A heat dissipation system for a robot joint module

Abstract

The utility model relates to humanoid robot heat dissipation technical field discloses a heat dissipation system for robot joint module. The heat dissipation system includes: VC uniform heat plate, VC uniform heat plate embraces in joint module, liquid cooling plate, the half circle open structure embraces in VC uniform heat plate, and one opening end of liquid cooling plate is equipped with water inlet and water outlet, its inside is equipped with positive flow channel and backflow channel, and one end of positive flow channel and backflow channel is communicated with water inlet and water outlet respectively, and the other end is mutually connected in series, heat dissipation subassembly, including the heat dissipation box of being installed on joint module, the outside of heat dissipation box is installed in fan, and the top of fan is equipped with circulating water pump, and the mutual communication between circulating water pump, heat dissipation box and liquid cooling plate forms a circulating liquid cooling system. Since the heat dissipation system is installed on the outside of joint module, therefore, the closed joint module structure can also obtain efficient heat dissipation, improves the stability and reliability of joint module.

Description

Technical Field

[0001] This utility model relates to the field of heat dissipation technology for humanoid robots, specifically a heat dissipation system for robot joint modules. Background Technology

[0002] The robot joint module is the core component that enables the robot to move flexibly. It is the mechanism that enables relative movement between the various parts of the robot, meeting the robot's requirements for high torque output, high motion accuracy, and high reliability. The robot joint module includes core components such as harmonic reducers, DC motors, brakes, incremental encoders, absolute encoders, and drivers, all of which are installed inside the joint module housing.

[0003] As robot applications continue to expand, higher demands are being placed on the miniaturization, efficiency, integration, and performance of joint modules. Simultaneously, the heat generated by joint modules increases under high-frequency operation. If heat dissipation issues are not addressed promptly, prolonged operation can easily reduce the reliability of the joint modules.

[0004] In existing technologies, the housing of robot joint modules is generally designed as a sealed structure to prevent external moisture and dust from seeping in. This prevents the heat generated by the internal heat-generating parts from dissipating during module operation. While setting gaps in the ventilation hood and air guide to allow airflow can solve the heat dissipation problem, it can also introduce moisture and fine dust particles.

[0005] Therefore, there is an urgent need for a heat dissipation system for robot joint modules to solve the above problems. Utility Model Content

[0006] Based on the above, the purpose of this utility model is to provide a heat dissipation system for robot joint modules, so as to solve the problem of poor heat dissipation effect of robot joint modules with sealed structures in the prior art.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] This utility model provides a heat dissipation system for robot joint modules, comprising:

[0009] A VC heat spreader surrounds the joint module.

[0010] The liquid cooling plate has a semi-circular opening structure that surrounds the VC heat exchange plate. One of the opening ends of the liquid cooling plate is provided with an inlet and an outlet. Inside the liquid cooling plate, there is a forward flow channel and a return flow channel. One end of the forward flow channel and the return flow channel are respectively connected to the inlet and the outlet, and the other end of the channel is connected in series.

[0011] The heat dissipation assembly includes a heat sink mounted on the joint module, a fan mounted on the outer side of the heat sink, a circulating water pump mounted above the fan, and the circulating water pump, the heat sink, and the liquid cooling plate are interconnected to form a circulating liquid cooling system.

[0012] As an optional technical solution for a heat dissipation system for robot joint modules, the VC heat spreader includes a shell and multiple heat-conducting pillars installed in the shell. A heat-conducting ring is sleeved on the heat-conducting pillar, and the cross-section of the heat-conducting ring is provided with a number of evaporation capillaries.

[0013] As an optional technical solution for a heat dissipation system for robot joint modules, the housing contains two heat-conducting plates. Each heat-conducting plate has multiple insertion holes. The diameter of the insertion holes is larger than the diameter of the heat-conducting pillar, and smaller than the diameter of the heat-conducting ring. One heat-conducting plate is inserted into the heat-conducting pillar through the insertion holes and is disposed on the bottom surface inside the housing. The other heat-conducting plate is inserted into the heat-conducting pillar through the insertion holes and is disposed on the top of the heat-conducting ring, abutting against the top surface inside the housing.

