearing structural member 200 is a lower leg skeleton structural member, the length of the third liquid cooling channel P3 can be approximately 1.2m, and the total heat exchange area between the third liquid cooling channel P3 and the coolant is approximately 0.12m². 2 .

[0123] like Figure 1 , Figure 2 As shown, in some possible embodiments, the first load-bearing structural member 200 is sleeved on the outer radial side of the motor housing 110 of the joint motor 100, the second load-bearing structural member is connected to the motor rotor at one end of the motor housing 110, and the heat sink 300 is fixedly connected to the other end of the motor housing 110.

[0124] In this way, the structure at the joint motor 100 is relatively compact, and the placement of the heat sink 300 is less likely to affect the movement of the second load-bearing structural component, which is beneficial to the flexible movement of the humanoid robot. In addition, it is easier to set up a relatively large heat sink 300, so that the coolant can be effectively dissipated through the heat sink 300.

[0125] For example, the fan 500 and the liquid pump 400 are located on the side of the motor housing 110 away from the second load-bearing structure, so that the arrangement of the fan 500 and the liquid pump 400 does not easily affect the operation of the second load-bearing structure.

[0126] like Figures 3-5As shown, exemplarily, the motor housing 110 is provided with a first liquid inlet port J11 and a first liquid outlet port J12 communicating with the first liquid cooling channel P1. The first liquid cooling channel P1 is connected to the liquid cooling circulation loop through the first liquid inlet port J11 and the first liquid outlet port J12. The heat sink 300 is provided with a second liquid inlet port J21 and a second liquid outlet port J22 communicating with the second liquid cooling channel P2. The second liquid cooling channel P2 is connected to the liquid cooling circulation loop through the second liquid inlet port J21 and the second liquid outlet port J22. The first load-bearing structural member 200 is provided with a third liquid inlet port J31 and a third liquid outlet port J32 communicating with the third liquid cooling channel P3. The third liquid cooling channel P3 is connected to the liquid cooling circulation loop through the third liquid inlet port J31 and the third liquid outlet port J32.

[0127] The first liquid outlet J12 is connected to the second liquid inlet J21, the second liquid outlet J22 is connected to the third liquid inlet J31, and the third liquid outlet J32 is connected to the first liquid inlet J11.

[0128] In this way, after absorbing the heat generated by the joint motor 100 in the first liquid-cooled flow channel P1, the coolant enters the second liquid-cooled flow channel P2. Forced convection by the fan 500 onto the heat sink 300 removes some of the heat absorbed by the coolant (e.g., 60% to 70% of the heat absorbed by the coolant), lowering the coolant temperature. The coolant then flows out of the second liquid-cooled flow channel P2 and into the third liquid-cooled flow channel P3. Natural heat dissipation from the surface of the first load-bearing structural member 200 removes some of the heat absorbed by the coolant (e.g., 30% to 40% of the heat absorbed by the coolant), further lowering the coolant temperature. The coolant flowing out of the third liquid-cooled flow channel P3 then flows back to the first liquid-cooled flow channel P1. Thus, the temperature rise of the first load-bearing structural member 200 is relatively low, and using the first load-bearing structural member 200 to dissipate heat from the joint motor 100 has minimal impact on surrounding personnel and objects.

[0129] In some possible implementations, the second liquid cooling channel P2 includes a first sub-channel P21 and a second sub-channel P22. A first liquid inlet J11 communicates with the first sub-channel P21, and a first liquid outlet J12 communicates with the second sub-channel P22. The heat sink 300 also has a fourth liquid outlet J42 communicating with the first sub-channel P21 and a fourth liquid inlet J41 communicating with the second sub-channel P22. The liquid pump 400's inlet end communicates with the fourth liquid outlet J42, and its outlet end communicates with the fourth liquid inlet J41, so that the liquid pump 400 is connected in series between the first sub-channel P21 and the second sub-channel P22. The liquid pump 400 is fixedly connected to the heat sink 300, and the liquid pump 400 is fixed to the motor housing 110 through the heat sink 300.

