Bionic thermal management method

Abstract

A bionic thermal management method. The method comprises: when the temperature of an external space is less than or equal to a first preset temperature, and a heat generation amount of an IGBT module (600) and a heat generation amount of a battery (700) are both less than a first preset heat generation amount, a compressor (200) being in a shutdown state, and a negative-pressure evaporation apparatus (40) gasifying a working medium at a liquid output end of a heat pipe heat exchanger (100) and discharging same into the external space; and when the temperature of the external space is greater than the first preset temperature and is less than or equal to a second preset temperature, or the heat generation amount of one of the IGBT module (600) and the battery (700) is greater than the first preset heat generation amount and is less than or equal to a second preset heat generation amount, the compressor (200) being in a startup state, and the negative-pressure evaporation apparatus (40) being in a shutdown state.

Description

Bionic thermal management methods

[0001] Related applications

[0002] This application claims priority to Chinese patent application number 202311543017.7, filed on November 20, 2023, entitled “Bionic Thermal Management Method,” the entire text of which is incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of robot thermal management, and in particular to a bionic thermal management method. Background Art

[0004] With the advancement of technology, various sensors have emerged, creating the prerequisites for the large-scale application of robots. It is understandable that robots cannot perform various complex movements without power supply and motor drive. Typically, robots have multiple joints and corresponding drive motors. In addition, robots need sufficient energy to perform complex and difficult movements for a long time. Therefore, the power density of batteries on robots is increasing. At the same time, the power density of IGBT modules (Insulated-Gate Bipolar Transistors) associated with the drive motors is also constantly increasing. Therefore, heat dissipation of batteries and IGBT modules is particularly critical. Currently, the heat dissipation of robots mainly relies on compressor cooling. However, the frequent startup of the compressor will generate a lot of noise and cause excessive power consumption of the robot, which is not conducive to the robot's endurance.

[0005] Summary of the Invention

[0006] According to various embodiments of the present application, a bionic thermal management method is provided to solve the problems of high noise and excessive power consumption during the heat dissipation process of the robot.

[0007] The bionic thermal management method provided in the present application exchanges heat for the robot through a bionic thermal management system. The bionic thermal management system includes a heat pipe heat exchanger, a compressor, a condenser, a negative pressure evaporation device and a liquid storage chamber. The IGBT module and the battery pass through the corresponding heat pipe heat exchangers respectively. The heat pipe heat exchanger is connected to the compressor and the condenser in sequence through pipelines. The negative pressure evaporation device is arranged at the liquid outlet end of the heat pipe heat exchanger. The negative pressure evaporation device can vaporize part or all of the working fluid at the liquid outlet end of the heat pipe heat exchanger and discharge it to the external space. The liquid storage chamber is connected to the liquid inlet end or the liquid outlet end of the heat pipe heat exchanger.

[0008] The bionic thermal management method includes the following steps: when the temperature of the external space is less than or equal to a first preset temperature, and the calorific value of the IGBT module and the calorific value of the battery are both less than the first preset calorific value, the compressor is in a closed state, and the negative pressure evaporation device vaporizes the working fluid at the liquid outlet of the heat pipe heat exchanger and discharges it into the external space; when the amount of working fluid in the bionic thermal management system is less than or equal to the first preset amount, the liquid storage chamber transports the working fluid into the pipeline; when the temperature of the external space is greater than the first preset temperature and less than or equal to the second preset temperature, or the calorific value of one of the IGBT module and the battery is greater than the first preset calorific value and less than or equal to the second preset calorific value, the compressor is in a started state to dissipate heat for the IGBT module and the battery, and the negative pressure evaporation device is in a closed state; when the temperature of the external space is greater than the second preset temperature, or the calorific value of one of the IGBT module and the battery is greater than the second preset calorific value, the compressor and the negative pressure evaporation device are both in a started state.

