External charging indirect cooling system for robots

Abstract

The application discloses a robot external charging indirect cooling system, which comprises a charging pile, a robot, a first quick plug interface and a second quick plug interface, wherein the charging pile is provided with a first cooling branch, an internal heat exchanger and a micro water pump WP1, and the robot is provided with a first robot external interface, a second robot external interface, a second cooling branch, a refrigerant water heat exchanger, an internal thermal management system component and an electric control heat dissipation circuit. The application adopts a double refrigeration branch cooperative arrangement, has strong heat dissipation capacity, wide working condition adaptation, a composite heat exchange structure, various heat exchange forms and stable temperature control, an independent electric control heat dissipation circuit design, good system decoupling, six-way valve integrated regulation and control, modular isolation design, fault mutual non-interference, convenient maintenance, effectively reduced joint, quick plug interface and pipeline sealing load, better sealing performance, reduced medium leakage risk from the root, and higher system operation reliability and safety.

Description

Technical Field

[0001] This invention relates to an indirect cooling system for external charging of robots. Background Technology

[0002] With the rapid iteration of intelligent robot technology, robots are gradually developing towards high-power fast charging, miniaturized structure, highly integrated components, and all-weather, all-scenario operation. The thermal management requirements of core heat-generating components such as batteries, control chips, drive motors and controllers are becoming increasingly stringent. They must not only meet the requirements of high-power heat generation and rapid heat dissipation during the charging stage, but also ensure reliable heating of components in low-temperature environments and precise temperature control of each component zone.

[0003] Currently available robot thermal management solutions in the industry generally suffer from design limitations: they mostly use conventional plate heat exchangers paired with simple three-way or multi-way valve assemblies, resulting in a single heat exchange structure that cannot achieve fine-grained diversion and control across multiple loops and operating conditions; they lack a dedicated external charging and cooling architecture and an independent closed-loop refrigerant cooling system, making it difficult to address the concentrated heat dissipation problem during robot fast charging; at the same time, they do not set up dedicated independent heat dissipation circuits for motors and controllers, resulting in mixed and coupled piping of various heat-generating components, severe thermal interference, and poor temperature control adaptability.

[0004] Furthermore, the applicant's prior submission of a robot charging pile cooling and internal cooling integration system based on a heat exchanger, while achieving joint cooling of the charging pile and the robot, still suffers from numerous technical defects. This prior solution employs a direct refrigerant heat exchange mode, relying on a water-based heat exchanger for heat exchange. External charging cooling uses a direct, quick-connect refrigerant connection, with the robot directly connected to the refrigerant pipeline, making it highly susceptible to refrigerant leakage, corrosion of precision electronic components, and insufficient equipment operational safety. The overall pipeline control relies on a combination of seven-way and three-way valves, resulting in a large number of valves, complex pipeline layout, redundant system control logic, high failure rate, and significant assembly costs and space requirements, hindering robot miniaturization design. Meanwhile, the existing solution uses a unified circulation loop for the battery, controller, motor, and joints, which cannot achieve independent temperature control for each core component, cannot control the individual heating function of the chip, and the motor and controller cannot dissipate heat independently, resulting in low heat exchange efficiency and large temperature fluctuations, making it difficult to meet the high-precision chip temperature control requirements. Furthermore, the refrigeration and air conditioning system is deeply integrated with the robot body, with an excessive degree of integration. System failures affect each other, making subsequent refrigerant inspection and equipment maintenance difficult. External cooling interface compatibility is poor, making it difficult to adapt to the standardized use of multiple types and brands of charging piles.

[0005] In summary, existing robot thermal management solutions generally suffer from weak safety protection capabilities, complex structural layouts, redundant control valves, low temperature control accuracy, limited operating modes, difficult maintenance, and poor versatility. They cannot simultaneously meet the practical needs of robots requiring strong heat dissipation during charging, independent temperature control for multiple components, adaptability to high and low temperature conditions, safe operation, and lightweight integration. Therefore, there is an urgent need to design a novel robot all-condition cooling system to overcome the many shortcomings of existing technologies and prior art solutions. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide an indirect cooling system for external charging of robots.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0008] An external charging indirect cooling system for a robot includes a charging pile, a robot, a first quick-connect interface, and a second quick-connect interface. The charging pile is equipped with a first cooling branch, an internal heat exchanger, and a micro water pump WP1. The robot is equipped with a first external robot interface, a second external robot interface, a second cooling branch, a chilled water heat exchanger, an internal thermal management system component, and an electronically controlled heat dissipation circuit. The first cooling branch is connected to the internal heat exchanger via a chilled water pipe. One end of the internal heat exchanger is connected to the first quick-connect interface via a coolant pipe, and the other end of the internal heat exchanger is connected to the micro water pump WP1 via a coolant pipe. The micro water pump WP1 is connected to the second quick-connect interface via a coolant pipe. The first external robot interface is connected to one end of the chilled water heat exchanger via a coolant pipe, and the second external robot interface is connected to the other end of the chilled water heat exchanger via a coolant pipe. The second cooling branch is connected to the chilled water heat exchanger via a chilled water pipe, and the internal thermal management system component is connected to the chilled water heat exchanger via a coolant pipe.

[0009] Preferably, the first cooling branch includes a small electric compressor motor MC1, an external heat exchange device WH1, a drying tank RD1, and an electronic expansion valve EXV1. One end of the small electric compressor motor MC1 is connected to one end of the internal heat exchanger via a refrigerant pipeline, and the other end of the small electric compressor motor MC1 is connected to the external heat exchange device WH1 via a refrigerant pipeline. The external heat exchange device WH1 is connected to the drying tank RD1 via a refrigerant pipeline, and the drying tank RD1 is connected to the electronic expansion valve EXV1 via a refrigerant pipeline. The electronic expansion valve EXV1 is connected to the other end of the internal heat exchanger via a refrigerant pipeline.

[0010] Preferably, the first cooling branch also includes a pressure sensor P1 and a fan Fan1. The pressure sensor P1 is installed on the refrigerant pipeline between the dryer RD1 and the electronic expansion valve EXV1, and the fan Fan1 is installed at the air outlet of the external heat exchange device WH1.

[0011] As a preferred option, the fan Fan1 is a brushless electronic fan.

[0012] Preferably, the second cooling branch includes a small electric compressor motor MC2, an external heat exchange device WH2, a dryer tank RD2, and an electronic expansion valve EXV2. One end of the small electric compressor motor MC2 is connected to one end of a chilled water heat exchanger via a refrigerant pipeline, and the other end of the small electric compressor motor MC2 is connected to the external heat exchange device WH12 via a refrigerant pipeline. The external heat exchange device WH2 is connected to the dryer tank RD2 via a refrigerant pipeline, and the dryer tank RD2 is connected to the electronic expansion valve EXV2 via a refrigerant pipeline. The electronic expansion valve EXV2 is connected to the other end of the chilled water heat exchanger via a refrigerant pipeline.