[0130] This makes the assembly of the liquid pump 400 more convenient and facilitates its connection to the liquid cooling circulation loop.

[0131] For example, the fourth liquid outlet J42 is connected to the liquid inlet of the liquid pump 400, and the fourth liquid inlet J41 is connected to the liquid outlet of the liquid pump 400.

[0132] like Figure 6 , Figure 7 As shown, in some possible embodiments, the first liquid outlet J12 is connected to the second liquid inlet J21 via a first flexible connecting pipe 610, so that the first liquid outlet J12 and the second liquid inlet J21 are in communication. The second liquid outlet J22 is connected to the third liquid inlet J31 via a second flexible connecting pipe 620, so that the second liquid outlet J22 and the third liquid inlet J31 are in communication. The third liquid outlet J32 is connected to the first liquid inlet J11 via a third flexible connecting pipe 630, so that the third liquid outlet J32 and the first liquid inlet J11 are in communication.

[0133] In this way, the relative positional accuracy requirements between the motor housing 110, the first load-bearing structural component 200 and the heat sink 300 are relatively low, and the connection between the first liquid outlet J12 and the second liquid inlet J21, the second liquid outlet J22 and the third liquid inlet J31, and the third liquid outlet J32 and the first liquid inlet J11 is relatively convenient.

[0134] For example, the first flexible connecting tube 610, the second flexible connecting tube 620, and the third flexible connecting tube 630 can be made of polytetrafluoroethylene (PTFE) or silicone. The inner diameter of the first flexible connecting tube 610, the second flexible connecting tube 620, and the third flexible connecting tube 630 can be 2-4 mm. For example, the first flexible connecting tube 610, the second flexible connecting tube 620, and the third flexible connecting tube 630 can be PTFE hoses with an inner diameter of 3 mm and a wall thickness of 0.5 mm.

[0135] Figure 8 This is a schematic diagram of a joint motor provided in an embodiment of this application.

[0136] like Figure 8 As shown, in some possible embodiments, the first liquid inlet J11 and the first liquid outlet J12 are located on the end face of the motor housing 110 connected to the heat sink 300.

[0137] In this way, it is convenient to connect the first liquid inlet J11 to the third liquid outlet J32 provided on the first load-bearing structural member 200, and the first liquid outlet J12 to the second liquid inlet J21 provided on the heat sink 300, and it is less likely to affect the movement of the humanoid robot, so that the first liquid cooling channel P1, the second liquid cooling channel P2 and the third liquid cooling channel P3 can be connected in series to form a stable and reliable liquid cooling circulation loop.

[0138] Figure 9A schematic diagram of a first load-bearing structural member provided in an embodiment of this application. Figure 10 for Figure 1 Another illustration of a humanoid robot provided in the image.

[0139] like Figure 9 , Figure 10 As shown, in some possible embodiments, the third liquid inlet J31 and the third liquid outlet J32 are located on the inner surface of the first load-bearing structural member 200, and the third liquid inlet J31 and the third liquid outlet J32 are located on the side of the motor housing 110 away from the second load-bearing structural member.

[0140] In this way, it is convenient to connect the third liquid inlet J31 to the second liquid outlet J22 set on the heat sink 300, and the third liquid outlet J32 to the first liquid inlet J11 set on the motor housing 110, and it is less likely to affect the movement of the humanoid robot, so that the first liquid cooling channel P1, the second liquid cooling channel P2 and the third liquid cooling channel P3 can be connected in series to form a stable and reliable liquid cooling circulation loop.

[0141] Figure 11 for Figure 1 Another exploded diagram of the humanoid robot provided in the image. Figure 12 for Figure 1 Another illustration of a humanoid robot provided in the image.

