A robot series connection liquid cooling circulation system based on magnetic refrigeration

Abstract

The utility model discloses a kind of robot series connection liquid cooling circulation systems based on magnetic refrigeration, including several liquid cooling cavities, magnetic refrigeration device, air cooling device and cold liquid;Each liquid cooling cavities are respectively arranged on each heat source position of robot, for cooling each heat source position, and at least part liquid cooling cavities are connected in series;The cold liquid is filled in the liquid cooling cavity;Magnetic refrigeration device is connected with the liquid cooling cavity and is conducted, and at least for the cooling of cold liquid;The air cooling device is connected with the magnetic refrigeration device and is conducted, and the magnetic refrigeration device is heat dissipation for it.The liquid cooling circulation system of the utility model, by connecting part liquid cooling cavities in series, liquid cooling network is relatively simple, and less liquid pump is used, and cost is low.

Description

Technical Field

[0001] This utility model belongs to the field of robot refrigeration technology, and more specifically relates to a robot series liquid cooling circulation system based on magnetic refrigeration. Background Technology

[0002] With the development and maturation of automation and intelligent technologies, humanoid robots, as an important development direction of artificial intelligence and robotics, are gradually moving from the laboratory to practical applications. Compared with ordinary robots, humanoid robots are characterized by a more compact structure and more interconnected joints. In the use and operation of humanoid robots, efficient heat dissipation of the joints is an important condition for ensuring the normal and efficient operation of humanoid robots.

[0003] In related technologies, humanoid robots primarily rely on natural or air cooling for heat dissipation. Natural cooling suffers from slow heat dissipation and low efficiency. Air cooling is limited by space, and its heat dissipation capacity depends on the heat flux through the contact surface and the power of the fan. Therefore, it cannot significantly reduce motor thermal resistance, temperature rise, and copper losses, thus failing to increase current, torque, and power. Even increasing the heat flux through the contact surface and the power of the fan leads to a significant increase in weight and a low energy density E=P / m, which does not meet the high energy density output requirements of humanoid robot joint motors.

[0004] Of course, in some optical interconnection technologies, humanoid robots may also use liquid cooling for heat dissipation. However, these liquid cooling structures are simple, and they only use conventional liquid cooling to dissipate heat from the humanoid robot joints. The heat dissipation efficiency is low, and they may not even be able to reduce the temperature of the heat source to room temperature. Utility Model Content

[0005] The purpose of this invention is to provide a robot serial liquid cooling circulation system based on magnetic refrigeration. By connecting some liquid cooling channels in series, the liquid cooling network is relatively simple, fewer liquid pumps are used, and the cost is low.

[0006] This utility model provides a robot series liquid cooling circulation system based on magnetic refrigeration, comprising:

[0007] A plurality of liquid cooling channels are provided, each of which is disposed at a heat source location on the robot for cooling the heat source location, and at least some of the liquid cooling channels are connected in series.

[0008] Cooling liquid, which is filled into the liquid cooling cavity;

[0009] A magnetic refrigeration device is connected to and conducts through the liquid cooling cavity, and at least cools the liquid.

[0010] An air-cooling device is connected and conductive to the magnetic refrigeration device to dissipate heat from the magnetic refrigeration device.

[0011] The magnetic refrigeration device includes a magnetocaloric material and a magnetic field generating mechanism. The magnetic field generating mechanism provides a magnetic field to the magnetocaloric material, which is then magnetized. The coolant passes through the magnetized magnetocaloric material, carrying away the heat from the magnetized material to the air-cooling device. The demagnetized magnetocaloric material cools the coolant that has passed through the air-cooling device, and the coolant that has been cooled by the demagnetized magnetocaloric material enters each liquid cooling channel.

[0012] As an optional implementation, the magnetic field generating mechanism includes a permanent magnet and a transposition component, wherein the transposition component is connected to the permanent magnet and drives the permanent magnet to move closer to or away from the magnetocaloric material.

[0013] As an optional implementation, the permanent magnet is provided with a piece, and the transposition component drives the permanent magnet to move closer to or away from the magnetocaloric material, magnetizing the magnetocaloric material or causing the magnetocaloric material to demagnetize.

[0014] As an optional implementation, the transposition assembly includes a motor, a rotating shaft, and a mounting base. The motor is fixedly connected to the rotating shaft, the rotating shaft is fixedly connected to the mounting base, and the permanent magnet is mounted on the mounting base.

[0015] As an optional implementation, the magnetic refrigeration-based robot serial liquid cooling circulation system further includes a cold storage chamber, which is disposed between the magnetic refrigeration device and the liquid cooling channel. The cold liquid enters the cold storage chamber after passing through a demagnetized magnetocaloric material, and the cold liquid passing through the cold storage chamber enters the liquid cooling channel.

[0016] As an optional implementation, the robot serial liquid cooling circulation system based on magnetic refrigeration further includes a preheating chamber, which is disposed between the magnetic refrigeration device and the liquid cooling channel. The cold liquid passing through the liquid cooling channel enters the preheating chamber and passes through the magnetized magnetothermal material.