[0013] Preferably, the second cooling branch also includes a pressure sensor P2 and a fan Fan2. The pressure sensor P2 is installed on the refrigerant pipeline between the dryer RD2 and the electronic expansion valve EXV2, and the fan Fan2 is installed at the air outlet of the external heat exchange device WH2.

[0014] As a preferred option, the fan Fan2 is a brushless electronic fan.

[0015] Preferably, the electronically controlled heat dissipation circuit includes a radiator, a micro water pump WP2, a motor, and a control module. One end of the radiator is connected to the motor and control module via a coolant pipe, and the motor and control module is connected to the micro water pump WP2 via a coolant pipe. The micro water pump WP2 is connected to the other end of the radiator via a coolant pipe. The refrigerant water heat exchanger consists of a water-based heat exchanger and a water-to-water heat exchanger. The fan Fan2 is also installed at the air outlet of the radiator.

[0016] Preferably, the internal thermal management system components include a six-way valve V, a heater, a micro water pump WP3, a control chip, and an energy storage battery. The six-way valve V has a first interface, a second interface, a third interface, a fourth interface, a fifth interface, and a sixth interface. The sixth interface is connected to one end of a chilled water heat exchanger via a coolant pipeline. The fourth interface is connected to the other end of the chilled water heat exchanger via a coolant pipeline. The fifth interface is connected to the heater via a coolant pipeline. The heater is connected to the first interface via a coolant pipeline. The first interface is connected to the micro water pump WP3 via a coolant pipeline. One end of the control chip and one end of the energy storage battery are both connected to the micro water pump WP3 via coolant pipelines. The other end of the control chip is connected to the second interface via a coolant pipeline. The other end of the energy storage battery is connected to the third interface via a coolant pipeline.

[0017] Preferably, the internal thermal management system component also includes a temperature sensor T, which is installed on the coolant line between one end of the control chip, one end of the energy storage battery, and the micro water pump WP3.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. Adopting an indirect charging cooling solution, the overall safety level is higher.

[0020] This invention features an independent first cooling branch and an internal heat exchanger on the charging pile side. It utilizes a quick-connect interface to connect only the coolant circuit. Charging heat dissipation employs an indirect heat exchange between the refrigerant and the coolant, resulting in no exposed refrigerant at the robot's charging docking point. Although the robot body has a refrigerant circuit for the second cooling branch, a refrigerant water heat exchanger physically isolates the refrigerant circuit from all water-related heat-generating components, effectively mitigating the risk of refrigerant leakage corroding precision parts and enhancing the robot's operational safety and environmental adaptability.

[0021] 2. Dual cooling circuits working together provide strong heat dissipation and wide adaptability to various operating conditions.

[0022] This invention is equipped with a first cooling branch on the charging pile side and a second cooling branch inside the robot, forming two independent refrigerant closed-loop circuits, which respectively match the centralized heat generation and heat dissipation requirements of charging and the normal thermal management requirements of the robot. It is equipped with an electric small compressor motor, an external heat exchange device, a drying tank, an electronic expansion valve, and a brushless electric fan to ensure stable refrigerant circulation and high heat exchange and exhaust efficiency. It can quickly remove a large amount of heat generated by components such as batteries and chips during charging and operation, resulting in excellent heat dissipation.

[0023] 3. Composite heat exchange structure, with diverse heat exchange methods and stable temperature control.

[0024] The refrigerant-water heat exchanger is composed of a water-based heat exchanger and a water-to-water heat exchanger. It can simultaneously realize heat exchange between refrigerant and coolant, as well as heat transfer between water circuits. It has a reasonable heat exchange structure and high heat exchange efficiency. With the help of pipeline pressure sensors and temperature sensors to monitor system operating parameters in real time, it can quickly adjust the cooling load, reduce temperature fluctuations, and meet the constant temperature control requirements of precision components such as control chips and energy storage batteries.

[0025] 4. Independent electronically controlled heat dissipation circuit design, resulting in good system decoupling.

[0026] A dedicated electronic control heat dissipation circuit is set up for the motor and control modules. It relies on a micro water pump and radiator to form an independent circulation heat dissipation and uses air cooling for direct heat dissipation. It is independent and completely decoupled from the thermal management circuit of the energy storage battery and control chip, avoiding mutual interference from multiple heat sources. It specifically solves the heat dissipation problem of motors and controllers working continuously for a long time, and improves the operational stability and service life of power components.

[0027] 5. Six-way valve integrated control, flexible mode switching, and precise zone management.

[0028] The integrated six-way valve centrally switches the paths of each coolant pipeline, and together with the heater, forms an active heating circuit. It can flexibly realize individual heating of energy storage batteries, individual heating of control chips, combined heating, and multi-mode heat dissipation switching. It can achieve precise thermal management of multiple components in zones and levels according to the ambient temperature and component heating requirements, and meet the requirements of high and low temperature full-scenario use.

[0029] 6. Optimized structural layout facilitates equipment miniaturization and modular design.

[0030] The high-power charging and cooling core components are centrally located at the charging pile end, reducing the pressure of arranging large heat dissipation devices inside the robot; the overall modular branch design is adopted, with clear division of refrigerant circuit, coolant circuit and electronic control heat dissipation circuit, and neat pipeline layout, which simplifies the overall structure, reduces assembly difficulty and manufacturing cost, and conforms to the development trend of robot miniaturization and integration.

[0031] 7. Modular isolation design ensures that faults do not interfere with each other and maintenance is convenient.

[0032] The charging pile cooling circuit, the robot's built-in refrigerant circuit, and each coolant circulation circuit operate independently, so a single branch failure will not cause the entire machine to fail. The refrigerant system has a closed-loop sealed structure, which, together with the drying tank, ensures that the refrigerant is dry and clean, delaying the aging of components. The robot's water-cooling circuit is easy to maintain, and there is no need to frequently inspect the refrigerant structure, which greatly reduces the difficulty of later operation and maintenance and the cost of use.

