Direct cooling heat management system and robot

Abstract

The utility model relates to a direct cooling and heating management system and a robot, the direct cooling and heating management system comprises a liquid gas tank, a control valve, a sealing sleeve and an exhaust valve, high-pressure liquefied gas is arranged in the liquid gas tank, a power element is partially or completely arranged in the sealing sleeve, and the liquid gas tank, the control valve, the sealing sleeve and the exhaust valve can sequentially communicate to form a cooling flow path; therefore, the power element in the sealing sleeve is cooled. According to the direct cooling and heating management system and the robot, the problem that the efficiency of a cooling system of an existing robot is not high enough is solved.

Description

Technical Field

[0001] The present application relates to the field of robot heat dissipation technology, and in particular to a direct cooling thermal management system and a robot. Background Art

[0002] With the advancement of science and technology, various sensors have emerged, which has created the prerequisite for the large-scale application of robots. It is understandable that robots cannot complete various complex movements without the power supply and motor drive. Usually, robots have multiple joints and corresponding drive motors. In addition, robots need to have enough energy to complete difficult and complex movements for a long time. Therefore, the battery power density on the robot is getting higher and higher. At the same time, the power density of the IGBT module (insulated gate bipolar transistor) associated with the drive motor is also increasing. Therefore, the heat exchange of the battery and IGBT module is particularly critical. Utility Model Content

[0003] Based on this, it is necessary to provide a direct cooling thermal management system and a robot to solve the problem that the existing robot's heat dissipation system is not efficient enough.

[0004] The direct cooling thermal management system provided in the present application includes a liquid gas tank, a control valve, a sealing sleeve and an exhaust valve. The liquid gas tank is filled with high-pressure liquefied gas, and the power element is partially or completely arranged in the sealing sleeve. The liquid gas tank, the control valve, the sealing sleeve and the exhaust valve can be connected in sequence to form a cooling flow path to cool the power element in the sealing sleeve.

[0005] In one embodiment, when the heating end and the connection end of the power element are respectively arranged at two opposite ends of the power element, the heating end of the power element is embedded in the sealing sleeve, and the connection end of the power element is arranged outside the sealing sleeve.

[0006] In one embodiment, the power element includes a battery, an IGBT module and a chip, the sealing sleeve includes a first sleeve, a second sleeve and a third sleeve, the battery is arranged in the first sleeve, the IGBT module is arranged in the second sleeve, and the chip is arranged in the third sleeve. The control valve includes a first valve and a second valve, the first valve, the first sleeve and the second sleeve are arranged in series to form a first branch, the second valve and the third sleeve are arranged in series to form a second branch, and the liquid gas tank is connected to the exhaust valve through the first branch and the second branch respectively.

[0007] In one embodiment, the sealing sleeve is provided with a sealing cavity, a winding tube is provided in the sealing cavity, the winding tube is wound around the outer peripheral side of the power element, and the liquid gas tank, the control valve, the winding tube and the exhaust valve can be connected in sequence to form a cooling flow path.

[0008] In one embodiment, the winding tube is formed by connecting a plurality of double-layer vacuum insulation tubes end to end, and the connection between adjacent double-layer vacuum insulation tubes is a detachable clamping connection.

[0009] In one of the embodiments, the sealing cavity is filled with a heat insulating layer, and the heat insulating layer is arranged between the winding tube and the sealing sleeve.

[0010] In one embodiment, the direct cooling thermal management system also includes a control module and a temperature sensor. The control module is electrically connected to the control valve, the exhaust valve and the temperature sensor, respectively. The temperature sensor is attached to the power element. When the temperature sensor detects that the temperature of the power element is greater than or equal to a preset temperature, the control module can drive the control valve and the exhaust valve to open, so that the high-pressure liquefied gas in the liquid gas tank can enter the external atmosphere through the control valve, the sealing sleeve and the exhaust valve in sequence.

[0011] In one embodiment, the liquid gas tank is a liquid nitrogen tank, a liquid oxygen tank, a liquid carbon dioxide tank or a liquid air tank.

[0012] In one embodiment, the volume A of the liquid gas tank satisfies 200ml≤A≤5000ml.

[0013] The present application also provides a robot, which includes the direct cooling thermal management system described in any one of the above embodiments.