[0017] As an optional implementation, the robot serial liquid cooling circulation system based on magnetic refrigeration further includes a pre-cooling chamber, which is located between the magnetic refrigeration device and the air-cooling device. The cold liquid passing through the air-cooling device enters the pre-cooling chamber, and the cold liquid passing through the pre-cooling chamber passes through the demagnetized magnetocaloric material.

[0018] As an optional implementation, the air-cooling device includes a cooling chamber and a fan for cooling the cooling chamber. The cooling chamber is connected to a magnetic refrigeration device and receives cold liquid that has absorbed heat from a magnetized magnetocaloric material. The cold liquid passing through the cooling chamber passes through a demagnetized magnetocaloric material.

[0019] As an optional implementation, the air-cooling device further includes a semiconductor heat sink and heat dissipation fins, the semiconductor heat sink being attached to the cooling chamber, the heat dissipation fins being disposed on the semiconductor heat sink, and the fan being disposed outside the heat dissipation fins.

[0020] As an optional implementation, the heat source locations on the robot include at least several arm joint heat source locations, several leg joint heat source locations, power supply battery heat source locations, and head heat source locations.

[0021] Each of the arm joint heat source locations is provided with a liquid cooling channel, and the liquid cooling channels provided at each arm joint heat source location are connected in series.

[0022] Each of the leg joint heat source locations is provided with a liquid cooling channel, and the liquid cooling channels provided at each leg joint heat source location are connected in series.

[0023] Liquid cooling channels are provided at both the heat source location of the power supply battery and the heat source location of the head.

[0024] The beneficial effects of this utility model's technical solution—a robot series liquid cooling circulation system based on magnetic refrigeration—are:

[0025] 1. Some liquid cooling channels are connected in series, the liquid cooling network is relatively simple, fewer liquid pumps are used, it is easy to control, and the cost is low.

[0026] 2. By combining magnetic refrigeration and air cooling devices, a lower temperature coolant is obtained, providing the robot with an efficient liquid cooling circulation system, ensuring the robot's cooling efficiency, and ensuring that the robot can work efficiently and normally for a long time in high-temperature environments. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a simplified diagram of a robot series liquid cooling circulation system based on magnetic refrigeration, which is the technical solution of this utility model.

[0029] Figure 2 This is a simplified schematic diagram of a robot series liquid cooling circulation system based on magnetic refrigeration, which is the technical solution of this utility model.

[0030] Key reference numerals in the attached drawings: 10, robot arm joint motor; 20, robot head motor; 30, robot battery; 40, robot leg joint motor; 50, inlet pump; 60, outlet pump;

[0031] 100. Locations of various heat sources on the robot; 200. Liquid cooling circulation system;

[0032] 1. Magnetic refrigeration device; 2. Air-cooled device; 21. Cooling chamber; 22. Semiconductor heat sink; 23. Heat dissipation fins; 24. Fan; 3. Cold storage chamber; 4. Preheating chamber; 5. Precooling chamber; 6. First magnetic temperature-regulating cavity; 7. Second magnetic temperature-regulating cavity; 67. Magnetothermal material; 8. Magnetic field generating mechanism; 81. Permanent magnet; 82. Motor; 83. Mounting base; 84. Rotating shaft;

[0033] 01. Liquid Pump One; 02. Liquid Pump Two; 03. Liquid Pump Three; 04. Liquid Pump Four; 05. Liquid Pump Five; 06. Liquid Pump Six; 07. Liquid Pump Seven; 08. Liquid Pump Eight; 09. Liquid Pump Nine; 010. Liquid Pump Ten. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0036] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0037] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; 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, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0038] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0039] The technical solution of this utility model will be further described below with reference to the embodiments and accompanying drawings.

[0040] Referring to the figure, the present invention provides a robot serial liquid cooling circulation system 200 based on magnetic refrigeration, which includes several liquid cooling channels, a magnetic refrigeration device 1, an air cooling device 2, and a coolant.

[0041] Referring to the figure, each of the liquid-cooled channels is respectively located at a heat source position on the robot to cool the respective heat source position, and at least some of the liquid-cooled channels are connected in series. The coolant is filled into the liquid-cooled channels. The magnetic refrigeration device 1 is connected to and conductively connected to the liquid-cooled channels, and at least cools the coolant. The air-cooling device 2 is connected to and conductively connected to the magnetic refrigeration device 1 to dissipate heat from the magnetic refrigeration device 1.

[0042] Referring to Figures 1 and 2, the magnetic refrigeration device 1 includes a magnetocaloric material 67 and a magnetic field generating mechanism 8. The magnetic field generating mechanism 8 provides a magnetic field to the magnetocaloric material 67, magnetizing it. The coolant passes through the magnetized magnetocaloric material 67, carrying away the heat from the magnetized material 67 to the air-cooling device 2. The demagnetized magnetocaloric material 67 cools the coolant passing through the air-cooling device 2, and the cooled coolant enters each liquid-cooling channel.