[0033] 8. This invention adopts an external indirect two-stage heat exchange structure. The heat from the refrigerant is first transferred to the coolant, and then the heat is transferred through the water circuit. Compared with the original direct refrigerant connection scheme, an additional water circuit heat exchange stage is added. Although the structure and cost are slightly improved, the working pressure of the cross-equipment transmission pipeline is greatly reduced, the overall operating pressure of the pipeline is lower, the load on joints, quick-connect interfaces and pipeline sealing is effectively reduced, the sealing performance is better, the risk of media leakage is reduced from the source, and the system operation reliability and safety are stronger. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention;

[0035] Figure 2 This is a structural diagram of working mode one;

[0036] Figure 3 This is a structural diagram of working mode two;

[0037] Figure 4 This is a structural diagram of working mode three;

[0038] Figure 5 This is a structural diagram of working mode four;

[0039] Figure 6 This is a structural diagram of working mode five;

[0040] Figure 7 This is a structural diagram of working mode six;

[0041] Figure 8 This is a structural diagram of working mode seven;

[0042] Figure 9 This is a structural diagram of working mode eight;

[0043] Figure 10 This is a structural diagram of working mode nine. Detailed Implementation

[0044] The technical solution of the present invention will be further described below with reference to the accompanying drawings:

[0045] like Figure 1As shown, the robot's external charging indirect cooling system includes a charging pile 1, a robot 2, a first quick-connect interface 11, and a second quick-connect interface 12. The charging pile 1 is equipped with a first cooling branch, an internal heat exchanger 9, and a micro water pump WP1. The robot 2 is equipped with a first robot external interface 21, a second robot external interface 22, a second cooling branch, a refrigerant water heat exchanger 3, an internal thermal management system component, and an electronically controlled heat dissipation circuit. The first cooling branch is connected to the internal heat exchanger 9 via a refrigerant pipeline, and one end of the internal heat exchanger 9 is connected to the first robot external interface 22 via a coolant pipeline. The quick-connect interface 11 is connected, and the other end of the internal heat exchanger 9 is connected to the micro water pump WP1 through the coolant pipeline. The micro water pump WP1 is connected to the second quick-connect interface 12 through the coolant pipeline. The first robot external interface 21 is connected to one end of the chilled water heat exchanger 3 through the coolant pipeline. The second robot external interface 22 is connected to the other end of the chilled water heat exchanger 3 through the coolant pipeline. The second cooling branch is connected to the chilled water heat exchanger 3 through the chillant pipeline. The internal thermal management system components are connected to the chilled water heat exchanger 3 through the coolant pipeline.

[0046] like Figure 1 As shown, the first cooling branch includes a small electric compressor motor MC1, an external heat exchanger WH1, a dryer tank RD1, an electronic expansion valve EXV1, a pressure sensor P1, and a fan Fan1. One end of the small electric compressor motor MC1 is connected to one end of the internal heat exchanger 9 via a refrigerant pipeline, and the other end of the small electric compressor motor MC1 is connected to the external heat exchanger WH1 via a refrigerant pipeline. The external heat exchanger WH1 is connected to the dryer tank RD1 via a refrigerant pipeline, and the dryer tank RD1 is connected to the electronic expansion valve EXV1 via a refrigerant pipeline. The electronic expansion valve EXV1 is connected to the other end of the internal heat exchanger 9 via a refrigerant pipeline. The pressure sensor P1 is installed on the refrigerant pipeline between the dryer tank RD1 and the electronic expansion valve EXV1. The fan Fan1 is installed at the air outlet of the external heat exchanger WH1, and the fan Fan1 is a brushless electric fan. A temperature sensor PT1 can be installed on the coolant pipeline between one end of the small electric compressor motor MC1 and the internal heat exchanger 9 as needed.

[0047] like Figure 1As shown, the second cooling branch includes a small electric compressor motor MC2, an external heat exchanger WH2, a dryer tank RD2, an electronic expansion valve EXV2, a pressure sensor P2, and a fan Fan2. One end of the small electric compressor motor MC2 is connected to one end of the chilled water heat exchanger 3 via a refrigerant pipeline, and the other end of the small electric compressor motor MC2 is connected to the external heat exchanger WH12 via a refrigerant pipeline. The external heat exchanger WH2 is connected to the dryer tank RD2 via a refrigerant pipeline, and the dryer tank RD2 is connected to the electronic expansion valve EXV2 via a refrigerant pipeline. The electronic expansion valve EXV2 is connected to the other end of the chilled water heat exchanger 3 via a refrigerant pipeline. The pressure sensor P2 is installed on the refrigerant pipeline between the dryer tank RD2 and the electronic expansion valve EXV2. The fan Fan2 is installed at the air outlet of the external heat exchanger WH2, and the fan Fan2 is a brushless electric fan. A temperature sensor PT2 can be installed on the coolant pipeline between one end of the small electric compressor motor MC2 and one end of the chilled water heat exchanger 3 as needed.

[0048] like Figure 1 As shown, the electronically controlled heat dissipation circuit includes a radiator 4, a micro water pump WP2, and a motor and control module 5. One end of the radiator 4 is connected to the motor and control module 5 via a coolant pipe. The motor and control module 5 is connected to the micro water pump WP2 via a coolant pipe. The micro water pump WP2 is connected to the other end of the radiator 4 via a coolant pipe. The refrigerant water heat exchanger 3 consists of a water-based heat exchanger and a water-to-water heat exchanger. The fan 2 is also installed at the air outlet of the radiator 4.

[0049] like Figure 1 As shown, the internal thermal management system components include a six-way valve V, a heater 6, a micro water pump WP3, a control chip 8, an energy storage battery 7, and a temperature sensor T. The six-way valve V has a first interface, a second interface, a third interface, a fourth interface, a fifth interface, and a sixth interface. The sixth interface is connected to one end of the chilled water heat exchanger 3 through a coolant pipeline. The fourth interface is connected to the other end of the chilled water heat exchanger 3 through a coolant pipeline. The fifth interface is connected to the heater 6 through a coolant pipeline. The heater 6 is connected to the first interface through a coolant pipeline. The first interface is connected to the micro water pump WP3 through a coolant pipeline. One end of the control chip 8 and one end of the energy storage battery 7 are both connected to the micro water pump WP3 through coolant pipelines. The other end of the control chip 8 is connected to the second interface through a coolant pipeline. The other end of the energy storage battery 7 is connected to the third interface through a coolant pipeline. The temperature sensor T is installed on the coolant pipeline between one end of the control chip 8, one end of the energy storage battery 7, and the micro water pump WP3.

[0050] This invention utilizes a modular, indirect docking cooling structure between the charging pile and the robot, combined with dual refrigerant cooling circuits, a composite heat exchange unit, and multi-mode valve group control, to achieve efficient thermal management and precise temperature control throughout the robot's charging and operation. The specific working process is as follows:

[0051] I. External indirect cooling during charging

[0052] The core indirect cooling logic of this invention lies in the following: The charging pile, acting as an external charging device, actively cools itself through its own air conditioning circuit, i.e., the first cooling branch. The first heat conversion (the refrigerant lowers the temperature of the coolant on the charging pile side) is completed via the internal heat exchanger 9. The cooled coolant then connects to the first robot external interface 21 and the second robot external interface 22 via the first quick-connect interface 11 and the second quick-connect interface 12, forming a connected loop. This loop is then transported to the refrigerant-water heat exchanger 3 inside the robot, completing the second heat conversion (water-to-water heat exchange—at this time, the energy storage battery generates heat during charging, causing the robot-side coolant temperature in the loop of the six-way valve V (fourth interface → first interface, third interface → sixth interface) to rise). Through these two medium conversions—"low temperature in the charging pile air conditioning circuit → coolant on the charging pile side → coolant on the robot side"—the heat from the robot's components requiring cooling (energy storage battery, control chip) is ultimately indirectly dissipated, achieving safe and efficient indirect cooling.