[0014] Compared with the prior art, the direct cooling thermal management system and robot provided by the present application, when the control valve and the exhaust valve are opened, the high-pressure liquefied gas in the liquid gas tank can quickly enter the sealing sleeve. Since the power element is partially or completely arranged in the sealing sleeve, the high-pressure liquefied gas can absorb heat in the sealing sleeve and change into a gaseous state, and finally be discharged into the external atmosphere through the exhaust valve. Since the high-pressure liquefied gas directly contacts the power element for heat dissipation, and the temperature of the high-pressure liquefied gas is generally around minus 200°C, only a small amount of high-pressure liquefied gas is needed to achieve efficient heat dissipation of the power element. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A front view of a robot according to an embodiment of the present application;

[0017] Figure 2 A side view of a robot according to an embodiment of the present application;

[0018] Figure 3 A pipe connection diagram of a direct cooling thermal management system according to an embodiment of the present application;

[0019] Figure 4 A pipe connection diagram of a direct cooling thermal management system according to another embodiment of the present application;

[0020] Figure 5 A pipe connection diagram of a direct cooling thermal management system according to another embodiment of the present application;

[0021] Figure 6 A system connection diagram of a direct cooling thermal management system according to an embodiment of the present application;

[0022] Figure 7 A schematic diagram of the partial structure of a direct cooling thermal management system according to an embodiment of the present application.

[0023] Figure numerals: 1000, robot; 100, liquid gas tank; 200, control valve; 210, first valve; 220, second valve; 300, sealing sleeve; 310, first set; 320, second set; 330, third set; 340, sealing chamber; 341, winding tube; 400, exhaust valve; 510, first branch; 520, second branch; 600, power element; 610, battery; 620, chip; 630, IGBT module; 700, control module. DETAILED DESCRIPTION

[0024] With the advancement of science and technology, various sensors have emerged, which has created the prerequisite for the large-scale application of robots. It is understandable that robots cannot complete various complex movements without the power supply and motor drive. Usually, robots have multiple joints and corresponding drive motors. In addition, robots need to have enough energy to complete difficult and complex movements for a long time. Therefore, the battery power density on the robot is getting higher and higher. At the same time, the power density of the IGBT module (insulated gate bipolar transistor) associated with the drive motor is also increasing. Therefore, the heat exchange of the battery and IGBT module is particularly critical.

[0025] See also Figure 1-Figure 7 In order to solve the problem that the heat dissipation system of the existing robot 1000 is not efficient enough, the present application provides a direct cooling thermal management system and a robot 1000, the direct cooling thermal management system includes a liquid gas tank 100, a control valve 200, a sealing sleeve 300 and an exhaust valve 400.

[0026] The liquid gas tank 100 is provided with high-pressure liquefied gas (including but not limited to liquid nitrogen, liquid oxygen, liquid carbon dioxide and liquid air), that is, the liquid gas tank 100 is a liquid nitrogen tank, a liquid oxygen tank, a liquid carbon dioxide tank or a liquid air tank.

[0027] The above-mentioned liquid gas is easily available, relatively cheap, and has safety protection, and can be directly discharged into the atmosphere without causing pollution.

[0028] Furthermore, in one embodiment, the volume of the liquid gas tank 100 ranges from 500 ml to 1500 ml.

[0029] Specifically, the liquid gas tank 100 is installed on the back of the robot 1000 (including but not limited to detachable snap-on and threaded connection, etc.) or is externally mounted on the body surface of the robot 1000.

[0030] The power element 600 (including but not limited to the battery 610 , the chip 620 and the IGBT module 630 ) is partially or completely disposed in the sealing sleeve 300 .

[0031] It should be noted that when the power element 600 is partially disposed in the sealing sleeve 300, and when the heating end and the wiring end of the power element 600 are respectively disposed at opposite ends of the power element 600, the heating end of the power element 600 is embedded in the sealing sleeve 300, and the wiring end of the power element 600 is disposed on the outside of the sealing sleeve 300.

[0032] In this way, on the one hand, the heat dissipation efficiency of the power element 600 can be improved, and on the other hand, it is beneficial to the wiring of the power element 600 .

[0033] But not limited to this, in other embodiments, when the heating end and the wiring end of the power element 600 are arranged at the same end of the power element 600, the heating end and the wiring end of the power element 600 are both arranged in the sealing sleeve 300, and the end of the power element 600 away from the heating end is arranged outside the sealing sleeve 300.

[0034] When all the power components 600 are disposed in the sealing sleeve 300 , it is beneficial to improve the sealing performance of the sealing sleeve 300 .

[0035] In this embodiment, the chip 620 is disposed on the head of the robot 1000 , the battery 610 is disposed on the chest of the robot 1000 , and the IGBT module 630 is disposed on the limbs of the robot 1000 .

[0036] like Figure 3 As shown, the liquid gas tank 100 , the control valve 200 , the sealing sleeve 300 and the exhaust valve 400 can be connected in sequence to form a cooling flow path to cool the power element 600 in the sealing sleeve 300 .

[0037] It should be noted that the exhaust valve 400 may be provided at the nasal cavity of the robot 1000, or at the oral cavity of the robot 1000, etc. Alternatively, when the exhaust valve 400 is not provided, the gas may be discharged directly from the pores of the skin.

