Motor cooling system and robot

Abstract

The utility model discloses a motor heat dissipation system and a robot. The motor heat dissipation system includes a motor, a cold radiator and a heat pipe. Among them, the motor includes at least one; the cold radiator includes a main body, a heat exchange part, a pump body and a cooling pipeline, the heat exchange part and the pump body are both installed on the main body, the cooling pipeline is arranged around the periphery of the heat exchange part, the cooling pipeline has an inlet end and an outlet end, and the inlet end is connected to the outlet of the pump body; the heat pipe is at least partially arranged on the motor, and the two ends of the heat pipe are respectively connected to the inlet and the outlet of the pump body. The motor heat dissipation system and robot of the present application can at least solve the problem in the prior art that the motor in the robot generates huge heat under high-explosive movement and is difficult to dissipate.

Description

Technical Field

[0001] The utility model relates to the technical field of motor heat dissipation, and in particular to a motor heat dissipation system and a robot. Background Art

[0002] With the continuous development of automation and artificial intelligence, the demand for robotic arms and robots is increasing. The rising demand for high-explosive joint motors will face a huge technical challenge: the speed of mechanical movement is getting faster and faster, and high-explosive long-term running and jumping, such as the explosive movement of humans in a 100-meter sprint, how should the huge heat generated by the robot joints be dissipated.

[0003] At present, the robot joint motors are cooled by active shell cooling and air cooling. This cooling method will face great challenges. Under the high-explosive movement of the robot, the huge amount of heat generated is difficult to dissipate, which will cause the motor and the robot to stop working at the least, and even cause damage to the motor and the robot at the worst. Utility Model Content

[0004] The main purpose of the utility model is to provide a motor heat dissipation system and a robot, which at least solves the problem in the prior art that the motor in the robot generates huge heat under high-explosive motion and is difficult to dissipate.

[0005] According to one aspect of the utility model, a motor heat dissipation system is provided, comprising:

[0006] A motor, the motor comprising at least one;

[0007] A cold radiator, the cold radiator comprising a main body, a heat exchange part, a pump body and a cooling pipeline, the heat exchange part and the pump body are both mounted on the main body, the cooling pipeline is arranged around the outer periphery of the heat exchange part, the cooling pipeline has an inlet end and an outlet end, the inlet end is connected to the outlet of the pump body;

[0008] A heat conducting pipe, wherein the heat conducting pipe is at least partially arranged on the motor, and two ends of the heat conducting pipe are respectively connected to the inlet and the outlet of the pump body.

[0009] Furthermore, the heat pipe is at least partially embedded in or wound around the motor.

[0010] Further, the heat conducting pipe is embedded in the end cover of the motor, and the heat conducting pipe on the end cover is bent back and forth; or,

[0011] The heat conducting pipe is wound around the outer shell of the motor, and the heat conducting pipe is wound around the outer shell of the motor in multiple turns.

[0012] Furthermore, there are multiple motors, and the heat pipes are sequentially wound around or embedded in the multiple motors.

[0013] Furthermore, the heat-conducting pipe includes at least one of a hard pipe and a flexible pipe.

[0014] Furthermore, the hard pipe is a copper pipe; and / or the flexible pipe is a plastic hose.

[0015] Furthermore, the heat exchange unit includes a fan assembly or a condenser.

[0016] Furthermore, the fan assembly includes a hollow frame and a plurality of fans, and the plurality of fans are arranged in the hollow frame.

[0017] Furthermore, the main body includes a frame structure, the fan assembly and the pump body are arranged side by side in sequence within the frame structure along the length direction of the main body, and a hollow portion is provided on the frame structure.

[0018] On the other hand, the present application also provides a robot, which includes the above-mentioned motor cooling system.

[0019] In the utility model, when the motor heat dissipation system is working, cooling liquid is provided in the cooling pipeline and the heat pipe. When the motor needs to be cooled, the pump body is started, and the cooling liquid in the cooling pipeline and the heat pipe can circulate between the cooling pipeline and the heat pipe. When the cooling liquid flows to the heat pipe arranged on the motor, the cooling liquid can exchange heat with the motor and absorb the heat generated when the motor is working; when the cooling liquid flows to the cooling pipeline, the cooling liquid in the cooling pipeline can be heat exchanged through the action of the heat exchange part. In other words, the cooling liquid in the present application can absorb heat at the motor to cool the motor, and exchange heat at the heat exchange part to become a cooling liquid with a lower temperature, which circulates in sequence to dissipate heat for the motor, and has a good heat dissipation effect, which can improve the operating reliability of the motor.