[0142] like Figure 11 As shown, exemplarily, the heat sink 300 includes a cold plate structure 310, which is fixedly disposed at the end of the motor housing 110 away from the second load-bearing structural member. At least a portion of the second liquid cooling channel P2 is located in the cold plate structure 310. The cold plate structure 310 is provided with a second liquid inlet J21 and a second liquid outlet J22 communicating with the second liquid cooling channel P2.

[0143] For example, the second liquid cooling channel P2 is located in the cold plate structure 310.

[0144] For example, the fan 500 is located on the side of the cold plate structure 310 away from the motor housing 110, which makes the arrangement of the fan 500 more convenient, and the fan 500 can perform air cooling heat dissipation on the cold plate structure 310.

[0145] For example, the fourth liquid inlet J41 and the fourth liquid outlet J42 are provided on the cold plate structure 310, and the liquid pump 400 is fixedly connected to the cold plate structure 310.

[0146] For example, the cold plate structure 310 has a pump mounting groove on the side surface facing the motor housing 110, the liquid pump 400 is disposed in the pump mounting groove, and the fourth liquid inlet J41 and the fourth liquid outlet J42 are disposed on the groove wall of the pump mounting groove.

[0147] like Figure 11 , Figure 12 As shown, in some possible embodiments, the heat sink 300 also includes a support structure 320.

[0148] The cold plate structure 310 is fixedly connected to the end of the motor housing 110 away from the second load-bearing structure through the support structure 320, so that the cold plate structure 310 is spaced apart on the side of the motor housing 110 away from the second load-bearing structure.

[0149] The second liquid inlet J21 and the second liquid outlet J22 are located on the surface of the cold plate structure 310 facing the motor housing 110.

[0150] In this way, the connection between the second liquid inlet J21 and the first liquid outlet J12 on the motor housing 110, and between the second liquid outlet J22 and the third liquid inlet J31 on the first load-bearing structural member 200, is convenient and unlikely to affect the movement of the humanoid robot. This facilitates the connection of the first liquid cooling channel P1, the second liquid cooling channel P2, and the third liquid cooling channel P3 in series to form a stable and reliable liquid cooling circulation loop. In addition, the support structure 320 creates space between the cold plate structure 310 and the motor housing 110 for mounting components, which is beneficial for the assembly of components such as the liquid pump 400.

[0151] For example, the support structure 320 is provided at the outer edge of the cold plate structure 310.

[0152] Figure 13 for Figure 1 Another exploded diagram of the humanoid robot provided in the image.

[0153] like Figure 12 , Figure 13 As shown, in some possible embodiments, the heat sink 300 also includes a fin array structure 330.

[0154] The fan 500 and the fin array structure 330 are fixedly connected to the surface of the cold plate structure 310 away from the motor housing 110. The fin array structure 330 is a ring array structure surrounding the fan 500. The fan 500 is located in the space enclosed by the fin array structure 330 and the cold plate structure 310. The fan 500 is a centrifugal fan.

[0155] In this way, by setting the fin array structure 330, the heat sink 300 can have a larger heat dissipation area, which is beneficial to the efficient heat dissipation of the heat sink 300. In addition, the fin array structure 330 can be reused as a protective structure for the fan 500, making it difficult for personnel and objects to come into contact with the impeller of the fan 500. The fin array structure 330 serves multiple purposes, so as to achieve efficient heat dissipation of the heat sink 300 in a small space.

[0156] For example, the outer edge of the fin array structure 330 coincides with the outer edge of the cold plate structure 310.

[0157] For example, fan 500 is a fan without a protective mesh cover.

[0158] For example, the fan 500 can be fixedly connected to the surface of the cold plate structure 310 by means of adhesive bonding, fastener connection or other methods.

[0159] For example, fan 500 includes an impeller, which is a centrifugal impeller.

[0160] In some possible implementations, the heat sink 300 further includes a cover plate 340, which is fixedly connected to the end of the fin array structure 330 away from the cold plate structure 310. The fan 500 is disposed in the space enclosed by the cover plate 340, the cold plate structure 310 and the fin array structure 330. The cover plate 340 has a plurality of ventilation holes H for air to enter the space enclosed by the cover plate 340, the cold plate structure 310 and the fin array structure 330.

