A quadruped robot cooling system and a quadruped robot

Abstract

The application relates to a quadruped robot cooling system and a quadruped robot, the cooling system comprising: a leg motor cooling structure, at least two groups of which are arranged in parallel; a heat dissipation assembly comprising a water pump, a cooling channel and a fan, the cooling channel being in communication with the leg motor cooling structure, cooling medium being arranged in the cooling channel and the leg motor cooling structure, the water pump driving the circulation of the cooling medium, and the fan cooling the cooling medium circulating in the cooling channel; wherein the quadruped robot cooling system further comprises: a heat spreading plate arranged between the at least two groups of leg motor cooling structures and the cooling channel and provided with a mixing chamber, the mixing chamber being in communication with the leg motor cooling structures and the cooling channel. The application can effectively improve the problem that the cooling system is insufficient in cooling the joint module motor with serious heating.

Description

Technical Field

[0001] This application relates to the field of cooling system technology, and in particular to a quadruped robot cooling system and a quadruped robot. Background Technology

[0002] A quadruped robot, also known as a "mechanical dog," typically consists of a torso and four legs connected to it. Each leg is driven by a set of articulated motors mounted on the torso. The quadruped robot's cooling system dissipates heat from these motors to ensure their proper operation. Existing cooling systems usually include cooling water channels and fans. The cooling water channels can be connected to the individual motor cooling structures, which can be connected in parallel. The fans cool the cooling water channels. However, the individual motors in a quadruped robot often generate different amounts of heat depending on their operating conditions. For motors that overheat significantly, existing cooling systems are insufficient. Utility Model Content

[0003] Based on this, this application provides a quadruped robot cooling system and a quadruped robot to improve the problem that the existing quadruped robot cooling system is insufficient in cooling the joint module motors that generate a lot of heat.

[0004] In a first aspect, this application provides a quadruped robot cooling system, the quadruped robot cooling system comprising: The leg motor cooling structure is configured in at least two sets, and the at least two sets of the leg motor cooling structure are connected in parallel; The heat dissipation component includes a water pump, a cooling channel, and a fan. The cooling channel is connected to the leg motor cooling structure. Cooling medium is provided in both the cooling channel and the leg motor cooling structure. The water pump drives the cooling medium to circulate. The fan cools the cooling medium circulating in the cooling channel. The quadruped robot cooling system also includes: A heat spreader is disposed between at least two sets of the leg motor cooling structures and the cooling channels and is provided with a mixing chamber, wherein the mixing chamber is connected to both the leg motor cooling structures and the cooling channels.

[0005] In one embodiment, the heat spreader is further provided with heat dissipation fins.

[0006] In one embodiment, the fan and the heat dissipation fins are respectively disposed on both sides of the heat spreader.

[0007] In one embodiment, the leg motor cooling structure includes at least two joint motor cooling structures, and the at least two joint motor cooling structures are arranged in series.

[0008] In one embodiment, the leg motor cooling structure includes a shoulder joint motor cooling structure, a hip joint motor cooling structure, and a knee joint motor cooling structure, which are connected in series.

[0009] In one embodiment, the joint motor cooling structure is a water jacket.

[0010] In one embodiment, the joint motor cooling structures are connected by a series pipe.

[0011] In one embodiment, the cooling channel is connected to the leg motor cooling structure via a water inlet pipe.

[0012] In one embodiment, the leg motor cooling structure is connected to the heat spreader via a return water pipe.

[0013] Secondly, this application provides a quadruped robot, which includes any of the quadruped robot cooling systems provided in this application.

[0014] This application, by setting a heat spreader between at least two sets of leg motor cooling junctions and cooling channels, and creating a mixing chamber that is connected to both the leg motor cooling structure and the cooling channels, can mix cooling media of different temperatures for different leg structures when the heating states of the various joint module motors of different leg structures are different. This results in a relatively uniform temperature of the cooling media, which then cools the various joint module motors of different leg structures. At this time, the joint module motors with severe overheating can be cooled better. Thus, this application can effectively improve the problem of insufficient cooling of joint module motors with severe overheating in the cooling system. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a quadruped robot provided in one embodiment of this application; Figure 2 A top view of a quadruped robot cooling system provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a quadruped robot cooling system provided in an embodiment of this application.