[0038] With such arrangement, when the control valve 200 and the exhaust valve 400 are opened, the high-pressure liquefied gas in the liquid gas tank 100 can quickly enter the sealing sleeve 300. Since the power element 600 is partially or completely arranged in the sealing sleeve 300, the high-pressure liquefied gas can absorb heat in the sealing sleeve 300 and change into a gaseous state, and finally be discharged into the external atmosphere through the exhaust valve 400. Since the high-pressure liquefied gas directly contacts the power element 600 for heat dissipation, and the temperature of the high-pressure liquefied gas is generally about minus 200°C, only a small amount of high-pressure liquefied gas is needed to achieve efficient heat dissipation of the power element 600.

[0039] In one embodiment, if Figure 4 As shown, the power element 600 includes a battery 610, an IGBT module 630 and a chip 620, the sealing sleeve 300 includes a first sleeve 310, a second sleeve 320 and a third sleeve 330, the battery 610 is partially or completely arranged in the first sleeve 310, the IGBT module 630 is partially or completely arranged in the second sleeve 320, and the chip 620 is partially or completely arranged in the third sleeve 330.

[0040] The control valve 200 includes a first valve 210 and a second valve 220. The first valve 210, the first set 310 and the second set 320 are arranged in series to form a first branch 510. The second valve 220 and the third set 330 are arranged in series to form a second branch 520. The liquid gas tank 100 is connected to the exhaust valve 400 through the first branch 510 and the second branch 520 respectively.

[0041] With such configuration, since the optimal operating temperature range of the battery 610 is between 20°C and 30°C, and the optimal operating temperature of the IGBT module 630 is less than 150°C, the high-pressure liquefied gas first cools the battery 610 and then cools the IGBT module 630, which is beneficial for the temperature of the battery 610 to drop to a lower level while the temperature of the IGBT module 630 does not drop too low. In other words, it is beneficial for the temperatures of the battery 610 and the IGBT module 630 to drop to their respective required optimal operating temperatures.

[0042] But not limited to this, in another embodiment, Figure 5 As shown, the battery 610, the IGBT module 630 and the chip 620 can also be divided into three branches, and the liquid gas tank 100 is connected to the three branches respectively.

[0043] Such a configuration is beneficial to independent heat dissipation of the battery 610 , the IGBT module 630 and the chip 620 .

[0044] In one embodiment, if Figure 6As shown, the direct cooling thermal management system also includes a control module 700 and a temperature sensor (not shown). The control module 700 is electrically connected to the control valve 200, the exhaust valve 400 and the temperature sensor, respectively. The temperature sensor is attached to the power element 600. When the temperature sensor detects that the temperature of the power element 600 is greater than or equal to the preset temperature, the control module 700 can drive the control valve 200 and the exhaust valve 400 to open, so that the high-pressure liquefied gas in the liquid gas tank 100 can enter the external atmosphere through the control valve 200, the sealing sleeve 300 and the exhaust valve 400 in sequence.

[0045] Specifically, if the power element 600 is a battery 610 , the temperature of the battery 610 can be controlled between 20° C. and 30° C.; if the power element 600 is an IGBT module 630 , the temperature of the IGBT module 630 can be controlled below 150° C.

[0046] Such a setting greatly improves the intelligence level of the direct cooling thermal management system.

[0047] In one embodiment, if Figure 7 As shown, the sealing sleeve 300 is provided with a sealing cavity 340, and a winding tube 341 is provided in the sealing cavity 340. The winding tube 341 is wound around the outer peripheral side of the power element 600, and the liquid gas tank 100, the control valve 200, the winding tube 341 and the exhaust valve 400 can be connected in sequence to form a cooling flow path.

[0048] In this way, on the one hand, the winding tube 341 is wound around the outer peripheral side of the power element 600, which prevents the high-pressure liquefied gas from contacting the inner wall of the sealing chamber 340, resulting in a waste of the refrigeration performance of the high-pressure liquefied gas, thereby facilitating the cooling efficiency of the high-pressure liquefied gas. On the other hand, the double sealing of the winding tube 341 and the sealing sleeve 300 is conducive to improving the sealing performance of the high-pressure liquefied gas, avoiding leakage of the high-pressure liquefied gas, and further reducing the loss of the cooling capacity of the high-pressure liquefied gas.

[0049] It should be noted that, in one embodiment, the winding tube 341 is a flexible tube, for example, the winding tube 341 can be a low-temperature resistant PA nylon hose. Such a configuration is conducive to reducing the difficulty of assembling the winding tube 341 and the power element 600.

[0050] In other embodiments, the winding tube 341 may also be a hard tube. For example, the winding tube 341 may be a metal tube, a low-temperature resistant plastic tube, etc., which are not listed here one by one.