[0161] In this way, the cover plate 340 can increase the heat dissipation area of ​​the heat sink 300, which is conducive to the efficient heat dissipation of the heat sink 300. In addition, the cover plate 340 can be reused as a protective structure for the fan 500, making it difficult for personnel and objects to come into contact with the impeller of the fan 500. The cover plate 340 serves multiple purposes, so as to achieve efficient heat dissipation of the heat sink 300 in a small space.

[0162] In some possible implementations, the fin array structure 330 includes an annular connecting plate 332 and multiple fins 331 arranged circumferentially along the annular connecting plate 332.

[0163] Annular connecting plates 332 are spaced apart on the side of the cold plate structure 310 away from the motor housing 110. Fins 331 are disposed between the annular connecting plates 332 and the cold plate structure 310. One end of the fin 331 is fixedly connected to the annular connecting plates 332, and the other end of the fin 331 is fixedly connected to the cold plate structure 310. The annular connecting plates 332 surround to form an air inlet N. An air outlet duct is formed between two adjacent fins 331, the annular connecting plates 332, and the cold plate structure 310.

[0164] The cover plate 340 is fixedly connected to the surface of the annular connecting plate 332 away from the motor housing 110. The cover plate 340 has multiple ventilation holes H at the position opposite to the air inlet N.

[0165] In this way, the multiple fins 331 arranged circumferentially along the annular connecting plate 332 are connected into one unit by the annular connecting plate 332, which makes the structure of the fin array structure 330 more stable and the heat dissipation through the fin array structure 330 more reliable. In addition, by setting the annular connecting plate 332, the connection between the cover plate 340 and the fin array structure 330 is more convenient.

[0166] Figure 14 An exploded schematic diagram of a heat sink provided in an embodiment of this application.

[0167] like Figure 14 As shown, in some examples, the cold plate structure 310 includes a first plate 311 and a second plate 312. The surface of the first plate 311 facing the motor housing 110 has a flow channel groove S, and the second plate 312 covers the surface of the first plate 311 facing the motor housing 110. The second plate 312 and the groove wall of the flow channel S form a second liquid cooling flow channel P2.

[0168] This makes it easier to form the second liquid cooling channel P2.

[0169] For example, the first plate 311, the support structure 320 and the fin array structure 330 are an integral structure.

[0170] For example, the second liquid inlet J21 and the second liquid outlet J22 are disposed on the surface of the second plate 312 away from the first plate 311.

[0171] For example, the surface of the first plate 311 facing the motor housing 110 also has a receiving groove, and the second plate 312 has a clearance opening at the position opposite to the receiving groove, and the inner wall of the receiving groove and the clearance opening form a pump mounting groove.

[0172] For example, the fourth liquid inlet J41 and the fourth liquid outlet J42 are disposed on the wall of the receiving tank.

[0173] For example, the heat sink 300 can be made of metal to facilitate efficient heat dissipation of the coolant through the heat sink 300.

[0174] For example, the cold plate structure 310, the support structure 320, the fin array structure 330, and the cover plate 340 can all be made of metal.

[0175] For example, the heat sink 300 can be made of aluminum.

[0176] For example, the cold plate structure 310, the support structure 320, the fin array structure 330 and the cover plate 340 can all be made of aluminum.

[0177] For example, the heat sink 300 can be a columnar structure.

[0178] In some examples where the joint motor 100 is a hip joint motor, the heat sink 300 can be a cylindrical structure with a diameter of 60 mm and a height of 20 mm, and the heat exchange area of ​​the heat sink 300 is approximately 0.05 m². 2 The rated speed of the fan 500 is 15,000 rpm, and the airflow of the fan 500 is approximately 5 CFM.

[0179] In some possible implementations, the outer surface of the first load-bearing structural member 200 is provided with a heat dissipation enhancement structure.