[0053] When the robot is connected to a charging station, a coolant circulation loop is formed between the charging station and the robot via a quick-connect interface and an external interface.

[0054] like Figure 1 As shown, the first cooling branch of the charging pile is started. The electric small compressor motor MC1 drives the refrigerant to circulate in the closed loop. After being compressed, the refrigerant enters the external heat exchange device WH1. Under the action of the fan Fan1, it dissipates heat and condenses to the environment. After passing through the dryer RD1 and the electronic expansion valve EXV1 for throttling and pressure reduction, it enters the internal heat exchanger 9 and exchanges heat with the coolant-water to achieve coolant cooling.

[0055] The charging pile-side micro water pump WP1 starts, driving the coolant to circulate in the loop: the cooled coolant passes through the internal heat exchanger 9, the micro water pump WP1, the second quick-connect interface 12, and the second robot external interface 22 into the robot's internal refrigerant water heat exchanger 3, where it exchanges heat with the robot-side coolant to absorb the heat generated during the robot's charging process; the heated coolant then returns to the charging pile's internal heat exchanger 9 through the first robot external interface 21 and the first quick-connect interface 11, completing the cycle.

[0056] During this process, the refrigerant circuit of the charging pile is completely isolated from the water circuit of the robot. Heat transfer is achieved through two-stage indirect heat exchange, which avoids high-pressure refrigerant from entering the robot body. This not only solves the problem of concentrated heat generation during charging, but also ensures equipment safety.

[0057] II. Internal Thermal Management under Robot Operating Conditions

[0058] After the robot disconnects from the charging station, it achieves full-scene temperature control through its own second cooling branch, internal thermal management system, and electronic control heat dissipation circuit.

[0059] 1. Heat dissipation / heat control of battery and control chip

[0060] The internal thermal management system components switch pipeline paths via a six-way valve V to achieve multi-mode temperature control between the energy storage battery 7 and the control chip 8.

[0061] Heat dissipation mode: The robot's second cooling branch is activated. The electric small compressor motor MC2 drives the refrigerant to exchange heat with the coolant in the refrigerant-water heat exchanger 3. After the coolant is cooled down, it flows through the energy storage battery 7 and the control chip 8 under the drive of the micro water pump WP3, taking away the heat and then returning to the refrigerant-water heat exchanger 3 through the six-way valve V to complete the cycle.

[0062] Heating mode: In low-temperature environments, heater 6 is activated. After the coolant flows through heater 6 and is heated, it can be switched through six-way valve V to heat the energy storage battery 7, the control chip 8, or both at the same time. Temperature sensor T monitors the coolant temperature in real time to achieve precise temperature control and ensure that the components work reliably at low temperatures.

[0063] 2. Independent heat dissipation for motors and control modules

[0064] The electronic control heat dissipation circuit works independently. The micro water pump WP2 drives the coolant to circulate between the radiator 4 and the motor and control module 5. After the coolant absorbs the heat generated by the module, it is directly dissipated to the environment through the radiator 4 with the assistance of the fan Fan2. This achieves independent air cooling and direct dissipation of the motor and controller, and is completely decoupled from the thermal management circuit of the battery and chip, avoiding mutual thermal interference.

[0065] III. The Combined Heat Exchange Effect of Cold Water Heat Exchangers

[0066] The refrigerant water heat exchanger 3 consists of a water-based heat exchanger and a water-to-water heat exchanger, and can switch heat exchange modes according to different operating conditions.

[0067] During charging, it mainly functions as a water-to-water heat exchanger to achieve indirect heat exchange between the coolant on the charging pile side and the coolant on the robot side.

[0068] During robot operation, it mainly functions as a water-based heat exchanger to achieve heat exchange between the refrigerant circuit and the coolant circuit inside the robot, while also accommodating both heat exchange methods to ensure efficient heat transfer under different operating conditions.

[0069] IV. System Monitoring and Protection

[0070] Pressure sensors P1 and P2 monitor the operating pressure of the two refrigerant circuits respectively, while temperature sensors T, PT1, and PT2 monitor the temperature of key nodes in real time. Together with dryers RD1 and RD2, they ensure that the refrigerant circuits are dry and clean, realizing parameter monitoring and protection under all operating conditions and improving the stability and reliability of system operation.

[0071] Operating mode 1: External indirect cooling on the charging pile side

[0072] like Figure 2 As shown, the internal heat exchanger is a component of the air conditioning system. This unit provides dedicated refrigerant-water indirect cooling capability for robot charging. Its core function is to transfer the cooling capacity of the air conditioning system to the coolant through the internal heat exchanger and then to the robot through the quick-connect interface, thereby achieving efficient heat dissipation from the concentrated heat generated during charging.

[0073] Refrigerant refrigeration cycle (air conditioning side)

[0074] like Figure 2 As shown, the electric miniature compressor motor MC1 drives the refrigerant to circulate in a closed loop: after the high-temperature and high-pressure refrigerant is discharged from the electric miniature compressor motor MC1, it enters the external heat exchange device WH1, and under the forced air cooling effect of the brushless electronic fan Fan1, it dissipates heat to the environment and condenses, becoming a high-pressure room-temperature liquid.

[0075] After condensation, the refrigerant is dried and dehydrated by the dryer RD1, and then the pressure status is monitored by the pressure sensor P1. It then enters the electronic expansion valve EXV1 for throttling and pressure reduction, becoming a low-pressure, low-temperature gas-liquid two-phase refrigerant.

[0076] Low-pressure, low-temperature gas-liquid two-phase refrigerant enters the internal heat exchanger 9, where it exchanges heat with the coolant and absorbs the heat from the coolant. It then evaporates into low-pressure vapor, which is then drawn into the compressor MC1 to complete the refrigeration cycle.

[0077] The temperature sensor PT2 on the pipeline monitors the refrigerant outlet temperature in real time, providing data for system temperature control and fault protection.

[0078] Coolant flow (water side)

[0079] like Figure 2 As shown, a miniature water pump drives the flow of coolant, and an internal heat exchanger absorbs heat and transfers it to the air conditioning system.