[0043] In this utility model, by connecting some of the liquid cooling channels on the robot in series, the liquid cooling network is relatively simple, fewer liquid pumps are used to transport the coolant, the liquid cooling circulation system 200 is easy to control, and the cost is low.

[0044] As an optional implementation, the various heat source locations 100 on the robot are mainly those areas where the robot moves frequently and experiences significant friction during operation. These locations generate considerable heat and require timely cooling to prevent overheating from affecting structural function. The various heat source locations 100 on the robot mainly include the robot arm joint motors 10, the robot head motors 20, the robot battery 30, and the robot leg joint motors 40, etc. They also include robot dexterous hand motors, robot actuators, robot controllers, and robot cameras, etc. The robot arm joint motors 10, robot head motors 20, and robot leg joint motors 40 are the motors that drive the robot's arm, head, and legs. The robot battery 30 provides power for the robot's operation. The robot dexterous hand motors drive the robot's operation and are in a state of continuous discharge during operation, resulting in long working hours and significant heat generation.

[0045] In this solution, the liquid cooling cavities located at various heat source positions on the robot are respectively set in the liquid cooling cavities in the robot arm joint motor 10, robot head motor 20, robot battery 30, robot leg joint motor 40, robot dexterous hand motor, robot driver, robot controller, and robot camera.

[0046] In typical robots, the movements of the robot arm and legs are quite precise, requiring multiple motors to independently control their multi-dimensional motion. To facilitate the design and layout of the liquid cooling circulation system 200, the liquid cooling channels on the robot arm joint motors 10 are typically connected in series, as are the liquid cooling channels on the robot leg joint motors 40. An inlet pump 50 and an outlet pump 60 are then connected to the series-connected liquid cooling channels of the robot leg joint motors 40 to deliver coolant into these channels, thus cooling the individual leg joint motors. Connecting the liquid cooling channels in series simplifies the liquid cooling network and reduces the control requirements of the liquid cooling circulation.

[0047] A liquid inlet pump 50 and a liquid outlet pump 60 are connected to the liquid cooling channels of the series-connected robot arm joint motors 10 to supply coolant to the liquid cooling channels of each robot arm joint motor 10, thereby cooling the robot's individual arm joint motors. Liquid inlet pumps 50 and liquid outlet pumps 60 are also installed on the liquid cooling cavities of the robot's dexterous hand motor, robot driver, robot controller, robot camera, robot head motor 20, robot battery 30, etc., to supply coolant to the liquid cooling cavities of the robot head motor 20 and robot battery 30, respectively, thereby cooling the robot head motor 20 and robot battery 30. The installation of liquid inlet pumps 50 and liquid outlet pumps 60 enables active delivery of coolant, ensuring timely and active discharge of coolant from the liquid cooling cavities and improving liquid cooling efficiency.

[0048] Of course, to ensure control over the robot's cooling efficiency, referring to the figure, the inlet pump 50 installed on the liquid cooling channel of the robot arm joint motor 10, the inlet pump 50 installed on the liquid cooling channel of the robot leg joint motor 40, the inlet pump 50 installed on the liquid cooling channel of the robot head motor 20, and the inlet pump 50 installed on the liquid cooling cavity of the robot battery 30 are connected in parallel. The parallel inlet pump 50 and outlet pump 60 cool the robot head and robot battery 30 respectively, realizing individual control of the cooling of the robot head and robot battery 30, and improving the cooling control accuracy. In this embodiment, because the liquid cooling cavities are connected in parallel, each liquid cooling cavity is connected to an inlet pump 50 and an outlet pump 60. The inlet pumps 50 are connected in parallel, and each inlet pump 50 can be individually controlled to open and close, and its flow rate can also be individually controlled. Similarly, the outlet pumps 60 are connected in parallel, and each outlet pump 60 can be individually controlled to open and close, and its flow rate can also be individually controlled, realizing on-demand and precise cooling of each heat source location on the robot.

[0049] In this technical solution, by combining series-connected and parallel liquid cooling channels, the goal of achieving efficient liquid cooling effect in a simple liquid cooling network is achieved.

[0050] Referring to Figures 1 and 2, the magnetic refrigeration device 1 includes a magnetocaloric material 67 and a magnetic field generating mechanism 8. The magnetic field generating mechanism 8 provides a magnetic field to the magnetocaloric material 67, magnetizing it. The coolant passes through the magnetized magnetocaloric material 67, carrying away the heat from the magnetized material 67 to the air-cooling device 2. The demagnetized magnetocaloric material 67 cools the coolant passing through the air-cooling device 2, and the cooled coolant enters each liquid-cooling channel.

[0051] In this technical solution, a lower temperature coolant is obtained by combining the magnetic cooling device 1 and the air cooling device 2, providing the robot with an efficient liquid cooling circulation system 200, ensuring the robot's cooling efficiency, and ensuring that the robot can work efficiently and normally for a long time in high-temperature environments.

[0052] Based on the principle of magnetic refrigeration: When the magnetocaloric material 67 is magnetized, its magnetic entropy decreases, and the magnetocaloric material 67 releases heat to the outside. When the magnetocaloric material 67 is demagnetized, its magnetic entropy increases, and the magnetocaloric material 67 absorbs heat from the external environment.