[0180] In this way, the heat exchange area between the first load-bearing structural member 200 and the ambient air can be increased by setting a heat dissipation enhancement structure, which is conducive to improving the heat dissipation effect on the joint motor 100.

[0181] For example, the heat dissipation enhancement structure may include one or more of the following: heat dissipation fins, heat dissipation tendons, surface microstructure textures, etc.

[0182] For example, a heat dissipation enhancement structure may include heat dissipation fins with a height of 3 mm.

[0183] In some possible implementations, the humanoid robot also includes a controller.

[0184] The joint motor 100 is equipped with a temperature sensor, which is used to detect the temperature of the joint motor 100.

[0185] The temperature sensor is electrically connected to the controller to enable signal interaction between the temperature sensor and the controller. The controller is electrically connected to the fan 500 to enable signal interaction between the controller and the fan 500. The controller can control the fan 500 according to the temperature detected by the temperature sensor.

[0186] In this way, the speed of the fan 500 can be dynamically adjusted based on the temperature of the joint motor 100 detected by the temperature sensor to match the heat dissipation requirements. When the temperature detected by the temperature sensor is high, the fan 500 can run at a high speed. When the temperature detected by the temperature sensor is low, the fan 500 can run at a low speed or be turned off. This achieves energy saving, resulting in higher energy efficiency and longer battery life for the humanoid robot. In addition, it can further reduce the noise of the humanoid robot when operating in low-load mode.

[0187] For example, the temperature sensor may be located at the first liquid outlet J12.

[0188] For example, the controller is also electrically connected to the liquid pump 400 to enable signal interaction between the controller and the liquid pump 400, and the controller is also able to control the liquid pump 400 according to the temperature detected by the temperature sensor.

[0189] In this way, the power of the liquid pump 400 can be dynamically adjusted based on the temperature of the joint motor 100 detected by the temperature sensor, thereby adjusting the flow rate of coolant in the liquid cooling circulation loop and matching the heat dissipation requirements. When the temperature detected by the temperature sensor is high, the liquid pump 400 can operate at high power to drive the coolant to flow in the liquid cooling circulation loop at a larger flow rate. When the temperature detected by the temperature sensor is low, the liquid pump 400 can operate at low power to drive the coolant to flow in the liquid cooling circulation loop at a smaller flow rate. This achieves energy saving, resulting in higher energy efficiency and longer operating time for the humanoid robot. Furthermore, it can further reduce the noise of the humanoid robot when operating in low-load mode.

[0190] The humanoid robot provided in this application embodiment has a joint motor 100 that can run continuously for more than 30 minutes under rated working conditions, and the winding temperature of the joint motor 100 is controlled within 80°C.

[0191] In some examples where the articulated motor 100 is a hip joint motor, the liquid pump 400 drives the coolant to circulate in the liquid cooling loop at a flow rate of 0.4 L / min. The coolant absorbs 0.18 kW of heat generated by the articulated motor 100 within the first liquid cooling channel P1, raising the coolant temperature from 45°C to approximately 53°C. After the coolant flows from the first liquid cooling channel P1 into the second liquid cooling channel P2, the fan 500 blows air at a speed of 15000 rpm across the surface of the heat sink 300, achieving a forced convection heat transfer coefficient of approximately 150 W / (m²). 2 The coolant carries away approximately 0.125 kW of heat (70% of the total heat), reducing the coolant temperature to approximately 47.5°C. After flowing from the second liquid cooling channel P2 into the third liquid cooling channel P3, the coolant undergoes natural convection on the surface of the first load-bearing structural component 200 (heat transfer coefficient approximately 8 W / (m²)). 2 Heat is dissipated into the environment through heat exchange and radiation, carrying away approximately 0.055 kW of heat (30% of the total heat). The coolant temperature further decreases to approximately 45°C. After flowing out from the third liquid cooling channel P3, the coolant flows back to the first liquid cooling channel P1. When the temperature of the joint motor 100 detected by the temperature sensor exceeds 55°C, the fan 500 speed is increased to 18000 rpm, and the flow rate of the coolant driven by the liquid pump 400 is reduced to 0.5 L / min. When the temperature of the joint motor 100 detected by the temperature sensor is below 45°C, the fan 500 speed is reduced to 8000 rpm or the fan 500 is stopped, relying solely on natural heat dissipation to achieve energy saving and noise reduction.