[0080] This mode achieves complete isolation between the refrigerant circuit and the robot's water circuit through an internal heat exchanger, preventing high-pressure refrigerant from entering the robot body and significantly improving equipment safety.

[0081] It also adopts a modular design, with the air conditioning system being an independent closed loop, which facilitates maintenance and standardized adaptation without affecting the robot's main structure.

[0082] Working mode 2: Indirect cooling during robot charging (cooling water heat exchanger 3 water-to-water heat exchange)

[0083] like Figure 3 As shown, when the robot connects to the charging station, the system achieves efficient heat dissipation during the charging process through indirect docking between the charging station and the robot, heat transfer via the chilled water heat exchanger, and pipeline switching via the six-way valve. The specific workflow is as follows:

[0084] 1. Charging pile side cooling

[0085] like Figure 3 As shown, the first cooling branch of the charging pile 1 is started, and the electric small compressor motor MC1 drives the refrigerant circulation: after being compressed, the refrigerant enters the external heat exchange device WH1, where it is condensed and dissipated under the action of the fan Fan1. Then, it passes through the drying tank RD1 and the electronic expansion valve EXV1 to reduce the pressure and become a low-temperature refrigerant before entering the internal heat exchanger 9 to exchange heat with the coolant and cool the coolant.

[0086] 2. Coolant circulation and robot docking

[0087] like Figure 3 As shown, the micro water pump WP1 drives the coolant to circulate between the charging station and the robot:

[0088] After cooling, the coolant flows out from the internal heat exchanger 9, is pressurized by WP1, and enters the robot through the second quick-connect interface 12 and the second robot external interface 22, flowing into the chilled water heat exchanger 3.

[0089] After the coolant completes heat exchange in the chilled water heat exchanger 3, it returns to the internal heat exchanger of the charging pile via the first robot external interface 21 and the first quick-connect interface 11, completing a closed-loop cycle.

[0090] 3. Robot side loop connectivity and heat transfer

[0091] like Figure 3 As shown, inside the robot, the coolant forms a heat dissipation path under the control of the six-way valve V:

[0092] like Figure 3 As shown, the fourth port of the six-way valve V is connected to the first port. Coolant flows out from the refrigerant water heat exchanger 3, flows through the fourth port of the six-way valve V to the first port, and then enters the micro water pump WP3. Driven by WP3, the coolant simultaneously flows through the internal water-cooling plates of the control chip 8 and the energy storage battery 7, absorbing the heat generated during charging.

[0093] like Figure 3As shown, the heated coolant flows back to the six-way valve V. At this time, the second and third ports are connected to the sixth port. The high-temperature coolant flows into the sixth port through the second and third ports and flows back to the chilled water heat exchanger 3.

[0094] 4. Closed-loop heat transfer and cooling

[0095] like Figure 3 As shown, the high-temperature coolant in the refrigerant water heat exchanger 3 exchanges heat with the low-temperature coolant supplied from the charging pile side. The heat is transferred to the cooling liquid circuit on the charging pile side, and then transferred to the refrigerant by the heat exchanger inside the charging pile. Finally, it is released to the environment through the external heat exchange device of the charging pile, realizing the indirect transfer of charging heat and heat dissipation closed loop.

[0096] Working Mode 3: Non-charging condition, the internal cooling and heat dissipation working principle of the robot in independent operation mode, heat dissipation of energy storage battery and control chip (cooling medium water heat exchanger water heat exchange).

[0097] Refrigerant refrigeration cycle (internal refrigeration branch of the robot)

[0098] like Figure 4 As shown, the second cooling branch inside the robot is activated, and the electric miniature compressor MC2 drives the refrigerant to circulate in the closed loop:

[0099] like Figure 4 As shown, after the high-temperature and high-pressure refrigerant is discharged from the compressor MC2, it enters the external heat exchange device WH2. Under the forced air cooling effect of the low-noise brushless electric fan Fan2, it dissipates heat and condenses into a high-pressure room-temperature liquid. The low-noise characteristics of the brushless fan can effectively reduce the operating noise of the robot.

[0100] like Figure 4 As shown, the condensed refrigerant is dried and dehydrated by the drying tank RD2 to remove moisture and impurities from the refrigerant and prevent ice blockage and corrosion in the pipeline. Then, the operating pressure of the refrigerant circuit is monitored by the pressure sensor P2, and then it enters the electronic expansion valve EXV2 for throttling and pressure reduction, becoming a low-pressure, low-temperature gas-liquid two-phase refrigerant.

[0101] like Figure 4 As shown, the low-pressure, low-temperature gas-liquid two-phase refrigerant enters the refrigerant-water heat exchanger 3, where it exchanges heat with the coolant and absorbs the heat carried by the coolant. It then evaporates into low-pressure vapor, which is then drawn into the compressor MC2 to complete the refrigeration cycle. The temperature and pressure sensor PT2 on the pipeline monitors the refrigerant temperature and pressure in real time, providing data support for system temperature control and fault protection.

[0102] Coolant circulation and heat transfer (battery / chip heat dissipation circuit)

[0103] like Figure 4As shown, the coolant forms a complete heat dissipation cycle under the control of the six-way valve V and the micro water pump WP3:

[0104] like Figure 4 As shown, the six-way valve V switches to a state where the fourth port is connected to the first port. The coolant, after being cooled by the cold water heat exchanger 3, flows from the fourth port to the first port and then enters the micro water pump WP3.

[0105] like Figure 4 As shown, the coolant, driven by WP3, flows through the internal water-cooled plates of the control chip 8 and the energy storage battery 7 simultaneously, absorbing the heat generated during operation; the temperature sensor T on the pipeline monitors the coolant temperature in real time and feeds it back to the control system to achieve closed-loop temperature control.

[0106] like Figure 4 As shown, the heated coolant flows back to the six-way valve V. At this time, the second and third ports are connected to the sixth port. The high-temperature coolant flows into the sixth port through the second and third ports and flows back to the chilled water heat exchanger 3.

[0107] Heat exchange closed loop and heat release

[0108] like Figure 4 As shown, the high-temperature coolant in the refrigerant-water heat exchanger 3 exchanges heat with the low-temperature refrigerant in the internal refrigeration branch. The heat is absorbed by the refrigerant, and the coolant is cooled down and re-enters the circulation. The refrigerant that has absorbed heat is compressed by the compressor in the refrigeration branch and finally releases heat to the environment through the external heat exchange device WH2, completing the entire heat dissipation closed loop.

[0109] Working Mode 4: Internal cooling and heat dissipation during independent robot operation (non-charging mode).