[0020] That is to say, compared with the active heat dissipation mode and air cooling mode adopted in the prior art, the cooling mode of the motor heat dissipation system in the present application is a liquid cooling mode. Specifically, the heat pipe and the cooling pipeline of the present application are connected to form a circulation system. At the same time, the heat pipe is at least partially arranged on the motor. When the cooling liquid flows to the motor, heat exchange can occur with the motor, and the heat at the motor can be driven to the heat exchange part for heat exchange, so as to realize cyclic cooling of the motor, with higher cooling efficiency and better working stability of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0022] Figure 1 It is a schematic diagram of a motor heat dissipation system disclosed in an embodiment of the utility model at a first viewing angle;

[0023] Figure 2 It is a schematic diagram of the motor heat dissipation system disclosed in an embodiment of the utility model at a second viewing angle;

[0024] Figure 3 The utility model discloses a schematic diagram of a heat pipe embedded in a motor end cover.

[0025] The above drawings include the following reference numerals:

[0026] 10. Motor; 11. End cover; 12. Housing; 20. Radiator; 21. Main body; 211. Frame structure; 2111. Hollow part; 22. Heat exchange part; 221. Fan assembly; 2211. Fan; 2212. Hollow frame; 23. Pump body; 231. Inlet; 232. Outlet; 24. Cooling pipeline; 241. Inlet end; 242. Outlet end; 30. Heat pipe. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0030] As mentioned in the technical background, in the prior art, the robot joint motor has two heat dissipation methods: active heat dissipation mode of the shell and air cooling. Under the high-explosive movement of the robot, the huge amount of heat generated is difficult to dissipate, and these two heat dissipation methods will face great challenges. At the least, it will cause the motor and the robot to stop working, and at worst, it will cause the motor and the robot to be damaged. To this end, the present application provides a motor heat dissipation system and a robot. The motor heat dissipation system adopts a circulating liquid cooling heat dissipation method, and the heat is transported through the heat source through the conduit to the cold radiator for cooling and heat dissipation, and then circulated back to the heat source, thus circulating the refrigerant. In order to achieve the purpose of dissipating heat to the heat source, ensure that the robot can continue to operate for a long time, improve the stability of the product, extend the working life, etc. The motor heat dissipation system of the present application will be described in detail below with reference to the accompanying drawings.

[0031] See also Figures 1 to 3 As shown, according to an embodiment of the present application, a motor heat dissipation system is provided. The motor heat dissipation system 10 includes a motor 10, a cold radiator 20 and a heat pipe 30.

[0032] In this embodiment, the motor 10 includes at least one; the radiator 20 includes a main body 21, a heat exchange part 22, a pump body 23 and a cooling pipe 24, the heat exchange part 22 and the pump body 23 are both installed on the main body 21, the cooling pipe 24 is arranged around the outer periphery of the heat exchange part 22, and the cooling pipe 24 has an inlet end 241 and an outlet end 242, and the inlet end 241 is connected to the outlet 232 of the pump body 23; the heat pipe 30 is at least partially arranged on the motor 10, and the two ends of the heat pipe 30 are respectively connected to the inlet 231 and the outlet end 242 of the pump body 23.

[0033] When the motor heat dissipation system in this embodiment is working, cooling liquid is provided in the cooling pipe 24 and the heat pipe 30. When the motor 10 needs to be cooled, the pump body 23 is started, and the cooling liquid in the cooling pipe 24 and the heat pipe 30 can circulate between the cooling pipe 24 and the heat pipe 30. When the cooling liquid flows to the heat pipe 30 provided on the motor 10, the cooling liquid can exchange heat with the motor 10 and absorb the heat generated when the motor 10 is working; when the cooling liquid flows to the cooling pipe 24, the cooling liquid in the cooling pipe 24 can be heat exchanged through the action of the heat exchange part 22. That is to say, the cooling liquid in this embodiment can absorb heat at the motor 10 to cool the motor 10, and exchange heat at the heat exchange part 22 to become a cooling liquid with a lower temperature, and circulate in sequence to dissipate heat for the motor 10, with good heat dissipation effect, which can improve the operating reliability of the motor 10.