[0192] This application also provides a control method for a humanoid robot, which can be used to control the humanoid robot in any of the above embodiments.

[0193] The method includes:

[0194] S100: When the temperature of the joint motor 100 of the humanoid robot is greater than or equal to the first temperature threshold, the liquid pump 400 of the humanoid robot is turned on and the fan 500 of the humanoid robot rotates at the first speed.

[0195] S200: When the temperature of the joint motor 100 is less than the first temperature threshold and greater than or equal to the second temperature threshold, the liquid pump 400 is turned on and the fan 500 rotates at the second speed.

[0196] Among them, the first temperature threshold is greater than the second temperature threshold, and the first rotation speed is greater than the second rotation speed.

[0197] In this way, the speed of the fan 500 can be dynamically adjusted according to the temperature of the articulated motor 100 to match the heat dissipation requirements. When the temperature of the articulated motor 100 is high, the fan 500 can operate at a high speed. When the temperature of the articulated motor 100 is low, the fan 500 can operate at a low speed. This achieves energy saving, resulting in higher energy efficiency and longer battery life for the humanoid robot. Additionally, it can further reduce noise when the humanoid robot is operating in low-load mode.

[0198] For example, the temperature of the joint motor 100 can be obtained by a temperature sensor provided in the joint motor 100.

[0199] In some possible implementations, the method further includes:

[0200] S300: When the temperature of the joint motor 100 is lower than the third temperature threshold, the liquid pump 400 turns on and the fan 500 turns off. The third temperature threshold is less than or equal to the second temperature threshold.

[0201] In this way, when the temperature of the joint motor 100 is lower than the third temperature threshold, the joint motor 100 can be cooled by natural heat dissipation, which can further improve the energy efficiency of the humanoid robot, increase the battery life of the humanoid robot, and reduce the noise of the humanoid robot.

[0202] In some possible implementations, in step S100, the liquid pump 400 drives the coolant to flow in the liquid cooling loop of the humanoid robot at a first flow rate.

[0203] In step S200, the liquid pump 400 drives the coolant to flow in the liquid cooling circulation loop at a second flow rate.

[0204] The first flow rate is greater than the second flow rate.

[0205] In this way, the power of the liquid pump 400 can be dynamically adjusted based on the temperature of the articulated motor 100, thereby adjusting the flow rate of coolant in the liquid cooling circulation loop and matching the heat dissipation requirements. When the temperature of the articulated motor 100 is high, the liquid pump 400 can operate at high power to drive the coolant to flow at a larger flow rate in the liquid cooling circulation loop. When the temperature of the articulated motor 100 is low, the liquid pump 400 can operate at low power to drive the coolant to flow at a smaller flow rate in the liquid cooling circulation loop. This achieves energy saving, resulting in higher energy efficiency and longer operating time for the humanoid robot. Furthermore, it can further reduce the noise of the humanoid robot when operating in low-load mode.

[0206] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0207] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0208] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0209] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0210] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A humanoid robot, characterized in that, Includes a joint motor (100), a first load-bearing structural component (200), a heat sink (300), a liquid pump (400), and a fan (500); The joint motor (100) includes a motor housing (110), and the first load-bearing structural member (200), the heat sink (300) and the liquid pump (400) are fixed to the motor housing (110); The casing wall of the motor housing (110) has a first liquid cooling channel (P1), the heat sink (300) has a second liquid cooling channel (P2), and the first load-bearing structural member (200) has a third liquid cooling channel (P3). The first liquid cooling channel (P1), the second liquid cooling channel (P2), the third liquid cooling channel (P3) and the liquid pump (400) are connected in series to form a liquid cooling circulation loop. The liquid pump (400) is used to drive the coolant in the liquid cooling circulation loop to circulate and dissipate heat from the joint motor (100) through liquid cooling. The fan (500) is located on the heat sink (300) and is used to perform air cooling on the heat sink (300).