[0014] As an optional technical solution for a heat dissipation system for robot joint modules, the heat-conducting pillars, heat-conducting rings, and insertion holes are cylindrical, elliptical, or cuboid structures.

[0015] As an optional technical solution for a heat dissipation system for robot joint modules, a silicone thermal conductive layer is provided between the VC heat sink and the joint module, as well as between the liquid cooling plate and the VC heat sink.

[0016] As an optional technical solution for a heat dissipation system for a robot joint module, the heat dissipation box includes a frame mounted on the joint module, a curved liquid cooling pipe is arranged longitudinally inside the frame, and a plurality of heat dissipation fins are arranged transversely inside the frame, with the plurality of heat dissipation fins sequentially sleeved on the liquid cooling pipe.

[0017] As an optional technical solution for a heat dissipation system for robot joint modules, one end of the liquid cooling pipe is connected to the inlet of a circulating water pump, and the other end is connected to the outlet of the liquid cooling plate; the outlet of the circulating water pump is connected to the inlet of the liquid cooling plate.

[0018] As an optional technical solution for the heat dissipation system of robot joint modules, the VC heat sink, liquid cooling plate and liquid cooling pipe are all made of aluminum or copper.

[0019] As an optional technology for a heat dissipation system for robot joint modules, the fan is equipped with a protective cover on its outer side.

[0020] The beneficial effects of this utility model are as follows:

[0021] This utility model provides a heat dissipation system for a robot joint module. The heat dissipation system includes: a VC heat spreader surrounding the joint module; a liquid cooling plate with a semi-circular opening surrounding the VC heat spreader, one opening of which has an inlet and an outlet, and an internal flow channel and a return flow channel, one end of which is connected to the inlet and outlet respectively, and the other ends are connected in series; and a heat dissipation assembly including a heat sink mounted on the joint module, a fan mounted on the outer side of the heat sink, and a circulating water pump mounted above the fan. The circulating water pump, the heat sink, and the liquid cooling plate are interconnected to form a circulating liquid cooling system.

[0022] In the above structure, the VC heat spreader is wrapped and fitted onto the joint module, allowing the heat generated within the joint module to be evenly conducted to the liquid cooling plate through the VC heat spreader, improving the heat transfer effect between the joint module and the liquid cooling plate. A circulating water pump drives the coolant in the heat sink and liquid cooling plate to circulate, ensuring that the heat absorbed by the VC heat spreader is quickly carried away by the coolant in the cooling plate. The coolant in the return channel, after absorbing heat, rises in temperature. Therefore, when the coolant in the return channel flows back to the heat sink, it is cooled by the fan, and then the circulating pump re-inputs the low-temperature coolant into the forward flow channel for heat conduction, thus forming a highly efficient liquid cooling circulation system. Because this cooling system is installed outside the joint module, the enclosed joint module structure can also achieve efficient heat dissipation, improving the stability and reliability of the joint module. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the heat dissipation system for the robot joint module in an embodiment of this utility model;

[0024] Figure 2 This is an exploded view of the heat dissipation system for the robot joint module in an embodiment of this utility model;

[0025] Figure 3 This is a schematic diagram of the heat sink structure in an embodiment of the present invention;

[0026] Figure 4 This is a partial cross-sectional schematic diagram of the liquid cooling plate in an embodiment of this utility model;

[0027] Figure 5 This is a partial cross-sectional schematic diagram of the VC heat spreader in an embodiment of this utility model;

[0028] Figure 6 This is a schematic diagram of the internal structure of the VC heat spreader in an embodiment of this utility model;

[0029] Figure 7 for Figure 6 Enlarged view of point A in the middle;

[0030] Figure 8 This is a cross-sectional schematic diagram of the heat-conducting ring in an embodiment of this utility model.