[0034] That is to say, compared with the active heat dissipation mode and air cooling mode adopted in the prior art, the cooling mode of the motor heat dissipation system in this embodiment is a liquid cooling mode. Specifically, the heat pipe 30 and the cooling pipeline 24 of this embodiment are connected to form a circulation system. At the same time, the heat pipe 30 is at least partially arranged on the motor 10. When the cooling liquid flows to the motor 10, heat exchange can occur with the motor 10, and the heat at the motor 10 can be driven to the heat exchange part 22 for heat exchange, so as to realize cyclic cooling of the motor 10, with higher cooling efficiency and better working stability of the motor 10.

[0035] It is understandable that the liquid cooling in this embodiment refers to refrigerant or water and other excellent heat-conducting liquids, such as water, automotive refrigerant, etc. Liquid cooling uses the high heat capacity and high thermal conductivity of liquid to take away heat, thereby enabling the relevant equipment to achieve heat dissipation and cooling. Compared with traditional air cooling, liquid cooling has the following advantages: (1) Unlike indirect cooling by air cooling, liquid cooling technology allows the coolant to be directly directed to the heat source; (2) Compared with air cooling, because the liquid has a larger specific heat capacity, the heat dissipation efficiency of liquid cooling is 1000-3000 times higher than that of air cooling; (3) The noise of the liquid cooling system is much smaller than that of the air cooling system, which not only reduces the noise, but also saves the electricity cost and energy consumption of the fan 2211 and the air conditioning system.

[0036] like Figures 1 to 3 As shown, the heat pipe 30 is at least partially embedded in or wound around the motor 10. The heat pipe 30 has good thermal conductivity. If the contact area between the heat pipe 30 and the motor 10 is increased, the cooling liquid in the heat pipe 30 can effectively take away the heat when the motor 10 generates a lot of heat during operation, thereby extending the working life of the motor 10.

[0037] Optionally, the heat pipe 30 can be embedded in the end cover 11 of the motor 10, or the heat pipe 30 can be wound around the housing 12 of the motor 10. During actual production and processing, the contact method between the heat pipe 30 and the motor 10 needs to be selected according to the actual power of the motor 10.

[0038] Furthermore, when the heat pipe 30 is embedded in the end cover 11 of the motor 10, the heat pipe 30 is bent back and forth, so that the contact area between the heat pipe 30 and the end cover 11 is larger, and the huge heat generated by the motor 10 is taken away by the heat pipe 30 embedded in the end cover 11 for cooling and heat dissipation. It is worth noting that when the heat pipe 30 is embedded in the end cover 11 of the motor 10, the motor 10 is a motor 10 with relatively low power, so that the heat generated by the motor 10 can be taken away by the heat pipe 30 embedded in the end cover 11. If the power of the motor 10 is relatively large, the heat pipe 30 is laid flat and wound around the outer shell 12 of the motor 10 in circles, so that the outer shell 12 is fully wound. Compared with being embedded in the end cover 11, the contact area between the heat pipe 30 and the motor 10 is increased, which is more conducive to the heat exchange between the heat generated by the motor 10 and the cooling liquid.

[0039] See also Figure 1 and Figure 2 As shown, in the present embodiment, there are multiple motors 10. For example, the number of motors 10 can be 1, 2, 3, 4, 5, etc. The specific number of motors 10 is set according to the requirements of the products actually produced and processed. The heat pipe 30 is connected to the outlet end 242 of the cooling pipeline 24 in the radiator 20, and becomes the winding initial end of a motor 10. According to the actual power of the motor 10, the heat pipe 30 adopts one of the above two contact methods with the motor 10, and is wound or embedded in multiple motors 10 in sequence. In the present embodiment, according to the requirements of the product, the number of motors 10 is preferably 4.