[0009] In one embodiment, the negative pressure evaporation device includes a housing, a piston, a drive element, a first control valve, and a second control valve. The housing is provided with a vaporization chamber, the vaporization chamber is connected to the liquid outlet of the heat pipe heat exchanger through the first control valve, and the vaporization chamber is connected to the external space through the second control valve. The piston is movably arranged in the vaporization chamber, and the drive element is connected to the rod end of the piston to drive the piston to move in the vaporization chamber. The bionic thermal management method also includes the following steps: opening the first control valve and closing the second control valve, the drive element drives the piston to move in a direction away from the first control valve so that the working medium at the liquid outlet of the heat pipe heat exchanger enters the vaporization chamber through the first control valve; when the amount of working medium entering the vaporization chamber is greater than or equal to a second preset amount, closing the first control valve, and the drive element drives the piston to continue to move in a direction away from the first control valve so that the liquid working medium in the vaporization chamber is vaporized into a gaseous working medium; opening the second control valve, and the drive element drives the piston to move in a direction close to the first control valve so that the gaseous working medium in the vaporization chamber enters the external space through the second control valve.

[0010] In one embodiment, the negative pressure evaporation device further includes a porous medium layer, which is provided at one end of the vaporization chamber connected to the first control valve, so that the first control valve can be connected to the vaporization chamber through the porous medium layer.

[0011] In one embodiment, the second control valve is connected to the end of the vaporization chamber where the porous medium layer is not provided. The negative pressure evaporation device also includes a third control valve and a fourth control valve. The porous medium layer is made of elastic material. The porous medium layer can be connected to the vaporization chamber through the third control valve, and the third control valve is movably sealed with the inner wall of the vaporization chamber. The fourth control valve is arranged on the side of the porous medium layer away from the third control valve, and the porous medium layer can be connected to the external space through the fourth control valve. The bionic thermal management method also includes the following steps: closing the first control valve, the second control valve and the third control valve, opening the fourth control valve, and using a driving element to drive the piston to squeeze the porous medium layer to completely discharge the non-condensable gas in the porous medium layer; opening the first control valve, and closing the second control valve, the third control valve and the fourth control valve, and the driving element drives the piston to move in a direction away from the first control valve so that the working medium at the liquid outlet end of the heat pipe heat exchanger enters the porous medium layer through the first control valve until the porous medium layer partially or completely rebounds; closing the first control valve, the second control valve and the fourth control valve, and opening the third control valve, and the driving element drives the piston to continue to move in a direction away from the first control valve so that the liquid working medium in the porous medium is vaporized into a gaseous working medium and enters the vaporization chamber; opening the second control valve, and closing the first control valve, the third control valve and the fourth control valve, and the driving element drives the piston to move in a direction close to the first control valve so that the gaseous working medium in the vaporization chamber enters the external space through the second control valve.

[0012] In one embodiment, the third control valve includes a movable sealing plate and a valve body. The third control valve is movably sealed with the inner wall of the gasification chamber through the movable sealing plate. The movable sealing plate is provided with a through hole, and the valve body is arranged at the through hole.

[0013] In one embodiment, the first control valve, the second control valve, the third control valve and the fourth control valve are all one-way valves.

[0014] In one embodiment, the porous medium layer is a sponge material, a carbon material, a foam material, a hydrogel, a porous ceramic, a porous metal material or a porous polymer material.

[0015] In one embodiment, the bionic thermal management system includes a first heat exchange circuit, a second heat exchange circuit and a third heat exchange circuit arranged in parallel, and the condenser is connected to the compressor through the first heat exchange circuit, the second heat exchange circuit and the third heat exchange circuit respectively.

[0016] In one embodiment, the bionic thermal management system further includes a bypass line, through which the compressor can be connected to the condenser, and the bypass line is provided with a shut-off valve.

[0017] In one embodiment, the liquid storage chamber includes a first chamber, a second chamber and a third chamber. The first chamber is located in the head of the robot, the second chamber is located in the chest cavity of the robot, and the third chamber is located in the abdominal cavity of the robot.

[0018] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to better describe and illustrate the embodiments and / or examples of the inventions disclosed herein, reference may be made to one or more of the accompanying drawings. The additional details or examples used to describe the accompanying drawings should not be considered to limit the scope of the disclosed inventions, the presently described embodiments and / or examples, and any of the best modes currently understood for these inventions.

[0020] FIG1 is a schematic structural diagram of a robot according to an embodiment of the present application.

[0021] FIG2 is a side view of a robot according to an embodiment of the present application.

[0022] FIG3 is a schematic diagram showing the connection between the first heat exchange circuit and the bypass pipeline according to an embodiment of the present application.