[0016] Reference numerals: 100, Leg motor cooling structure; 110, Joint motor cooling structure; 110a, Shoulder joint motor cooling structure; 110b, Hip joint motor cooling structure; 110c, Knee joint motor cooling structure; 200, Heat dissipation assembly; 210, Water pump; 220, Cooling channel; 230, Fan; 240, Frame structure; 300, Heat spreader; 310, Heat dissipation fins; 400, Series pipe; 500, Water inlet pipe; 600, Water return pipe; 700, Leg structure; 710, Shoulder joint module motor; 720, Hip joint module motor; 730, Knee joint module motor; 800, Torso structure. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of this utility model.

[0019] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this utility model can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0020] The orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "middle," "longitudinal," "transverse," "horizontal," "inner," "outer," "radial," and "circumferential" used in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are only for the purpose of simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] As described in the background section, the cooling system of a quadruped robot can include cooling water channels and fans, wherein the cooling water channels can be connected to the motor cooling structures of each joint module motor. The motor cooling structures of each joint module motor can be connected in parallel, that is, the cooling medium can flow to the motor cooling structures of each joint module motor through multiple channels; and the fans can cool the cooling water channels.

[0022] However, when a quadruped robot executes commands, the movements of its various leg structures often differ; correspondingly, the motors of each joint module that drive the movements of different leg structures often have different operating states. Under different operating states, the motors generate different amounts of heat. When the cooling structures of the various joint module motors are connected in parallel, the cooling medium temperature of the joint module motors that generate the most heat is relatively high. If this high-temperature cooling medium is used continuously, the cooling effect is often insufficient.

[0023] Based on this, embodiments of this application provide a cooling system for a quadruped robot, such as... Figures 1 to 3 As shown, the quadruped robot cooling system includes: The leg motor cooling structure 100 is configured in at least two sets, and the at least two sets of the leg motor cooling structure 100 are arranged in parallel. The heat dissipation component 200 includes a water pump 210, a cooling channel 220 and a fan 230. The cooling channel 220 is connected to the leg motor cooling structure 100. Cooling medium is provided in both the cooling channel 220 and the leg motor cooling structure 100. The water pump 210 drives the cooling medium to circulate, and the fan 230 cools the cooling medium circulating in the cooling channel 220. The quadruped robot's cooling system also includes: A heat spreader 300 is disposed between at least two sets of leg motor cooling structures 100 and cooling channels 220 and is provided with a mixing chamber. The mixing chamber is connected to both the leg motor cooling structures 100 and the cooling channels 220.

[0024] like Figure 1 As shown in this embodiment, the quadruped robot cooling system may include leg motor cooling structures 100 and heat dissipation components 200. At least two sets of leg motor cooling structures 100 are provided, each set corresponding to one leg structure 700 of the quadruped robot. This embodiment uses four sets of leg motor cooling structures 100 as an example, where the four sets of leg motor cooling structures 100 correspond one-to-one with the four leg structures 700 of the quadruped robot.

[0025] Of course, in some embodiments, the quadruped robot may also be equipped with two cooling systems, and each cooling system may include two leg motor cooling structures 100. For example, the two front leg motor cooling structures 100 of the four robots are set in one cooling system, while the two hind leg motor cooling structures 100 are set in another cooling system.

[0026] like Figure 1As shown, in this embodiment, the four sets of leg motor cooling structures 100 are arranged in parallel, that is, the cooling medium enters the four sets of leg motor cooling structures 100 in a split manner to cool the joint module motors of the four leg structures 700 respectively.

[0027] like Figure 1 and Figure 2 As shown, the heat dissipation component 200 can be installed on the torso structure 800 of the four robot groups, and it can include a frame structure 240, a water pump 210, a cooling channel 220, and a fan 230. The frame structure 240 can be rectangular, and the cooling channel 220 can be located within the frame structure 240, communicating with the cooling structures 100 of the four leg motors. Cooling medium, such as coolant or water, can be provided in both the cooling channel 220 and the four leg motor cooling structures 100. The water pump 210 can be located on one side of the frame structure 240, and it drives the cooling medium to circulate within the cooling channel 220 and the four leg motor cooling structures 100. The fan 230 is installed on the frame structure 240, and multiple fans 230 can be installed on the frame structure 240; in this embodiment, four fans 230 are arranged in a 2*2 rectangular array. The fan 230 can cool the cooling medium flowing in the cooling channel 220, so that the cooling medium has a relatively good cooling effect.

[0028] like Figure 1 and Figure 2 As shown, in this embodiment, the quadruped robot cooling system may further include a heat spreader 300, which may be a rectangular plate and hollow to form a mixing chamber. The heat spreader 300 may be disposed between the four leg motor cooling structures 100 and the cooling channel 220, and the mixing chamber may be connected to both the four leg motor cooling structures 100 and the cooling channel 220.