[0031] In the picture:

[0032] 1. Joint module;

[0033] 2. VC heat spreader; 20. Shell; 21. Heat-conducting pillar; 22. Heat-conducting ring; 220. Evaporation capillary; 23. Heat-conducting plate; 230. Insertion hole;

[0034] 3. Liquid cooling plate; 30. Inlet; 31. Outlet; 32. Forward flow channel; 33. Return flow channel;

[0035] 4. Heat dissipation components; 40. Heat sink; 401. Frame; 402. Liquid cooling pipes; 403. Heat sink; 41. Fan; 410. Protective cover; 42. Circulating water pump. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0037] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of description and simplification of operation, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0040] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no specific meaning.

[0041] like Figure 1-8 As shown, this utility model provides a heat dissipation system for a robot joint module. The heat dissipation system includes: a VC heat dissipation plate 2, which surrounds the joint module 1; a liquid cooling plate 3, which surrounds the VC heat dissipation plate 2 with a semi-circular opening structure, wherein one opening end of the liquid cooling plate 3 is provided with an inlet 30 and an outlet 31, and its interior is provided with a forward flow channel 32 and a return flow channel 33, one end of the forward flow channel 32 and the return flow channel 33 are respectively connected to the inlet 30 and the outlet 31, and the other ends are connected in series; and a heat dissipation assembly, including a heat dissipation box 40 installed on the joint module 1, a fan 41 installed on the outer side of the heat dissipation box 40, and a circulating water pump 42 installed above the fan 41. The circulating water pump 42, the heat dissipation box 40 and the liquid cooling plate 3 are interconnected to form a circulating liquid cooling system.

[0042] This utility model provides a heat dissipation system for robot joint modules. A VC heat spreader 2 is mounted in a circumferential manner on the joint module 1, allowing heat generated within the joint module 1 to be evenly conducted to the liquid cooling plate 3, thus improving the heat transfer effect between the joint module 1 and the liquid cooling plate 3. A circulating water pump 42 drives the coolant in the heat sink 40 and the liquid cooling plate 3 to circulate, ensuring that the heat absorbed by the VC heat spreader 2 is quickly carried away by the coolant in the liquid cooling plate 3. The coolant in the return channel 33, after absorbing heat, increases in temperature. Therefore, when the coolant in the return channel 33 flows back to the heat sink 40, it is cooled by the fan 41. The circulating water pump 42 then pumps the cooled coolant back into the forward channel 32 for heat conduction, forming a highly efficient liquid cooling circulation system. Because this heat dissipation system is installed outside the joint module 1, the enclosed joint module structure can also achieve efficient heat dissipation, improving the stability and reliability of the joint module 1.

[0043] Specifically, such as Figure 1 and Figure 2As shown, the joint module 1 of a typical humanoid robot adopts a closed circular structure. Therefore, in this embodiment, the VC heat spreader 2 and the liquid cooling plate 3 are respectively arranged in a semi-circular shape. On the one hand, this allows for better contact and installation with the outside of the joint module 1; on the other hand, the circular shape of the VC heat spreader 2 allows for heat exchange with the outer shell of the joint module 1 over a larger area, improving the heat dissipation effect of the joint module 1. However, the opening of the VC heat spreader 2, where it contacts the joint module 1, is where the heat sink 40 and the fan 41 are installed. Therefore, the fan 41 can effectively dissipate heat from the joint module 1 that is not covered by the VC heat spreader 2. Of course, this cooling system can also completely cover the outside of the joint module 1 with the VC heat spreader 2 and the liquid cooling plate 3 to provide even more efficient heat dissipation.