2. The humanoid robot according to claim 1, characterized in that, The motor housing (110) is provided with a first liquid inlet (J11) and a first liquid outlet (J12) that are connected to the first liquid cooling channel (P1). The heat sink (300) is provided with a second liquid inlet (J21) and a second liquid outlet (J22) that are connected to the second liquid cooling channel (P2). The first load-bearing structural member (200) is provided with a third liquid inlet (J31) and a third liquid outlet (J32) that are connected to the third liquid cooling channel (P3). The first liquid outlet (J12) is connected to the second liquid inlet (J21) through the first flexible connecting pipe (610) so that the first liquid outlet (J12) and the second liquid inlet (J21) are connected. The second liquid outlet (J22) is connected to the third liquid inlet (J31) through the second flexible connecting pipe (620) so that the second liquid outlet (J22) and the third liquid inlet (J31) are connected. The third liquid outlet (J32) is connected to the first liquid inlet (J11) through the third flexible connecting pipe (630) so that the third liquid outlet (J32) and the first liquid inlet (J11) are connected.

3. The humanoid robot according to claim 2, characterized in that, The second liquid cooling channel (P2) includes a first sub-channel (P21) and a second sub-channel (P22). The first liquid inlet (J11) is connected to the first sub-channel (P21), and the first liquid outlet (J12) is connected to the second sub-channel (P22). The heat sink (300) is also provided with a fourth liquid outlet (J42) communicating with the first sub-channel (P21) and a fourth liquid inlet (J41) communicating with the second sub-channel (P22). The liquid inlet end of the liquid pump (400) is connected to the fourth liquid outlet (J42), and the liquid outlet end of the liquid pump (400) is connected to the fourth liquid inlet (J41), so that the liquid pump (400) is connected in series between the first sub-channel (P21) and the second sub-channel (P22). The liquid pump (400) is fixedly connected to the heat sink (300), and the liquid pump (400) is fixed to the motor housing (110) through the heat sink (300).

4. The humanoid robot according to claim 1, characterized in that, It also includes a second load-bearing structural component; The joint motor (100) also includes a motor rotor, which is disposed inside the motor housing (110); The first load-bearing structural member (200) is sleeved on the outer radial side of the motor housing (110) of the joint motor (100), the second load-bearing structural member is connected to the motor rotor at one end of the motor housing (110), and the heat sink (300) is fixedly connected to the other end of the motor housing (110).

5. The humanoid robot according to claim 4, characterized in that, The motor housing (110) is provided with a first liquid inlet (J11) and a first liquid outlet (J12) communicating with the first liquid cooling channel (P1). The first liquid inlet (J11) and the first liquid outlet (J12) are located on the end face of the motor housing (110) connected to the heat sink (300).

6. The humanoid robot according to claim 4, characterized in that, The first load-bearing structural member (200) is provided with a third liquid inlet (J31) and a third liquid outlet (J32) that communicate with the third liquid cooling channel (P3). The third liquid inlet (J31) and the third liquid outlet (J32) are located on the inner surface of the first load-bearing structural member (200) and are located on the side of the motor housing (110) away from the second load-bearing structural member.

7. The humanoid robot according to claim 4, characterized in that, The heat sink (300) includes a cold plate structure (310) and a support structure (320). The cold plate structure (310) is fixedly connected to the end of the motor housing (110) away from the second load-bearing structure through the support structure (320), so that the cold plate structure (310) is spaced apart on the side of the motor housing (110) away from the second load-bearing structure. At least a portion of the second liquid cooling channel (P2) is located in the cold plate structure (310), which is provided with a second liquid inlet (J21) and a second liquid outlet (J22) communicating with the second liquid cooling channel (P2). The second liquid inlet (J21) and the second liquid outlet (J22) are located on the surface of the cold plate structure (310) facing the motor housing (110).