[0053] In this design, the coolant used to cool the robot passes through a liquid cooling chamber, then through a magnetocaloric material 67 magnetized by a magnetic field generating mechanism 8. During this process, the magnetized magnetocaloric material 67 releases heat into the coolant, causing the coolant to heat up further. The coolant then enters an air-cooling device 2, which cools the coolant and releases heat to the magnetized magnetocaloric material 67, preparing it for demagnetization and cooling. The coolant from the air-cooling device 2 then enters the demagnetized magnetocaloric material 67, where it absorbs heat from the coolant, further cooling it and activating the low-temperature coolant. The cooled coolant, after passing through the demagnetized magnetocaloric material 67, can then re-enter the liquid cooling chamber to cool the robot.

[0054] In this technical solution, the combination of magnetic cooling device 1 and air cooling device 2 achieves a lower temperature of the coolant, improving the cooling effect on the robot. Furthermore, the air cooling device 2 and the circulating coolant effectively remove and dissipate heat from the magnetothermal material 67, reducing the volume of the magnetic cooling device 1, lowering its cost, and reducing the overall manufacturing cost of the liquid cooling circulation system 200.

[0055] See Figure 2 As an optional implementation, the magnetic cooling device 1 includes a first magnetic temperature regulating cavity 6 and a second magnetic temperature regulating cavity 7. Both the first and second magnetic temperature regulating cavities are provided with magnetothermal material 67. The magnetic field generating mechanism 8 sequentially and intermittently magnetizes the magnetothermal material 67 in the first and second magnetic temperature regulating cavities. The magnetothermal material 67 in the first and second magnetic temperature regulating cavities is sequentially magnetized and demagnetized, allowing the first and second magnetic temperature regulating cavities to operate simultaneously. This allows the coolant to circulate. While some of the coolant carries away heat from the magnetothermal material 67, some of the coolant is cooled by the demagnetized magnetothermal material 67, improving the coolant circulation efficiency. This ensures a continuous supply of coolant, resulting in a lower coolant temperature and ensuring the robot's cooling efficiency and temperature.

[0056] Of course, the magnetic temperature regulating cavity in the magnetic refrigeration device can be set in more than two as needed. Its working principle and process are the same as or similar to the two magnetic temperature regulating cavities of the magnetic refrigeration device 1 mentioned above, including the first magnetic temperature regulating cavity 6 and the second magnetic temperature regulating cavity 7.

[0057] As an optional implementation, the magnetic field generating mechanism 8 includes a permanent magnet 81 and a transposition component, the transposition component being connected to the permanent magnet 81 and driving the permanent magnet 81 to move closer to or away from the magnetothermal material 67.

[0058] When the permanent magnet 81 approaches the magnetothermal material 67, it provides a magnetic field to the magnetothermal material 67, which magnetizes the magnetothermal material 67. When the permanent magnet 81 moves away from the magnetothermal material 67, the magnetothermal material 67 loses the effect of the magnetic field and is demagnetized by the magnetothermal material 67.

[0059] In this scheme, the transposition component is connected to the permanent magnet 81 and drives the permanent magnet 81 to move closer to or away from the magnetocaloric material 67, so that the magnetocaloric material 67 in the first magnetic temperature-regulating cavity 6 and the magnetocaloric material 67 in the second magnetic temperature-regulating cavity 7 can be intermittently magnetized and demagnetized, thereby intermittently achieving heat dissipation and reducing the temperature of the coolant. That is, if the transposition component drives the permanent magnet 81 to move closer to the first magnetic temperature-regulating cavity 6, the magnetocaloric material 67 in the first magnetic temperature-regulating cavity 6 is magnetized, and the magnetocaloric material 67 in the second magnetic temperature-regulating cavity 7 is in a demagnetized state. At this time, the coolant passes through the first magnetic temperature-regulating cavity 6, carrying away the heat from the magnetocaloric material 67 in the first magnetic temperature-regulating cavity 6. At the same time, some of the coolant enters the second magnetic temperature-regulating cavity 7 according to the circulation, where the heat is absorbed by the magnetocaloric material 67 in the second magnetic temperature-regulating cavity 7. The coolant in the second magnetic temperature-regulating cavity 7 is cooled down to obtain the required low-temperature coolant. Conversely, the displacement component drives the permanent magnet 81 to approach the second magnetic temperature-regulating cavity 7, and the magnetocaloric material 67 in the second magnetic temperature-regulating cavity 7 is magnetized, while the magnetocaloric material 67 in the first magnetic temperature-regulating cavity 6 is in a demagnetized state. At this time, the cold liquid passes through the second magnetic temperature-regulating cavity 7, carrying away the heat from the magnetocaloric material 67 in the second magnetic temperature-regulating cavity 7. At the same time, some of the cold liquid enters the first magnetic temperature-regulating cavity 6 according to the circulation, and the heat is absorbed by the magnetocaloric material 67 in the first magnetic temperature-regulating cavity 6. The cold liquid in the first magnetic temperature-regulating cavity 6 is cooled down to obtain the required low-temperature cold liquid.