[0029] During cooling, water pump 210 operates to circulate the cooling medium. The cooling medium enters the four leg motor cooling structures 100 from the cooling channel 220, cooling each of the joint module motors in the four leg structures 700. After cooling, the cooling medium flows from the four leg motor cooling structures 100 to the mixing chamber, where it mixes. After mixing, the cooling medium returns to the cooling channel 220, where fan 230 cools it. The cooled medium then returns to the four leg motor cooling structures 100.

[0030] When the motors driving the different joint modules 700 to move have different operating states and thus different heat generation conditions, the cooling mediums cooling the different joint module motors also have different temperatures. By mixing these different temperatures in the mixing chamber, a relatively uniform cooling medium can be obtained. This cooling medium, after being further cooled by the fan 230, is then used to cool the individual joint module motors driving the different leg structures 700. This results in better cooling for the joint module motors that experience severe heat generation.

[0031] It is understood that by setting a heat spreader 300 between at least two sets of leg motor cooling junctions and cooling channels 220, and the heat spreader 300 being a mixing chamber that is connected to both the leg motor cooling structure 100 and the cooling channel 220, the cooling medium of different temperatures of different leg structures 700 can be mixed when the heating states of the joint module motors of different leg structures 700 are different. This makes the temperature of the cooling medium relatively uniform and cools the joint module motors of different leg structures 700 again. At this time, the joint module motors with severe heating can be cooled better. Thus, the present application can effectively improve the problem of insufficient cooling of joint module motors with severe heating in the cooling system.

[0032] Specifically, heat dissipation fins 310 are also provided on the heat spreader 300.

[0033] like Figure 1 and Figure 2 As shown in this embodiment, by way of example, the heat dissipation fins 310 can also be provided on the heat spreader 300, and the heat dissipation fins 310 can be disposed on one side of the heat spreader 300. The heat dissipation fins 310 can be arranged along the width direction of the heat spreader 300, and a plurality of heat dissipation fins 310 can be evenly spaced along the length direction of the heat spreader 300. When the cooling medium flows from the leg motor cooling structure 100 to the mixing chamber, the heat dissipation fins 310 can enhance the heat exchange capacity between the cooling medium and the environment, so as to cool the cooling medium.

[0034] It is understood that by providing heat dissipation fins 310 on the heat spreader 300 in this embodiment, the cooling medium can be cooled to a certain extent when it flows into the mixing chamber, thereby improving the cooling effect of the cooling system.

[0035] More specifically, the fan 230 and the heat sink fins 310 are respectively located on both sides of the heat spreader 300.

[0036] like Figure 1 and Figure 2As shown in this embodiment, the heat spreader 300 can be vertically arranged and positioned at the waist of the four robot torso structures 800, i.e., on the left or right side of the torso structure 800; while the heat dissipation fins 310 can be positioned on the side of the heat spreader 300 away from the torso structure 800. The fan 230 can be positioned on the back of the torso structure 800, i.e., on the top side of the torso structure 800. Based on this arrangement, the fan 230 and the heat dissipation fins 310 are located on opposite sides of the heat spreader 300.

[0037] It is understood that by setting the fan 230 and the heat dissipation fins 310 on both sides of the heat spreader 300 respectively in this embodiment, the cooling medium can be better cooled on both sides of the heat spreader 300 when it flows into the mixing chamber, so as to further improve the cooling effect of the cooling system.

[0038] Specifically, the leg motor cooling structure 100 includes at least two joint motor cooling structures 110, which are connected in series.

[0039] like Figure 1 and Figure 2 As shown in this embodiment, the leg structure 700 of the quadruped robot can be driven by at least two joint module motors. Correspondingly, the leg motor cooling structure 100 can include at least two joint motor cooling structures 110, that is, each joint motor cooling structure 110 corresponds to one of the joint module motors. At least two joint motor cooling structures 110 of the same leg motor cooling structure 100 can be connected in series, meaning the cooling medium flows sequentially to each joint motor cooling structure 110. Based on this arrangement, the cooling medium forms a series-parallel flow path within the cooling system, i.e., a mixed flow path.

[0040] It is understood that in this embodiment, the leg motor cooling structure 100 is configured to include at least two joint motor cooling structures 110, and the at least two joint motor cooling structures 110 are connected in series, so as to facilitate the effective arrangement of the cooling structure on the leg structure 700 of the quadruped robot, thereby ensuring the cooling effect on each joint module motor on the leg structure 700.