[0051] Such a configuration is beneficial to the sealing welding of the winding tube 341 .

[0052] In one embodiment, the winding tube 341 is formed by a plurality of double-layer vacuum insulation tubes (not shown) connected end to end, and the connection between adjacent double-layer vacuum insulation tubes is a detachable clamping connection.

[0053] It should be noted that the double-layer vacuum insulation pipe has two shell layers, and there is a vacuum between the two shell layers to block the conduction of heat.

[0054] Specifically, adjacent double-layer vacuum insulation pipes may be plug-in sealed clamped connections or sealed threaded connections.

[0055] In this way, on the one hand, the heat preservation of the winding tube 341 is further improved, and on the other hand, it is conducive to the rapid disassembly and assembly of the winding tube 341.

[0056] Furthermore, in one embodiment, the sealing cavity 340 is filled with a heat insulating layer (not shown), and the heat insulating layer is disposed between the winding tube 341 and the sealing sleeve 300 .

[0057] Specifically, the thermal insulation layer includes but is not limited to foaming agent, thermal insulation cotton and polyurethane foam, which are not listed here one by one.

[0058] The present application also provides a robot 1000, which includes the direct cooling thermal management system described in any one of the above embodiments.

[0059] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

[0061] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0063] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0064] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0065] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

Claims

1. A direct cooling thermal management system, characterized in that: The invention comprises a liquid gas tank (100), a control valve (200), a sealing sleeve (300) and an exhaust valve (400); the liquid gas tank (100) is provided with high-pressure liquefied gas; a power element (600) is partially or completely arranged in the sealing sleeve (300); the liquid gas tank (100), the control valve (200), the sealing sleeve (300) and the exhaust valve (400) can be connected in sequence to form a cooling flow path, so as to cool the power element (600) in the sealing sleeve (300).

2. The direct cooling thermal management system according to claim 1, characterized in that: When the heating end and the connection end of the power element (600) are respectively arranged at two opposite ends of the power element (600), the heating end of the power element (600) is embedded in the sealing sleeve (300), and the connection end of the power element (600) is arranged outside the sealing sleeve (300).

3. The direct cooling thermal management system according to claim 1, characterized in that: The power element (600) comprises a battery (610), an IGBT module (630) and a chip (620); the sealing sleeve (300) comprises a first sleeve (310), a second sleeve (320) and a third sleeve (330); the battery (610) is arranged in the first sleeve (310), the IGBT module (630) is arranged in the second sleeve (320), and the chip (620) is arranged in the third sleeve (330); The control valve (200) comprises a first valve (210) and a second valve (220); the first valve (210), the first set (310) and the second set (320) are sequentially connected in series to form a first branch (510); the second valve (220) and the third set (330) are sequentially connected in series to form a second branch (520); the liquid gas tank (100) is connected to the exhaust valve (400) via the first branch (510) and the second branch (520), respectively.

4. The direct cooling thermal management system according to claim 1, characterized in that: The sealing sleeve (300) is provided with a sealing cavity (340), a winding tube (341) is provided in the sealing cavity (340), the winding tube (341) is wound around the outer circumference of the power element (600), and the liquid gas tank (100), the control valve (200), the winding tube (341) and the exhaust valve (400) can be connected in sequence to form the cooling flow path.

5. The direct cooling thermal management system according to claim 4, characterized in that: The winding tube (341) is formed by connecting a plurality of double-layer vacuum insulation tubes end to end, and the connection method of adjacent double-layer vacuum insulation tubes is detachable clamping.

6. The direct cooling thermal management system according to claim 4, characterized in that: The sealing cavity (340) is filled with a heat insulation layer, and the heat insulation layer is arranged between the winding tube (341) and the sealing sleeve (300).

7. The direct cooling thermal management system according to claim 1, characterized in that: The invention also includes a control module (700) and a temperature sensor. The control module (700) is electrically connected to the control valve (200), the exhaust valve (400) and the temperature sensor respectively. The temperature sensor is attached to the power element (600). When the temperature sensor detects that the temperature of the power element (600) is greater than or equal to a preset temperature, the control module (700) can drive the control valve (200) and the exhaust valve (400) to open, so that the high-pressure liquefied gas in the liquid gas tank (100) can enter the external atmosphere through the control valve (200), the sealing sleeve (300) and the exhaust valve (400) in sequence.

8. The direct cooling thermal management system according to claim 1, characterized in that: The liquid gas tank (100) is a liquid nitrogen tank, a liquid oxygen tank, a liquid carbon dioxide tank or a liquid air tank.

9. The direct cooling thermal management system according to claim 1, characterized in that: The volume A of the liquid gas tank (100) satisfies 200ml≤A≤5000ml.

10. A robot, characterized in that: It comprises a direct cooling thermal management system as described in any one of claims 1 to 9.

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