[0040] In this embodiment, the heat conducting pipe 30 can be a hard pipe or a flexible pipe. Hard pipes have better heat dissipation performance, and are preferably selected in the device. However, in some devices, due to the large degree of activity of certain parts, such as certain joint activity parts, flexible pipes can be selected. Because the flexible pipe is more flexible, it is convenient for the pipe to change its position accordingly when the device is moving. If it is a hard pipe, the activity of the device will be limited or even damaged.

[0041] Furthermore, the hard pipe can be a copper pipe, a steel pipe, an aluminum pipe, etc. In this embodiment, the preferred hard pipe is a copper pipe, because the copper pipe has good thermal conductivity and can more effectively transfer the heat generated by the motor 10 to the refrigerant liquid in the pipe during actual operation. The hose can be a plastic hose, because the plastic hose has good flexibility and can change its relative position according to the needs of the activities of the relevant parts to ensure the normal operation of the equipment. In addition, the layout of the flexible pipe can be more flexible in some joints with greater mobility.

[0042] Furthermore, in the present application, the pipelines in the equipment can be arranged in a straight line or in a curve. In the actual production and processing process, the appropriate arrangement is selected according to the spatial position of the equipment. If it is arranged in a straight line, the layout of the pipelines in the equipment can be aesthetically pleasing; and the pipelines are not cross-connected. When the refrigerant liquid in the pipeline leaks, the relevant damaged parts can be found in a timely and accurate manner, thereby improving the maintenance efficiency. If the position in the equipment is limited, the pipelines can be arranged in a curve to effectively utilize the space in the equipment.

[0043] like Figure 1 and Figure 2 As shown, the heat exchange part 22 can be a fan assembly 221, or it can be a condenser. In the present application, the heat exchange part 22 is preferably a fan assembly 221. Since in the present application, liquid cooling is used for heat dissipation, the fan assembly 221 is used to further dissipate the heat from the cooling pipe 24 entering the radiator 20, so that the heat is dissipated to the outside of the device housing, thereby accelerating the dissipation of the large amount of heat generated by the motor 10 during operation. By combining liquid cooling cycle heat dissipation with the fan assembly 221, the fan 2211 has a shorter cooling and heat exchange time, which can reduce the use of electricity and reduce the cost during the operation of the equipment.

[0044] Further, the fan assembly 221 is provided with a hollow frame 2212 and a plurality of fans 2211, wherein the number of fans 2211 can be 1, 2, 3, 4, etc., and the number of fans 2211 is determined according to the actual heat dissipation requirements. The fans 2211 are arranged in the hollow frame 2212 to achieve orderly arrangement of the fans 2211, so that the fans 2211 are more efficient when performing heat exchange on the cooling pipe 24, and the heat can be quickly dissipated, further ensuring the reliable operation of the equipment. In the present application, the number of fans 2211 is preferably 4, and there are two on the upper and lower sides. In the present application, the hollow frame 2212 is a fan mounting frame, and the fans 2211 can be mounted on the hollow frame 2212 by means of screws or buckles, etc., to ensure the installation stability of the fans 2211, and it is not easy to fall from the hollow frame 2212 during operation, affecting the heat exchange.

[0045] like Figure 1As shown, in this embodiment, the main body 21 of the cold radiator 20 includes a frame structure 211, which can neatly store the fan assembly 221 and the pump body 23, and is arranged side by side in the frame structure 211 along the length direction of the main body 21, and the pump body 23 and the fan assembly 221 are arranged in order. Such an arrangement is convenient for the direction arrangement of the heat pipe 30 and the flow direction of the coolant, ensuring that the motor cooling system operates more efficiently. In addition, a hollow portion 2111 is provided on the frame structure 211, and the hollow portion 2111 is located at the top and back of the frame structure 211. Specifically, the hollow portion 2111 at the top of the heat exchange portion 22 is a hollow portion 2111 composed of a plurality of small squares; and the hollow portion 2111 located at the back of the frame structure 211 is a long strip of space, so that the contact area between the hollow portion 2111 and the external environment of the equipment is accelerated and increased, which is conducive to the hollow portion 2111 at the back of the heat exchange portion 22 and the outside world for heat exchange.