[0044] Furthermore, such as Figure 2 and Figure 3 As shown, the heat sink 40 includes a frame 401 mounted on the joint module 1. A curved liquid cooling pipe 402 is arranged longitudinally inside the frame 401. Several heat sinks 403 are arranged transversely inside the frame 401. The heat sinks 403 are sequentially sleeved on the liquid cooling pipe 402. One end of the liquid cooling pipe 402 is connected to the inlet 30 of the circulating water pump 42, and the other end is connected to the outlet 31 of the liquid cooling plate 3. The outlet 31 of the circulating water pump 42 is connected to the inlet 30 of the liquid cooling plate 3. Thus, a circulating liquid cooling system is formed between the liquid cooling plate 3, the heat sink 40, the circulating water pump 42, and the fan 41. Powered by the circulating water pump 42, the coolant circulates within the forward flow channel 32 and the return flow channel 33 of the liquid cooling plate 3 and within the liquid cooling pipe 402 of the heat sink 40. The fan 41 cools and dissipates heat from the liquid cooling pipe 402. The curved design of the liquid cooling pipe 402 effectively increases the flow path and area of ​​the coolant within the liquid cooling pipe 402, improving the cooling efficiency of the fan 41. The heat sink 403 further increases the heat dissipation area of ​​the liquid cooling pipe 402. A protective cover 410 is installed on the outside of the fan 41 to increase its safety and prevent the fan 41 from causing injury to people or external objects.

[0045] In this embodiment, the VC heat spreader 2, liquid cooling plate 3, liquid cooling pipe 402, and heat sink 403 can be made of pure aluminum or copper to improve their heat conduction efficiency and heat dissipation effect. It should be noted that, to reduce the load on the humanoid robot while still achieving efficient heat dissipation, the VC heat spreader 2, liquid cooling plate 3, liquid cooling pipe 402, and heat sink 403 in this embodiment are preferably made of pure aluminum. On the other hand, the circulating water pump 42 in this embodiment uses variable frequency technology, meaning that the circulating water pump 42 controls its speed through an electrical connection with the joint module 1 or the humanoid robot's control module. This structure allows the joint module 1 to achieve optimal heat dissipation while reducing its power consumption, thus increasing the operating time of the humanoid robot.

[0046] Specifically, such as Figure 4 As shown, multiple forward flow channels 32 and return flow channels 33 can be set in the liquid cooling plate 3, with each pair of forward flow channels 32 connected in series; each pair of return flow channels 33 is also connected in series, thereby improving the heat exchange efficiency of the liquid cooling plate 3 to the VC heat exchange plate 2; a silicone thermal conductive layer (not shown in the figure) is provided between the VC heat exchange plate 2 and the joint module 1, as well as between the liquid cooling plate 3 and the VC heat exchange plate 2. The silicone thermal conductive layer not only increases the heat transfer speed, but more importantly, it avoids the voids when the VC heat exchange plate 2 and the joint module 1 are fitted together, as well as the voids when the liquid cooling plate 3 and the VC heat exchange plate 2 are fitted together; this allows the three to fit tightly together, increasing their heat exchange efficiency.

[0047] In this embodiment, as Figures 5 to 8As shown, the VC heat spreader 2 includes a shell 20 and multiple heat-conducting columns 21 installed inside the shell 20. The heat-conducting columns 21 are arranged in an array. By setting the heat-conducting columns 21, the heat in the shell 20 can be transferred to the liquid cooling plate 3 more quickly. A heat-conducting ring 22 is sleeved on the heat-conducting column 21. The cross-section of the heat-conducting ring 22 is provided with a number of evaporation capillary holes 220. The heat-conducting ring 22 has a hollow structure and is fitted in the middle of the heat-conducting column 21. The heat-conducting ring 22 is used to accelerate the heat conduction speed of the heat-conducting column 21. At the same time, the evaporation capillary pores 220 inside the heat-conducting ring 22 enable the working fluid inside the shell 20 to conduct heat quickly and evenly. On the other hand, two heat-conducting plates 23 are provided inside the shell 20. The two heat-conducting plates 23 are provided with multiple insertion holes 230. The diameter of the insertion holes 230 is larger than the diameter of the heat-conducting column 21 and smaller than the diameter of the heat-conducting ring 22. One heat-conducting plate 23 is inserted into the heat-conducting column 21 through the insertion hole 230 and is set on the bottom surface inside the shell 20. The other heat-conducting plate 23 is inserted into the heat-conducting column 21 through the insertion hole 230 and is set on the top of the heat-conducting ring 22 and abuts against the top surface inside the shell 20. The setting of the heat-conducting plates 23 further improves the heat exchange efficiency of the VC heat exchange plate 2. In this example, the heat-conducting pillar 21, heat-conducting ring 22, and insertion hole 230 are cylindrical, elliptical, or cuboid structures. All of these shapes can increase the heat conduction speed of the VC heat dissipation plate 2 to the joint module 1, thereby improving the heat dissipation effect of the joint module 1.