[0041] More specifically, the leg motor cooling structure 100 includes a shoulder joint motor cooling structure 110a, a hip joint motor cooling structure 110b, and a knee joint motor cooling structure 110c, which are connected in series.

[0042] like Figure 2 and Figure 3As shown in this embodiment, the joint module motors of the leg structure 700 may include a shoulder joint module motor 710, a hip joint module motor 720, and a knee joint module motor 730. Correspondingly, the leg motor cooling structure 100 may include a shoulder joint motor cooling structure 110a, a hip joint motor cooling structure 110b, and a knee joint motor cooling structure 110c. The shoulder joint motor cooling structure 110a, hip joint motor cooling structure 110b, and knee joint motor cooling structure 110c can be used to cool the shoulder joint module motor 710, hip joint module motor 720, and knee joint module motor 730, respectively. Furthermore, the shoulder joint module motor 710, hip joint module motor 720, and knee joint module motor 730 can be connected in series.

[0043] It is understood that, in this embodiment, by setting the leg motor cooling structure 100 to at least a shoulder joint motor cooling structure 110a, a hip joint motor cooling structure 110b, and a knee joint motor cooling structure 110c, and by connecting the shoulder joint motor cooling structure 110a, the hip joint motor cooling structure 110b, and the knee joint motor cooling structure 110c in series, the effective arrangement of the leg motor cooling structure 100 can be achieved.

[0044] Specifically, the joint motor cooling structure 110 is a water jacket.

[0045] like Figure 2 and Figure 3 As shown in this embodiment, by way of example, the joint motor cooling structure 110 can be configured as a water jacket, which can be formed by an inner water channel cavity and an outer sealing shell. The water channel cavity and the sealing shell can constitute the motor housing of the joint module motor. Meanwhile, the joint motor cooling structure 110 can preferably be a spiral-shaped water jacket.

[0046] It is understood that by setting the joint motor cooling structure 110 as a water jacket in this embodiment, the cooling effect of the cooling medium on the joint module motor can be guaranteed.

[0047] More specifically, the joint motor cooling structures 110 are connected by a series pipe 400.

[0048] like Figure 2 and Figure 3As shown in this embodiment, the articulated motor cooling structure 110 can be provided with an inlet and an outlet for the cooling medium to enter the articulated motor cooling structure 110, respectively. The articulated motor cooling structures 110 can be connected to each other via a series pipe 400, the two ends of which can be respectively connected to the inlet of one articulated motor cooling structure 110 and the outlet of another cooling structure. The series pipe 400 can be a rigid pipe, such as a copper pipe; or a flexible pipe, such as a plastic hose; this embodiment uses the latter as an example.

[0049] It is understood that in this embodiment, the joint motor cooling structure 110 is connected by a series pipe 400 to facilitate the sequential flow of cooling medium within at least two joint motor cooling structures 110.

[0050] Specifically, the cooling channel 220 is connected to the leg motor cooling structure 100 via a water inlet pipe 500.

[0051] like Figure 2 and Figure 3 As shown in this embodiment, the cooling channel 220 and the leg motor cooling structure 100 are connected by a water inlet pipe 500. The frame structure 240 can also be equipped with water outlets, and the two ends of the water inlet pipe 500 can be connected to the water outlets on the frame structure 240 and the water inlet of the joint motor cooling structure 110, respectively. The water inlet pipe 500 can be a rigid pipe or a flexible pipe, and is not limited here. In this embodiment, the frame structure 240 can be equipped with four water outlets, corresponding to the four sets of leg motor cooling structures 100. The four water outlets can be respectively located at the four corners of the frame structure 240, close to the four leg structures 700 of the quadruped robot.

[0052] It is understood that in this embodiment, by setting up an inlet pipe 500 to connect the cooling channel 220 with the leg motor cooling structure 100, the cooling medium can be facilitated to flow between the cooling channel 220 and the leg motor cooling structure 100.

[0053] Specifically, the leg motor cooling structure 100 and the heat spreader 300 are connected by a return water pipe 600.

[0054] like Figure 2 and Figure 3As shown in this embodiment, the leg motor cooling structure 100 and the heat spreader 300 can be connected via a return water pipe 600. The heat spreader 300 can also be equipped with a water inlet, and the two ends of the return water pipe 600 can be connected to the water inlet on the heat spreader 300 and the water outlet of the joint motor cooling structure 110, respectively. The return water pipe 600 can be a rigid pipe or a flexible pipe, and is not limited here. In this embodiment, the heat spreader 300 can be equipped with four water inlets, corresponding to the four sets of leg motor cooling structures 100. Of the four water inlets, two can be located at the bottom of the heat spreader 300, and the other two at the top. Of the four return water pipes, two can extend near the abdomen of the torso structure 800, and the other two can extend from the back of the torso structure 800 and pass through the frame structure 240.