[0046] According to the above embodiments, it can be known that the motor heat dissipation system of the present application is formed by connecting the heat pipe 30 and the cooling pipeline 24 to form a liquid cooling circulation system. At the same time, the heat pipe 30 is at least partially arranged on the motor 10. When the cooling liquid flows to the motor 10, heat exchange can occur with the motor 10, and the heat at the motor 10 can be driven to the heat exchange part 22 for heat exchange, so as to realize the circulation cooling of the motor 10, the cooling efficiency is higher, and the working stability of the motor 10 is better.

[0047] Combination Figures 1 to 3 As shown, the present application also provides a robot, which includes the above-mentioned motor heat dissipation system. Exemplarily, the robot can be a bipedal robot, a quadrupedal robot, etc. On the motor 10 installed on the robot, one of the above two methods is selected to arrange the heat pipe 30 on the surface of the housing 12 of the motor 10. When the robot performs related work, the heat generated by the motor 10 is transferred to the cooling liquid through the heat pipe 30, and the heat source is transported to the heat exchange part 22 of the cold radiator 20 for unified cooling and heat dissipation treatment, and then circulated back to form a set of reciprocating liquid cooling and heat dissipation system, so that the robot can operate reliably for a longer time.

[0048] Through the above arrangement, when the robot joints generate huge heat, the circulating liquid cooling method is adopted to transfer the heat through the motor 10 and the heat pipe 30 to the radiator 20 for cooling and heat dissipation, and then circulate back to the motor 10. In this way, the refrigerant is circulated to achieve the purpose of cooling the heat source, ensuring that the robot can continue to operate for a long time, and improving the stability of the product.

[0049] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0050] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0051] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A motor cooling system, characterized in that: include: A motor (10), the motor (10) comprising at least one; A cold radiator (20), the cold radiator comprising a main body (21), a heat exchange portion (22), a pump body (23) and a cooling pipeline (24), the heat exchange portion (22) and the pump body (23) being both mounted on the main body (21), the cooling pipeline (24) being arranged around the outer periphery of the heat exchange portion (22), the cooling pipeline (24) having an inlet end (241) and an outlet end (242), the inlet end (241) being in communication with an outlet (232) of the pump body (23); A heat conducting pipe (30), wherein the heat conducting pipe (30) is at least partially disposed on the motor (10), and two ends of the heat conducting pipe (30) are respectively connected to the inlet (231) and the outlet (242) of the pump body (23).

2. The motor cooling system according to claim 1, characterized in that: The heat conducting pipe (30) is at least partially embedded in or wound around the motor (10).

3. The motor cooling system according to claim 2, characterized in that: The heat conducting pipe (30) is embedded in an end cover (11) of the motor (10), and the heat conducting pipe (30) on the end cover (11) is bent back and forth; or, The heat conducting pipe (30) is wound around the outer shell (12) of the motor (10), and the heat conducting pipe (30) wound around the outer shell (12) of the motor (10) has multiple turns.

4. The motor cooling system according to claim 1, characterized in that: There are a plurality of motors (10), and the heat conducting pipes (30) are sequentially wound around or embedded in the plurality of motors (10).

5. The motor cooling system according to claim 1, characterized in that: The heat conducting pipe (30) comprises at least one of a hard pipe and a flexible pipe.

6. The motor heat dissipation system according to claim 5, characterized in that: The hard pipe is a copper pipe; and / or the flexible pipe is a plastic hose.

7. The motor cooling system according to any one of claims 1 to 6, characterized in that: The heat exchange part (22) includes a fan assembly (221) or a condenser.

8. The motor cooling system according to claim 7, characterized in that: The fan assembly (221) comprises a hollow frame (2212) and a plurality of fans (2211), and the plurality of fans (2211) are arranged in the hollow frame (2212).

9. The motor heat dissipation system according to claim 7, characterized in that: The main body (21) comprises a frame structure (211), the fan assembly (221) and the pump body (23) are arranged side by side in sequence in the frame structure (211) along the length direction of the main body (21), and a hollow portion (2111) is provided on the frame structure (211).

10. A robot, characterized in that: A motor heat dissipation system comprising any one of claims 1 to 9.

Images