[0023] FIG4 is a schematic diagram showing the connection between the second heat exchange circuit and the bypass pipeline according to an embodiment of the present application.

[0024] FIG5 is a schematic diagram showing the connection between the third heat exchange circuit and the bypass pipeline according to an embodiment of the present application.

[0025] FIG6 is a schematic structural diagram of a negative pressure evaporation device according to an embodiment of the present application.

[0026] Figure numerals: 1. Bionic thermal management system; 100. Heat pipe heat exchanger; 200. Compressor; 300. Condenser; 40. Negative pressure evaporation device; 410. Shell; 411. Vaporization chamber; 420. Piston; 430. Driving element; 440. First control valve; 450. Second control valve; 460. Third control valve; 461. Movable sealing plate; 462. Valve body; 470. Fourth control valve; 480. Porous medium layer; 50. Liquid reservoir; 510. First chamber; 520. Second chamber; 530. Third chamber; 600. IGBT module; 700. Battery; 800. Fan; 910. First heat exchange circuit; 920. Second heat exchange circuit; 930. Third heat exchange circuit; 940. Bypass line; 950. Shut-off valve; 1000. Robot. DETAILED DESCRIPTION

[0027] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0029] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0030] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0031] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] With the advancement of science and technology, various sensors have emerged, creating the prerequisites for the large-scale application of robots. It is understandable that robots cannot complete various complex movements without the power supply and motor drive. Usually, robots have multiple joints and corresponding drive motors. In addition, robots need sufficient energy to complete difficult and complex movements for a long time. Therefore, the power density of batteries on robots is getting higher and higher. At the same time, the power density of IGBT modules (insulated gate bipolar transistors) associated with the drive motors is also constantly increasing. Therefore, the heat dissipation of batteries and IGBT modules is particularly critical. Currently, the heat dissipation of robots mainly relies on compressor cooling. However, the frequent startup of the compressor will generate a lot of noise and cause the robot to consume too much power, which is not conducive to the robot's endurance.

[0034] Please refer to Figures 1 to 6. In order to solve the problems of high noise and excessive power consumption of the robot 1000 during the heat dissipation process, the present application provides a bionic thermal management method. The bionic thermal management method exchanges heat for the robot 1000 through a bionic thermal management system 1. The bionic thermal management system 1 includes a heat pipe heat exchanger 100, a compressor 200, a condenser 300, a negative pressure evaporation device 40 and a liquid reservoir 50. The IGBT module 600 and the battery 700 are respectively provided with heat pipe heat exchangers 100. The heat pipe heat exchanger 100 is used to exchange heat for the IGBT module 600 or the battery 700, and the heat pipe heat exchanger 100 is connected to the compressor 200 and the condenser 300 in sequence through pipelines. The negative pressure evaporation device 40 is installed at the liquid outlet of the heat pipe heat exchanger 100. By evacuating the liquid, the negative pressure evaporation device 40 can rapidly vaporize some or all of the working fluid at the liquid outlet of the heat pipe heat exchanger 100 and discharge it to the outside space (typically the atmosphere) through the exhaust holes on the surface of the robot 1000. The liquid reservoir 50 is connected to the liquid inlet or outlet of the heat pipe heat exchanger 100.

[0035] It should be noted that the battery 700 and the IGBT module 600 may be fully or partially immersed in the heat pipe exchanger 100 , or may be attached to the surface of the heat pipe exchanger 100 .

[0036] In addition, it should be noted that when there is only one negative pressure evaporation device 40, the negative pressure evaporation device 40 is arranged before the air inlet of the compressor 200, that is, the working fluid of all branches is discharged from the body of the robot 1000 through one negative pressure evaporation device 40. When the number of negative pressure evaporation devices 40 is multiple, a negative pressure evaporation device 40 can be set corresponding to each branch, or a negative pressure evaporation device 40 can be set at the liquid outlet end of each heat pipe exchanger 100.