[0048] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some changes or modifications to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the present utility model without departing from the scope of the present utility model shall fall within the scope of the present utility model.

Claims

1. A heat dissipation system for a robot joint module, characterized in that, include: A VC heat spreader surrounds the joint module. The liquid cooling plate has a semi-circular opening structure that surrounds the VC heat exchange plate. One of the opening ends of the liquid cooling plate is provided with an inlet and an outlet. Inside the liquid cooling plate, there is a forward flow channel and a return flow channel. One end of the forward flow channel and the return flow channel are respectively connected to the inlet and the outlet, and the other end of the channel is connected in series. The heat dissipation assembly includes a heat sink mounted on the joint module, a fan mounted on the outer side of the heat sink, a circulating water pump mounted above the fan, and the circulating water pump, the heat sink, and the liquid cooling plate are interconnected to form a circulating liquid cooling system.

2. The heat dissipation system for a robot joint module according to claim 1, wherein, The VC heat spreader includes a shell and a plurality of heat-conducting columns installed inside the shell. A heat-conducting ring is fitted on the heat-conducting column, and the cross-section of the heat-conducting ring is provided with a plurality of evaporation capillary pores.

3. A heat dissipation system for a robot joint module according to claim 2, characterized in that, The housing contains two heat-conducting plates, each with multiple insertion holes. The diameter of each insertion hole is larger than the diameter of the heat-conducting pillar and smaller than the diameter of the heat-conducting ring. One heat-conducting plate is inserted into the heat-conducting pillar through the insertion hole and is disposed on the bottom surface inside the housing. The other heat-conducting plate is inserted into the heat-conducting pillar through the insertion hole and is disposed on the top of the heat-conducting ring, abutting against the top surface inside the housing.

4. The heat dissipation system for a robot joint module according to claim 3, wherein The heat-conducting pillars, heat-conducting rings, and insertion holes are cylindrical, elliptical, or cuboid structures.

5. The heat dissipation system for a robot joint module according to claim 1, wherein, A silicone thermal conductive layer is provided between the VC heat spreader and the joint module, as well as between the liquid cooling plate and the VC heat spreader.

6. The heat dissipation system for a robot joint module according to claim 5, wherein The heat sink includes a frame mounted on the joint module. The frame has a curved liquid cooling pipe arranged longitudinally inside, and a number of heat sinks arranged transversely inside the frame. The heat sinks are sequentially sleeved on the liquid cooling pipe.

7. The heat dissipation system for a robot joint module according to claim 6, wherein One end of the liquid cooling pipe is connected to the inlet of the circulating water pump, and the other end is connected to the outlet of the liquid cooling plate; the outlet of the circulating water pump is connected to the inlet of the liquid cooling plate.

8. The heat dissipation system for a robot joint module according to claim 7, wherein The VC heat spreader, liquid cooling plate, and liquid cooling pipe are all made of aluminum or copper.

9. The heat dissipation system for a robot joint module according to claim 8, wherein, The fan is fitted with a protective cover on its outer side.

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