[0060] In this technical solution, the transposition component is connected to the permanent magnet 81 and drives the permanent magnet 81 to move closer to or further away from the first magnetic temperature regulating cavity 6 or the second magnetic temperature regulating cavity 7, so as to realize the synchronous operation of the first magnetic temperature regulating cavity 6 and the second magnetic temperature regulating cavity 7, so as to realize the heat dissipation and cooling of the magnetic refrigeration device 1 at the same time, improve the working efficiency of the magnetic refrigeration device 1, and reduce the volume of the magnetic refrigeration device 1.

[0061] As an optional implementation, the permanent magnet 81 is provided with a component, and the transposition component drives the permanent magnet to move closer to or away from the magnetocaloric material, magnetizing the magnetocaloric material or demagnetizing the magnetocaloric material. See also... Figure 2 The transposition component drives the permanent magnet 81 to move between the first magnetic temperature-regulating cavity 6 and the second magnetic temperature-regulating cavity 7, sequentially and intermittently magnetizing the magnetocaloric material 67 in the first magnetic temperature-regulating cavity 6 and the second magnetic temperature-regulating cavity 7. A single permanent magnet 81 is provided, used in conjunction with the transposition component, to magnetize the magnetocaloric material 67 in the first and second magnetic temperature-regulating cavities 6 and 7, saving costs while avoiding magnetic field interference caused by excessive magnets. This ensures thorough demagnetization of the magnetocaloric material 67 during demagnetization, resulting in better cooling performance.

[0062] Of course, in some embodiments, there can be several permanent magnets, and the number of permanent magnets can be adapted to the number of magnetic temperature-regulating cavities, each providing a magnetic field for the magnetocaloric material in its respective cavity. In this embodiment, however, the permanent magnets are still driven by a transposition component, which drives the permanent magnets away from the magnetocaloric material to demagnetize it.

[0063] As an optional implementation, the transposition assembly includes a motor 82, a rotating shaft 84, and a mounting base 83. The motor 82 is fixedly connected to the rotating shaft 84, and the rotating shaft 84 is fixedly connected to the mounting base 83. The permanent magnet 81 is mounted on the mounting base 83. When the motor 82 operates, it drives the rotating shaft 84 to rotate, which in turn drives the permanent magnet 81 mounted on the mounting base 83 to move between the first magnetic temperature regulating cavity 6 and the second magnetic temperature regulating cavity 7, thereby magnetizing the magnetocaloric material 67 in the first magnetic temperature regulating cavity 6 and the magnetocaloric material 67 in the second magnetic temperature regulating cavity 7, respectively. The transposition assembly has a simple structure, is convenient and quick to control, and can accurately control the position of the permanent magnet 81.

[0064] As an optional implementation, the parallel liquid cooling circulation system 200 for a robot based on magnetic refrigeration further includes a cold storage chamber 3. The cold storage chamber 3 is disposed between the magnetic refrigeration device 1 and the liquid cooling channel. The refrigerant enters the cold storage chamber 3 after passing through a demagnetized magnetocaloric material 67, and then enters the liquid cooling channel. The cold storage chamber 3 is mainly used to store the refrigerant. The refrigerant in the cold storage chamber 3 directly enters each heat source location 100 on the robot, thereby cooling down the heat source locations 100 on the robot.

[0065] Referring to the figure, the cryogenic liquid in the cold storage chamber 3 is transported to various heat source locations 100 on the robot via liquid pump 101, such as the liquid cooling channels in the robot arm joint motor 10, and / or the liquid cooling channels in the robot head motor 20, and / or the liquid cooling channels in the robot battery 30, and / or the liquid cooling channels in the robot leg joint motor 40. The first magnetic temperature-regulating cavity 6 and the second magnetic temperature-regulating cavity 7 are connected and conductive to the cold storage chamber 3 via liquid pump 1010 and liquid pump 606, respectively. Specifically, the outlet of liquid pump 101 is connected and conductive to the inlet of the liquid inlet pump 50 at each heat source location 100 on the robot, thereby transporting the cryogenic liquid to the liquid cooling channels at each heat source location 100 on the robot. Liquid pump 1010 and liquid pump 606 transport the cryogenic liquid, which has been demagnetized by the magnetothermal material 67 in the first and second magnetic temperature-regulating cavities, to the cold storage chamber 3.

[0066] A cold storage chamber 3 is provided to store chilled liquid. This serves two purposes: firstly, to temporarily store the chilled liquid and secondly, to ensure a uniform chilled liquid temperature. The cold storage chamber 3 allows the parallel liquid cooling circulation system 200 for the robot, based on magnetic refrigeration, to adjust the amount and flow rate of chilled liquid required at each heat source location 100 on the robot according to cooling needs, ensuring on-demand cooling and precise temperature control at each heat source location 100. Furthermore, the cold storage chamber 3 increases the amount of chilled liquid, ensuring that each heat source location 100 on the robot receives the maximum amount of chilled liquid, thus improving cooling efficiency.