[0110] like Figure 5 As shown, this operating condition is the mode in which the robot operates independently after disconnecting from the charging station, and only performs targeted heat dissipation on the energy storage battery. Efficient heat dissipation of the energy storage battery is achieved through the refrigerant circulation in the internal second cooling branch and precise control by the six-way valve. The specific workflow is as follows:

[0111] like Figure 5 As shown, the refrigerant refrigeration cycle (the internal refrigeration branch of the robot).

[0112] The robot's internal second cooling branch is activated, and the electric miniature compressor MC2 drives the refrigerant to circulate in the closed loop:

[0113] like Figure 5 As shown, after the high-temperature and high-pressure refrigerant is discharged from the compressor MC2, it enters the external heat exchange device WH2. Under the forced air cooling effect of the low-noise brushless electric fan Fan2, it dissipates heat and condenses into a high-pressure room-temperature liquid. The low-noise characteristics of the brushless fan can effectively reduce the operating noise of the robot.

[0114] like Figure 5 As shown, the condensed refrigerant is dried and dehydrated by the drying tank RD2 to remove moisture and impurities from the refrigerant and prevent ice blockage and corrosion in the pipeline. Then, the operating pressure of the refrigerant circuit is monitored by the pressure sensor P2, and then it enters the electronic expansion valve EXV2 for throttling and pressure reduction, becoming a low-pressure, low-temperature gas-liquid two-phase refrigerant.

[0115] like Figure 5 As shown, the low-temperature refrigerant enters the refrigerant-water heat exchanger 3, where it exchanges heat with the coolant and absorbs the heat carried by the coolant. It then evaporates into low-pressure steam, which is then drawn into the compressor MC2 to complete the refrigeration cycle. The temperature and pressure sensor PT2 on the pipeline monitors the refrigerant temperature and pressure in real time, providing data support for system temperature control and fault protection.

[0116] Coolant circulation and heat transfer (separate heat dissipation circuit for energy storage battery)

[0117] like Figure 5 As shown, under the control of the six-way valve V and the micro water pump WP3, the coolant forms an independent heat dissipation cycle specifically for the energy storage battery:

[0118] like Figure 5 As shown, the six-way valve V switches to a state where the fourth port is connected to the first port. The coolant, after being cooled by the cold water heat exchanger 3, flows from the fourth port to the first port and then enters the micro water pump WP3.

[0119] like Figure 5 As shown, the coolant flows through the internal water-cooling plate of the energy storage battery 7 under the drive of WP3, absorbing the heat generated by the battery during operation; the temperature sensor T on the pipeline monitors the coolant temperature in real time and feeds it back to the control system to realize closed-loop temperature control.

[0120] like Figure 5 As shown, the heated coolant flows back to the six-way valve V. At this time, the third port and the sixth port are connected. The high-temperature coolant flows into the sixth port through the third port and flows back to the chilled water heat exchanger 3.

[0121] Heat exchange closed loop and heat release

[0122] like Figure 5 As shown, in the refrigerant-water heat exchanger 3, the high-temperature coolant exchanges heat with the low-temperature refrigerant in the internal refrigeration branch. The heat is absorbed by the refrigerant, and the coolant is cooled down and re-enters the circulation. The refrigerant that has absorbed heat is compressed by the compressor in the refrigeration branch and finally releases heat to the environment through the external heat exchange device WH2, completing the entire heat dissipation closed loop.

[0123] Operating Mode 5: Independent cooling of the control chip during robot independent operation

[0124] like Figure 6 As shown, this operating condition is the mode where the robot operates independently after being disconnected from the charging station, and only the control chip is subjected to targeted heat dissipation. Efficient heat dissipation of the control chip is achieved through refrigerant circulation in the internal second cooling branch and precise control via a six-way valve. The specific workflow is as follows:

[0125] Refrigerant refrigeration cycle (internal refrigeration branch of the robot)

[0126] like Figure 6 As shown, the second cooling branch inside the robot is activated, and the electric miniature compressor MC2 drives the refrigerant to circulate in the closed loop:

[0127] like Figure 6 As shown, after the high-temperature and high-pressure refrigerant is discharged from the compressor, it enters the external heat exchange device WH2. Under the forced air cooling effect of the low-noise brushless electric fan Fan2, it dissipates heat and condenses into a high-pressure room-temperature liquid. The low-noise characteristics of the brushless fan can effectively reduce the operating noise of the robot.

[0128] like Figure 6 As shown, the condensed refrigerant is dried and dehydrated by the drying tank RD2 to remove moisture and impurities from the refrigerant and prevent ice blockage and corrosion in the pipeline. Then, the operating pressure of the refrigerant circuit is monitored by the pressure sensor P2, and then it enters the electronic expansion valve EXV2 for throttling and pressure reduction, becoming a low-pressure, low-temperature gas-liquid two-phase refrigerant.

[0129] like Figure 6 As shown, the low-temperature refrigerant enters the refrigerant-water heat exchanger 3 and exchanges heat with the coolant through refrigerant-water (water-agent heat exchange). It absorbs the heat carried by the coolant, evaporates into low-pressure vapor, and is then drawn into the compressor MC2 to complete the refrigeration cycle. The temperature and pressure sensor PT2 on the pipeline monitors the refrigerant temperature and pressure in real time, providing data support for system temperature control and fault protection.

[0130] Coolant circulation and heat transfer (separate heat dissipation circuit for control chip)

[0131] like Figure 6 As shown, under the control of the six-way valve V and the micro water pump WP3, the coolant forms an independent heat dissipation cycle specifically for the control chip:

[0132] like Figure 6 As shown, the six-way valve V switches to a state where the fourth port is connected to the first port. The coolant, after being cooled by the cold water heat exchanger 3, flows from the fourth port to the first port and then enters the micro water pump WP3.

[0133] like Figure 6 As shown, the coolant flows through the internal water-cooled plate of the control chip 8 under the drive of WP3, absorbing the heat generated by the chip during operation; the temperature sensor T on the pipeline monitors the coolant temperature in real time and feeds it back to the control system to realize closed-loop temperature control.

[0134] like Figure 6 As shown, the heated coolant flows back to the six-way valve V. At this time, the second port and the sixth port are connected. The high-temperature coolant flows into the sixth port through the second port and flows back to the chilled water heat exchanger 3.

[0135] Heat exchange closed loop and heat release

[0136] like Figure 6 As shown, the high-temperature coolant in the refrigerant-water heat exchanger 3 exchanges heat with the low-temperature refrigerant in the internal refrigeration branch. The heat is absorbed by the refrigerant, and the coolant is cooled down and re-enters the circulation. The refrigerant that has absorbed heat is compressed by the compressor in the refrigeration branch and finally releases heat to the environment through the external heat exchange device WH2, completing the entire heat dissipation closed loop.