[0055] It is understood that in this embodiment, by setting up a return water pipe 600 to connect the leg motor cooling structure 100 and the heat spreader 300, the cooling medium can be facilitated to flow between the leg motor cooling structure 100 and the heat spreader 300.

[0056] The implementation principle of a quadruped robot cooling system provided in this application embodiment is as follows: During cooling, water pump 210 operates to circulate the cooling medium. The cooling medium flows through four inlet pipes 500 from the cooling channel 220 to the four leg motor cooling structures 100. Within the leg motor cooling structures 100, the cooling medium flows sequentially through series pipes 400 to the shoulder joint motor cooling structure 110a, hip joint motor cooling structure 110b, and knee joint motor cooling structure 110c. Subsequently, the cooling medium flows through return pipes 600 from the four leg motor cooling structures 100 to the mixing chamber of the heat spreader 300, where the cooling media of the four leg motor cooling structures 100 are mixed. After mixing, the cooling medium can flow back into the cooling channel 220, where fan 230 cools the cooling medium. The cooled medium can then flow back into the four leg motor cooling structures 100.

[0057] It is understood that by setting a heat spreader 300 between at least two sets of leg motor cooling junctions and cooling channels 220, and the heat spreader 300 being a mixing chamber that is connected to both the leg motor cooling structure 100 and the cooling channel 220, the cooling medium of different temperatures of different leg structures 700 can be mixed when the heating states of the joint module motors of different leg structures 700 are different. This makes the temperature of the cooling medium relatively uniform and cools the joint module motors of different leg structures 700 again. At this time, the joint module motors with severe heating can be cooled better. Thus, the present application can effectively improve the problem of insufficient cooling of joint module motors with severe heating in the cooling system.

[0058] This application also provides a quadruped robot, which includes any of the quadruped robot cooling systems provided in this application.

[0059] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A cooling system for a quadruped robot, characterized in that, The quadruped robot cooling system includes: The leg motor cooling structure (100) is configured in at least two sets, and the at least two sets of the leg motor cooling structure (100) are arranged in parallel; The heat dissipation assembly (200) includes a water pump (210), a cooling channel (220), and a fan (230). The cooling channel (220) is connected to the leg motor cooling structure (100). Cooling medium is provided in both the cooling channel (220) and the leg motor cooling structure (100). The water pump (210) drives the cooling medium to circulate. The fan (230) cools the cooling medium circulating in the cooling channel (220). The quadruped robot cooling system also includes: A heat spreader (300) is disposed between at least two sets of the leg motor cooling structures (100) and the cooling channels (220) and is provided with a mixing chamber, wherein the mixing chamber is connected to both the leg motor cooling structures (100) and the cooling channels (220).

2. The quadruped robot cooling system according to claim 1, characterized in that, The heat dissipation plate (300) is also provided with heat dissipation fins (310).

3. The quadruped robot cooling system according to claim 2, characterized in that, The fan (230) and the heat dissipation fins (310) are respectively disposed on both sides of the heat spreader (300).

4. The quadruped robot cooling system according to claim 1, characterized in that, The leg motor cooling structure (100) includes at least two joint motor cooling structures (110), and the at least two joint motor cooling structures (110) are connected in series.

5. The quadruped robot cooling system according to claim 4, characterized in that, The leg motor cooling structure (100) includes a shoulder joint motor cooling structure (110a), a hip joint motor cooling structure (110b), and a knee joint motor cooling structure (110c), which are connected in series.

6. The quadruped robot cooling system according to claim 4, characterized in that, The joint motor cooling structure (110) is a water jacket.

7. The quadruped robot cooling system according to claim 6, characterized in that, The joint motor cooling structures (110) are connected by a series pipe (400).

8. The quadruped robot cooling system according to claim 1, characterized in that, The cooling channel (220) is connected to the leg motor cooling structure (100) via a water inlet pipe (500).

9. The quadruped robot cooling system according to claim 1, characterized in that, The leg motor cooling structure (100) and the heat spreader (300) are connected by a return water pipe (600).

10. A quadruped robot, characterized in that, The quadruped robot includes the quadruped robot cooling system as described in any one of claims 1-9.

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