[0067] As an optional implementation, the parallel liquid cooling circulation system 200 for robots based on magnetic refrigeration further includes a preheating chamber 4. The preheating chamber 4 is disposed between the magnetic refrigeration device 1 and the liquid cooling channel. The cold liquid passing through the liquid cooling channel enters the preheating chamber 4, and the cold liquid passing through the preheating chamber 4 passes through the magnetized magnetothermal material 67. Referring to the figure, the preheating chamber 4 is connected to the first magnetic temperature-regulating cavity 6 and the second magnetic temperature-regulating cavity 7 via liquid pump 3 03 and liquid pump 7 07, respectively, to transport the cold liquid in the preheating chamber 4 to the magnetized magnetothermal material 67 in the first and second magnetic temperature-regulating cavities, thereby dissipating heat from the magnetized magnetothermal material 67.

[0068] A preheating chamber 4 is set up to receive the cold liquid passing through the liquid cooling channel and realize the temporary storage of the cold liquid. On the one hand, it receives and temporarily stores the cold liquid to realize the regulation of the cold liquid temperature, and on the other hand, it is easy to increase the amount of cold liquid to ensure that all heat source positions on the robot are fully cooled.

[0069] As an optional implementation, the parallel liquid cooling circulation system 200 for robots based on magnetic refrigeration further includes a pre-cooling chamber 5, which is disposed between the magnetic refrigeration device 1 and the air-cooling device 2. The cold liquid passing through the air-cooling device 2 enters the pre-cooling chamber 5, and the cold liquid passing through the pre-cooling chamber 5 passes through the demagnetized magnetothermal material 67.

[0070] Referring to the figure, the precooling chamber 5 is connected to the first magnetic temperature regulating cavity 6 and the second magnetic temperature regulating cavity 7 through liquid pump 909 and liquid pump 505 respectively, so as to transport the cold liquid in the precooling chamber 5 to the demagnetized magnetothermal material 67 in the first magnetic temperature regulating cavity 6 and the second magnetic temperature regulating cavity 7 respectively, so as to further cool down the cold liquid and obtain the required low temperature cold liquid.

[0071] The pre-cooling chamber 5 is set up to receive and temporarily store the cold liquid discharged from the air-cooling device 2, and to regulate and balance the temperature of the cold liquid discharged from the air-cooling device 2. On the other hand, it allows the cold liquid to slowly enter the demagnetized magnetocaloric material 67, ensuring that the demagnetized magnetocaloric material 67 fully absorbs the heat in the cold liquid and obtains a cold liquid with a lower temperature.

[0072] As an optional implementation, the air-cooling device 2 includes a cooling chamber 21 and a fan 24 for cooling the cooling chamber 21. The cooling chamber 21 is connected and in communication with the first magnetic adjustment chamber, the second magnetic adjustment chamber and the pre-cooling chamber 5. The cold liquid enters the cooling chamber 21 after passing through the magnetized magnetothermal material 67, and the cold liquid passing through the cooling chamber 21 passes through the demagnetized magnetothermal material 67.

[0073] Referring to the figure, the cooling chamber 21 is connected to the first magnetic adjustment chamber and the second magnetic adjustment chamber through liquid pump 404 and liquid pump 808 respectively. The cold liquid of the magnetothermal material 67 magnetized in the first magnetic adjustment chamber and the second magnetic adjustment chamber enters the cooling chamber 21 through liquid pump 404 and liquid pump 808 respectively.

[0074] Fan 24 operates to cool the cooling chamber 21, removing heat from its surface and allowing heat exchange between the cooling chamber 21 and the coolant inside. This cools the coolant within the cooling chamber 21 and dissipates the heat from the magnetized magnetothermal material 67 within it, thus dissipating heat from the magnetic refrigeration device 1. In this technical solution, an air-cooling device 2 is provided to assist the magnetic refrigeration device 1 in cooling down, improving the efficiency of the magnetic refrigeration device 1 in reducing the coolant temperature.

[0075] As an optional implementation, the air-cooling device 2 further includes a semiconductor heat sink 22 and heat dissipation fins 23. The semiconductor heat sink 22 is attached to the cooling chamber 21, and the heat dissipation fins 23 are disposed on the semiconductor heat sink 22. The fan 24 is disposed outside the heat dissipation fins 23. The semiconductor heat sink 22 is typically made of a high thermal conductivity material (such as copper, aluminum, etc.). These materials have excellent thermal conductivity and can quickly conduct the heat generated on the cooling chamber 21 to the heat dissipation fins 23, thereby effectively reducing the temperature of the cooling chamber 21 and consequently reducing the temperature of the coolant inside the cooling chamber 21, achieving efficient heat dissipation from the magnetized magnetothermal material 67.

[0076] As an optional implementation, the heat source locations on the robot include at least several arm joint heat source locations, several leg joint heat source locations, a power supply battery heat source location, and a head heat source location. Each of the arm joint heat source locations is provided with a liquid cooling channel, and the liquid cooling channels located at each arm joint heat source location are connected in series.