[0137] Operating Mode Six: Combined Heating by Energy Storage Battery and Control Chip

[0138] This operating mode involves the robot co-heating the energy storage battery and control chip in a low-temperature environment. Through active heating by the heater and loop switching of the six-way valve, simultaneous heating of both components is achieved, ensuring normal startup and operation of the equipment in low-temperature conditions. The specific workflow is as follows:

[0139] Active heating unit starts

[0140] like Figure 7 As shown, heater 6 is powered on to heat the circulating coolant; temperature sensor T on the pipeline monitors the coolant temperature in real time and feeds it back to the control system to achieve closed-loop regulation of heating power, avoid excessive or insufficient temperature, and ensure stable and controllable heating process.

[0141] Coolant circulation and heat transfer

[0142] Driven by the micro water pump WP3, the coolant forms a closed loop between the heater, energy storage battery, and control chip.

[0143] like Figure 7 As shown, the six-way valve V switches to a state where the 5th port and the 2nd port, and the 5th port and the 3rd port are simultaneously connected. The high-temperature coolant heated by the heater flows from the 5th port to the 2nd port and the 3rd port respectively.

[0144] like Figure 7As shown, the coolant flows into heater 6, where it is heated. The heated coolant is then driven by micro water pump WP3 into control chip 8 and energy storage battery 7. At this time, the water plate inside control chip 8 transfers heat to the control chip, and the water plate inside energy storage battery 7 transfers heat to the energy storage battery, thus cooling the coolant. Since interface 5 is simultaneously connected to interface 2 and interface 3, the cooled coolant flows from interface 3 into interface 5, and from interface 2 into interface 5. Therefore, the cooled coolant from both channels converges at interface 5 and re-enters heater 6, forming a closed loop.

[0145] Temperature closed-loop control

[0146] like Figure 7 As shown, throughout the process, the temperature sensor T continuously monitors the temperature change of the coolant. The control system adjusts the heater power and water pump speed according to the feedback signal to keep the coolant temperature within the set range, ensuring that the energy storage battery and control chip are always in a suitable operating temperature range and avoiding low-temperature performance degradation.

[0147] Operating Mode 7: Energy Storage Battery Heating

[0148] This operating mode involves the robot heating the energy storage battery in a low-temperature environment. The battery temperature is raised through active heating by the heater and loop switching of the six-way valve, ensuring normal startup and operation of the equipment in low-temperature conditions. The specific workflow is as follows:

[0149] Active heating unit starts

[0150] like Figure 8 As shown, heater 6 is powered on to heat the circulating coolant; temperature sensor T on the pipeline monitors the coolant temperature in real time and feeds it back to the control system to achieve closed-loop regulation of heating power, avoid excessive or insufficient temperature, and ensure stable and controllable heating process.

[0151] Coolant circulation and heat transfer

[0152] Driven by the micro water pump WP3, the coolant forms a closed loop between the heater and the energy storage battery.

[0153] like Figure 8 As shown, the six-way valve V switches to a state where the 5th port and the 3rd port are simultaneously connected. The high-temperature coolant, heated by the heater, flows from the 5th port to the 3rd port.

[0154] like Figure 8As shown, the coolant flows into the heater 6, where it is heated. The heated coolant is then driven by the micro water pump WP3 into the energy storage battery 7. The internal water plate of the energy storage battery 7 transfers heat to the battery, cooling the coolant. Since the 5th port is connected to the 3rd port, the cooled coolant flows from the 3rd port into the 5th port, and then re-enters the heater 6, forming a closed loop.

[0155] Temperature closed-loop control

[0156] like Figure 8 As shown, throughout the process, the temperature sensor T continuously monitors the temperature change of the coolant. The control system adjusts the heater power and water pump speed according to the feedback signal to keep the coolant temperature within the set range, ensuring that the energy storage battery is always in a suitable operating temperature range and avoiding low-temperature performance degradation.

[0157] Operating Mode 8: Control Chip Heating

[0158] like Figure 9 As shown, this operating condition is a low-temperature environment where the robot coordinates heating of the control chip. Through active heating by the heater and loop switching of the six-way valve, the control chip is heated, ensuring normal startup and operation of the equipment in low-temperature environments. The specific workflow is as follows:

[0159] Active heating unit starts

[0160] like Figure 9 As shown, heater 6 is powered on to heat the circulating coolant; temperature sensor T on the pipeline monitors the coolant temperature in real time and feeds it back to the control system to achieve closed-loop regulation of heating power, avoid excessive or insufficient temperature, and ensure stable and controllable heating process.

[0161] Coolant circulation and heat transfer

[0162] Driven by the micro water pump WP3, the coolant forms a closed loop between the heater and the control chip:

[0163] like Figure 9 As shown, the six-way valve V switches to a state where the 5th port and the 2nd port are connected, and the high-temperature coolant heated by the heater flows from the 5th port to the 2nd port.

[0164] like Figure 9As shown, the coolant flows into heater 6, where it is heated. The heated coolant is then driven by micro water pump WP3 into control chip 8. The water plate inside control chip 8 transfers heat to the chip, cooling the coolant. Due to the connection between interface 5 and interface 2, the cooled coolant flows from interface 2 into interface 5, returning to interface 5 and then re-entering heater 6, forming a closed loop.

[0165] Temperature closed-loop control

[0166] like Figure 8 As shown, throughout the process, the temperature sensor T continuously monitors the temperature change of the coolant. The control system adjusts the heater power and water pump speed according to the feedback signal to keep the coolant temperature within the set range, ensuring that the energy storage battery and control chip are always in a suitable operating temperature range and avoiding low-temperature performance degradation.

[0167] Operating Mode 9: Independent air-cooled heat dissipation for motor and control modules

[0168] like Figure 10 As shown, this operating condition is an independent heat dissipation mode for the motor and control modules during robot operation. It is completely decoupled from the battery and chip thermal management system, realizing direct air cooling of the power components. The specific workflow is as follows:

[0169] Coolant circulation start

[0170] like Figure 10 As shown, the micro water pump WP2 drives the coolant to circulate in the circuit: the coolant flows out from the motor and control module 5 and enters the radiator 4 under the pressure of WP2.

[0171] Heat transfer and external heat dissipation

[0172] like Figure 10 As shown, when the coolant flows through the motor and control modules, it absorbs the heat generated during the operation of the modules and then enters the radiator 4. At the radiator, the brushless electric fan (low-noise design) accelerates the airflow through forced convection, quickly dissipating the heat on the surface of the radiator 4 into the external environment. After the coolant is cooled down, it flows back to the motor and control modules, completing the cycle.

[0173] Advantages of independent circuits

[0174] This circuit is a completely independent closed loop, not coupled with the thermal management system of the battery and chip. It can start and stop independently according to the working load of the power components, avoiding unnecessary energy consumption. At the same time, it specifically solves the heat dissipation problem of the motor and controller during long-term continuous operation, improving the operational stability and service life of the power components.