8. The humanoid robot according to claim 4, characterized in that, The heat sink (300) includes a cold plate structure (310) and a fin array structure (330). The cold plate structure (310) is fixedly disposed at one end of the motor housing (110) away from the second load-bearing structural member, and at least a portion of the second liquid cooling channel (P2) is located in the cold plate structure (310). The fan (500) and the fin array structure (330) are fixedly connected to the surface of the cold plate structure (310) on the side away from the motor housing (110). The fin array structure (330) is a ring array structure surrounding the fan (500). The fan (500) is located in the space enclosed by the fin array structure (330) and the cold plate structure (310). The fan (500) is a centrifugal fan.

9. The humanoid robot according to claim 8, characterized in that, The heat sink (300) also includes a cover plate (340); The fin array structure (330) includes an annular connecting plate (332) and multiple fins (331) arranged circumferentially along the annular connecting plate (332). The annular connecting plate (332) is spaced apart on the side of the cold plate structure (310) away from the motor housing (110). The fin (331) is disposed between the annular connecting plate (332) and the cold plate structure (310). One end of the fin (331) is fixedly connected to the annular connecting plate (332), and the other end of the fin (331) is fixedly connected to the cold plate structure (310). The annular connecting plate (332) surrounds and forms an air inlet (N). Two adjacent fins (331) form an air outlet duct between the annular connecting plate (332) and the cold plate structure (310). The cover plate (340) is fixedly connected to the surface of the annular connecting plate (332) away from the motor housing (110). The fan (500) is located in the space enclosed by the cover plate (340), the cold plate structure (310) and the fin array structure (330). The cover plate (340) has multiple ventilation holes (H) at the position opposite to the air inlet (N).

10. The humanoid robot according to any one of claims 1-9, characterized in that, The outer surface of the first load-bearing structural member (200) is provided with a heat dissipation enhancement structure.

11. The humanoid robot according to any one of claims 1-9, characterized in that, It also includes the controller; The joint motor (100) is equipped with a temperature sensor, which is used to detect the temperature of the joint motor (100); The temperature sensor is electrically connected to the controller to enable signal interaction between the temperature sensor and the controller. The controller is electrically connected to the fan (500) to enable signal interaction between the controller and the fan (500). The controller can control the fan (500) according to the temperature detected by the temperature sensor.

12. A control method for a humanoid robot, characterized in that, For controlling the humanoid robot as described in any one of claims 1-11; The method includes: When the temperature of the joint motor (100) of the humanoid robot is greater than or equal to the first temperature threshold, the liquid pump (400) of the humanoid robot is turned on, and the fan (500) of the humanoid robot rotates at the first speed. When the temperature of the joint motor (100) is less than the first temperature threshold and greater than or equal to the second temperature threshold, the liquid pump (400) is turned on and the fan (500) rotates at the second speed. The first temperature threshold is greater than the second temperature threshold, and the first rotation speed is greater than the second rotation speed.

13. The method according to claim 12, characterized in that, The method further includes: When the temperature of the joint motor (100) is less than the third temperature threshold, the liquid pump (400) is turned on and the fan (500) is turned off; The third temperature threshold is less than or equal to the second temperature threshold.

14. The method according to claim 12 or 13, characterized in that, When the temperature of the joint motor (100) is greater than or equal to a first temperature threshold, the liquid pump (400) drives the coolant to flow in the liquid cooling circulation loop of the humanoid robot at a first flow rate; When the temperature of the joint motor (100) is less than the first temperature threshold and greater than or equal to the second temperature threshold, the liquid pump (400) drives the coolant to flow in the liquid cooling circulation loop at a second flow rate; The first flow rate is greater than the second flow rate.

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