[0077] Each of the leg joint heat source locations is provided with a liquid cooling channel, and these liquid cooling channels are connected in series. The power supply battery heat source location and the head heat source location are also each provided with a liquid cooling channel.

[0078] To facilitate the design and layout of the liquid cooling circulation system 200, the liquid cooling channels on the robot arm joint motors 10 are typically connected in series, and the liquid cooling channels on the robot leg joint motors 40 are also connected in series. An inlet pump 50 and an outlet pump 60 are then connected to the series-connected liquid cooling channels of the robot leg joint motors 40 to supply coolant into these channels, thereby cooling the robot's leg joint motors. Connecting the liquid cooling channels in series simplifies the liquid cooling network and reduces the control requirements for the liquid cooling circulation.

[0079] A liquid inlet pump 50 and a liquid outlet pump 60 are connected to the liquid cooling channels of the series-connected robot arm joint motors 10 to supply coolant into the liquid cooling channels of each robot arm joint motor 10, thereby cooling the individual robot arm joint motors. Similarly, a liquid inlet pump 50 and a liquid outlet pump 60 are installed on the liquid cooling cavities of the robot head motor 20 and the robot battery 30, respectively, to supply coolant into these cavities, thus cooling the robot head motor 20 and the robot battery 30. The installation of the liquid inlet pump 50 and the liquid outlet pump 60 enables active delivery of coolant, ensuring timely and active discharge of coolant from the liquid cooling cavities and improving liquid cooling efficiency.

[0080] Of course, to ensure control over the robot's cooling efficiency, referring to the figure, the inlet pump 50 installed on the liquid cooling channel of the robot arm joint motor 10, the inlet pump 50 installed on the liquid cooling channel of the robot leg joint motor 40, the inlet pump 50 installed on the liquid cooling channel of the robot head motor 20, and the inlet pump 50 installed on the liquid cooling cavity of the robot battery 30 are connected in parallel. The parallel inlet pump 50 and outlet pump 60 cool the robot head and robot battery 30 respectively, realizing individual control of the cooling of the robot head and robot battery 30, and improving the cooling control accuracy. In this embodiment, because the liquid cooling cavities are connected in parallel, each liquid cooling cavity is connected to an inlet pump 50 and an outlet pump 60. The inlet pumps 50 are connected in parallel, and each inlet pump 50 can be individually controlled to open and close, and its flow rate can also be individually controlled. Similarly, the outlet pumps 60 are connected in parallel, and each outlet pump 60 can be individually controlled to open and close, and its flow rate can also be individually controlled, realizing on-demand and precise cooling of each heat source location on the robot.

[0081] In this technical solution, by combining series-connected and parallel liquid cooling channels, the goal of achieving efficient liquid cooling effect in a simple liquid cooling network is achieved.

[0082] See Figure 2 The working process of a robot series liquid cooling circulation system based on magnetic refrigeration, as described in this utility model, is as follows.

[0083] Liquid pump 101 delivers the coolant from the cold storage chamber 3 to the liquid cooling channels of each heat source position 100 on the robot, cooling the heat source positions 100. The coolant in the liquid cooling channels of each heat source position 100 on the robot then enters the preheating chamber 4 under the action of liquid pump 202. Then, the coolant in the preheating chamber 4 enters the first magnetic temperature-regulating chamber 6 under the action of liquid pump 303. At this time, the permanent magnet 81 approaches the first magnetic temperature-regulating chamber 6, magnetizing the magnetothermal material 67 inside the first magnetic temperature-regulating chamber 6 and releasing heat into it. The coolant that absorbs the heat from the magnetized magnetothermal material 67 in the first magnetic temperature-regulating chamber 6 is then transported by liquid pump 404 into the cooling chamber 21 of the air-cooling device 2, where it is air-cooled to obtain a lower temperature coolant. The coolant after passing through the cooling chamber 21 enters the pre-cooling chamber 5 for temporary storage. The cold liquid in the precooling chamber 5 enters the second magnetic temperature regulating chamber 7 through the liquid pump 505. At this time, the permanent magnet 81 demagnetizes the second magnetic temperature regulating chamber 7, and the magnetothermal material 67 in the second magnetic temperature regulating chamber 7 demagnetizes and absorbs the heat in the cold liquid entering the second magnetic temperature regulating chamber 7 to obtain the second cold liquid. Then the cold liquid enters the cold storage chamber 3 through the liquid pump 606. The cold liquid in the cold storage chamber 3 is transported again by liquid pump 101 to the liquid cooling channels of each heat source position 100 on the robot. Then, the cold liquid in the liquid cooling channel enters the preheating chamber 4 through liquid pump 202. Then, the switching component drives the permanent magnet 81 to switch positions. The permanent magnet 81 moves to be close to the second magnetic temperature control chamber 7. At this time, the magnetothermal material 67 in the second magnetic temperature control chamber 7 is magnetized, while the magnetothermal material 67 in the first magnetic temperature control chamber 6 is demagnetized. At this time, the cold liquid in the preheating chamber 4 enters the second magnetic temperature control chamber 7 through liquid pump 707. Then, it passes through liquid pump 808, cooling chamber 21, precooling chamber 5, liquid pump 909, first magnetic temperature control chamber 6, and liquid pump 100 in sequence, and enters the cold storage chamber 3 again to complete one refrigeration cycle.