[0175] This invention achieves heat isolation and transfer during charging by using an external refrigerant cooling circuit on the charging pile side and an indirect heat exchange interface on the robot side. Simultaneously, it incorporates an independent refrigerant cooling branch, a six-way valve multi-mode switching unit, and an active heating circuit within the robot, enabling combined / individual cooling and heating of the energy storage battery and control chip. Furthermore, it includes independent air-cooled heat dissipation circuits for the motor and controller, and a dual-core refrigerant-water and water-water heat exchanger for dual heat exchange. This solves the heat dissipation problem of concentrated heat generation during charging and achieves precise temperature control of multiple components under all operating conditions. The overall structure is simplified, highly safe, and easy to maintain, effectively adapting to the miniaturization and full-scenario operation requirements of robots.

[0176] It should be noted that the above examples are merely one specific embodiment of the present invention. Obviously, the present invention is not limited to the above embodiments and many variations are possible. In short, all variations that can be directly derived or conceived by those skilled in the art from the content disclosed in this invention should be considered within the scope of protection of this invention.

Claims

1. An indirect cooling system for external charging of a robot, characterized in that, The system includes a charging pile (1), a robot (2), a first quick-connect interface (11), and a second quick-connect interface (12). The charging pile (1) is equipped with a first cooling branch, an internal heat exchanger (9), and a micro water pump WP1. The robot (2) is equipped with a first robot external interface (21), a second robot external interface (22), a second cooling branch, a refrigerant water heat exchanger (3), an internal thermal management system component, and an electronically controlled heat dissipation circuit. The first cooling branch is connected to the internal heat exchanger (9) through a refrigerant pipeline. One end of the internal heat exchanger (9) is connected to the first quick-connect interface (11) through a coolant pipeline. The internal heat exchanger (9) is connected to the micro water pump WP1 via a coolant pipeline. The micro water pump WP1 is connected to the second quick-connect interface (12) via a coolant pipeline. The first robot external interface (21) is connected to one end of the chilled water heat exchanger (3) via a coolant pipeline. The second robot external interface (22) is connected to the other end of the chilled water heat exchanger (3) via a coolant pipeline. The second cooling branch is connected to the chilled water heat exchanger (3) via a chillant pipeline. The internal thermal management system component is connected to the chilled water heat exchanger (3) via a coolant pipeline.

2. The robot external charging indirect cooling system according to claim 1, characterized in that, The first cooling branch includes an electric miniature compressor motor MC1, an external heat exchange device WH1, a drying tank RD1, and an electronic expansion valve EXV1. One end of the electric miniature compressor motor MC1 is connected to one end of the internal heat exchanger (9) through a refrigerant pipeline. The other end of the electric miniature compressor motor MC1 is connected to the external heat exchange device WH1 through a refrigerant pipeline. The external heat exchange device WH1 is connected to the drying tank RD1 through a refrigerant pipeline. The drying tank RD1 is connected to the electronic expansion valve EXV1 through a refrigerant pipeline. The electronic expansion valve EXV1 is connected to the other end of the internal heat exchanger (9) through a refrigerant pipeline.

3. The robot external charging indirect cooling system according to claim 2, characterized in that, The first cooling branch also includes a pressure sensor P1 and a fan Fan1. The pressure sensor P1 is installed on the refrigerant pipeline between the dryer RD1 and the electronic expansion valve EXV1, and the fan Fan1 is installed at the air outlet of the external heat exchange device WH1.

4. The robot external charging indirect cooling system according to claim 3, characterized in that, The fan Fan1 is a brushless electronic fan.

5. The robot external charging indirect cooling system according to claim 1, characterized in that, The second cooling branch includes an electric miniature compressor motor MC2, an external heat exchange device WH2, a dryer RD2, and an electronic expansion valve EXV2. One end of the electric miniature compressor motor MC2 is connected to one end of the cold water heat exchanger (3) through a refrigerant pipeline. The other end of the electric miniature compressor motor MC2 is connected to the external heat exchange device WH12 through a refrigerant pipeline. The external heat exchange device WH2 is connected to the dryer RD2 through a refrigerant pipeline. The dryer RD2 is connected to the electronic expansion valve EXV2 through a refrigerant pipeline. The electronic expansion valve EXV2 is connected to the other end of the cold water heat exchanger (3) through a refrigerant pipeline.

6. The robot external charging indirect cooling system according to claim 5, characterized in that, The second cooling branch also includes a pressure sensor P2 and a fan Fan2. The pressure sensor P2 is installed on the refrigerant pipeline between the dryer RD2 and the electronic expansion valve EXV2, and the fan Fan2 is installed at the air outlet of the external heat exchange device WH2.

7. The robot external charging indirect cooling system according to claim 6, characterized in that, The fan Fan2 is a brushless electronic fan.

8. The robot external charging indirect cooling system according to claim 7, characterized in that, The electronically controlled heat dissipation circuit includes a radiator (4), a micro water pump WP2, a motor and control module (5). One end of the radiator (4) is connected to the motor and control module (5) through a coolant pipeline. The motor and control module (5) is connected to the micro water pump WP2 through a coolant pipeline. The micro water pump WP2 is connected to the other end of the radiator (4) through a coolant pipeline. The refrigerant water heat exchanger (3) consists of a water-based heat exchanger and a water-to-water heat exchanger. The fan Fan2 is also installed at the air outlet of the radiator (4).

9. The robot external charging indirect cooling system according to claim 1, characterized in that, The internal thermal management system components include a six-way valve V, a heater (6), a micro water pump WP3, a control chip (8), and an energy storage battery (7). The six-way valve V is provided with a first interface, a second interface, a third interface, a fourth interface, a fifth interface, and a sixth interface. The sixth interface is connected to one end of the chilled water heat exchanger (3) through a coolant pipeline. The fourth interface is connected to the other end of the chilled water heat exchanger (3) through a coolant pipeline. The fifth interface is connected to the heater (6) through a coolant pipeline. The heater (6) is connected to the first interface through a coolant pipeline. The first interface is connected to the micro water pump WP3 through a coolant pipeline. One end of the control chip (8) and one end of the energy storage battery (7) are both connected to the micro water pump WP3 through a coolant pipeline. The other end of the control chip (8) is connected to the second interface through a coolant pipeline. The other end of the energy storage battery (7) is connected to the third interface through a coolant pipeline.

10. The robot external charging indirect cooling system according to claim 9, characterized in that, The internal thermal management system component also includes a temperature sensor T, which is installed on the coolant line between one end of the control chip (8), one end of the energy storage battery (7), and the micro water pump WP3.

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