[0084] In this scheme, the magnetization and demagnetization of the magnetothermal material 67 are carried out simultaneously in the magnetic refrigeration device 1, and the heat dissipation and cooling of the magnetic refrigeration device 1 are carried out simultaneously, resulting in good magnetic refrigeration effect and high working efficiency of the magnetic refrigeration device 1.

[0085] The present invention has been described above with reference to the embodiments and accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the present invention's inventive concept and technical solution, or the direct application of the present invention's inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A robot series liquid cooling circulation system based on magnetic refrigeration, characterized in that, include: A plurality of liquid cooling channels are provided, each of which is disposed at a heat source location on the robot for cooling the heat source location, and at least some of the liquid cooling channels are connected in series. Cooling liquid, which is filled into the liquid cooling cavity; A magnetic refrigeration device is connected to and conducts through the liquid cooling cavity, and at least cools the liquid. An air-cooling device is connected and conductive to the magnetic refrigeration device to dissipate heat from the magnetic refrigeration device. The magnetic refrigeration device includes a magnetocaloric material and a magnetic field generating mechanism. The magnetic field generating mechanism provides a magnetic field to the magnetocaloric material, which is then magnetized. The coolant passes through the magnetized magnetocaloric material, carrying away the heat from the magnetized material to the air-cooling device. The demagnetized magnetocaloric material cools the coolant that has passed through the air-cooling device, and the coolant that has been cooled by the demagnetized magnetocaloric material enters each liquid cooling channel.

2. The robot series liquid cooling circulation system based on magnetic refrigeration according to claim 1, characterized in that, The magnetic field generating mechanism includes a permanent magnet and a transposition component. The transposition component is connected to the permanent magnet and drives the permanent magnet to move closer to or away from the magnetocaloric material.

3. The robot series liquid cooling circulation system based on magnetic refrigeration according to claim 2, characterized in that, The permanent magnet is provided with one piece, and the transposition component drives the permanent magnet to move closer to or away from the magnetocaloric material, magnetizing the magnetocaloric material or causing the magnetocaloric material to demagnetize.

4. The robot series liquid cooling circulation system based on magnetic refrigeration according to claim 3, characterized in that, The transposition assembly includes a motor, a rotating shaft, and a mounting base. The motor is fixedly connected to the rotating shaft, the rotating shaft is fixedly connected to the mounting base, and the permanent magnet is mounted on the mounting base.

5. The robot series liquid cooling circulation system based on magnetic refrigeration according to claim 1, characterized in that, It also includes a cold storage chamber, which is located between the magnetic refrigeration device and the liquid cooling channel. The cold liquid enters the cold storage chamber after passing through the demagnetized magnetocaloric material, and the cold liquid enters the liquid cooling channel after passing through the cold storage chamber.

6. The magnetic refrigeration-based robot serial liquid cooling circulation system according to claim 1 or 5, characterized in that, It also includes a preheating chamber, which is located between the magnetic refrigeration device and the liquid cooling channel. The cold liquid passing through the liquid cooling channel enters the preheating chamber and passes through the magnetized magnetothermal material.

7. The magnetic refrigeration-based robot serial liquid cooling circulation system according to claim 1 or 5, characterized in that, It also includes a precooling chamber, which is located between the magnetic refrigeration device and the air-cooling device. The cold liquid passing through the air-cooling device enters the precooling chamber, and the cold liquid passing through the precooling chamber passes through the demagnetized magnetocaloric material.

8. The robot series liquid cooling circulation system based on magnetic refrigeration according to claim 1, characterized in that, The air-cooling device includes a cooling chamber and a fan for cooling the cooling chamber. The cooling chamber is connected to a magnetic refrigeration device and receives cold liquid that has absorbed heat from a magnetized magnetocaloric material. The cold liquid passing through the cooling chamber passes through a demagnetized magnetocaloric material.

9. The robot series liquid cooling circulation system based on magnetic refrigeration according to claim 8, characterized in that, The air-cooling device also includes a semiconductor heat sink and heat dissipation fins. The semiconductor heat sink is attached to the cooling chamber, the heat dissipation fins are disposed on the semiconductor heat sink, and the fan is disposed outside the heat dissipation fins.

10. The robot series liquid cooling circulation system based on magnetic refrigeration according to claim 1, characterized in that, The heat source locations on the robot include at least several arm joint heat source locations, several leg joint heat source locations, power battery heat source locations, and head heat source locations. Each of the arm joint heat source locations is provided with a liquid cooling channel, and the liquid cooling channels provided at each arm joint heat source location are connected in series. Each of the leg joint heat source locations is provided with a liquid cooling channel, and the liquid cooling channels provided at each leg joint heat source location are connected in series. Liquid cooling channels are provided at both the heat source location of the power supply battery and the heat source location of the head.

Images