[0037] The bionic thermal management method includes the following steps: When the external temperature is less than or equal to a first preset temperature (typically during autumn and winter), and the calorific value of the IGBT module 600 and the calorific value of the battery 700 are both less than the first preset value, the compressor 200 is turned off, and the negative pressure evaporation device 40 vaporizes the working fluid at the liquid outlet of the heat pipe heat exchanger 100 and discharges it into the external space. Furthermore, when the amount of working fluid circulating within the pipelines of the bionic thermal management system 1 is less than or equal to the first preset amount, the liquid reservoir 50 delivers working fluid into the pipelines to replenish the working fluid in a timely manner. When the external temperature is greater than the first preset temperature (typically during spring and summer) and less than or equal to a second preset temperature, or when the calorific value of either the IGBT module 600 or the battery 700 is greater than the first preset value and less than or equal to the second preset value, the compressor 200 is activated to dissipate heat from the IGBT module 600 and the battery 700, and the negative pressure evaporation device 40 is turned off. When the external space temperature is greater than the second preset temperature (the second preset temperature is greater than the first preset temperature), or the heat generation of one of the IGBT module 600 and the battery 700 is greater than the second preset heat generation (the second preset heat generation is greater than the first preset heat generation), the compressor 200 and the negative pressure evaporation device 40 are both in the start-up state.

[0038] It should be noted that the robot 1000 is internally equipped with an electrically connected controller, a liquid level sensor, and a temperature sensor. The liquid level sensor is used to detect the amount of working fluid in the pipeline and transmits the data signal to the controller in real time, so that the controller can respond in real time. The temperature sensor can detect the temperature of the IGBT module 600, battery 700, and the external space, and transmits the detected temperature signal to the controller in real time, so that the controller can respond in real time.

[0039] As can be seen above, by providing the negative pressure evaporation device 40 and the liquid reservoir 50, the robot 1000 only needs to activate the compressor 200 under specific temperature conditions to dissipate heat from the IGBT module 600 and the battery 700. This eliminates the need to frequently activate the compressor 200. This significantly reduces the overall noise generated by the robot 1000 during the heat dissipation process and effectively reduces the robot's power consumption. Furthermore, the coordinated operation of the negative pressure evaporation device 40 and the compressor 200 significantly improves the heat dissipation efficiency of the bionic thermal management system 1.

[0040] Furthermore, since the negative pressure evaporation device 40 can convert the liquid working fluid into a gaseous working fluid and discharge it from the robot 1000, this process is equivalent to the evaporation process of human sweat, and is even more environmentally friendly than the evaporation process of sweat. This is mainly because, during the exhaust process of the negative pressure evaporation device 40, no liquid working fluid will flow to the surface of the robot 1000 or the ground, thereby preventing the surface of the robot 1000 or the ground from being contaminated by the liquid working fluid.

[0041] Furthermore, it can be understood that since the compressor 200 also has the function of heating, by setting up the bionic thermal management system 1, the robot 1000 as a whole can be kept in a constant temperature state, which is beneficial to the temperature comfort of the human body when the robot 1000 interacts with the human body.

[0042] In one embodiment, as shown in FIG. 2 , the condenser 300 is disposed on the back of the robot 1000 . This is beneficial to heat dissipation of the condenser 300 and reduces the difficulty of assembling the condenser 300 .

[0043] In one embodiment, the compressor 200 is disposed in the chest cavity of the robot 1000 , which helps to reduce the operating noise of the compressor 200 .

[0044] In one embodiment, the refrigerant within the pipeline is water or another environmentally friendly refrigerant. In particular, when the refrigerant within the pipeline is water, the refrigerant within the reservoir 50 can be replenished at any time, significantly reducing the cost of replenishing the refrigerant within the reservoir 50 and improving its convenience. Furthermore, water is a completely non-polluting material, and its vaporization and discharge into the external space does not cause any pollution, thereby enhancing the environmental friendliness of the robot 1000. The process of robot 1000 replenishing water is similar to the human body drinking water, and correspondingly, the process of robot 1000 expelling water is similar to the human body perspiring, thereby significantly enhancing the biomimetic properties of the robot 1000.

[0045] In one embodiment, as shown in FIG1 , the liquid reservoir 50 includes a first chamber 510, a second chamber 520, and a third chamber 530. The first chamber 510 is located in the head of the robot 1000, the second chamber 520 is located in the chest cavity of the robot 1000, and the third chamber 530 is located in the abdominal cavity of the robot 1000. The multi-point distribution of the liquid reservoir 50 greatly improves the speed and convenience of replenishing the working fluid in the pipelines of the robot 1000, and increases the ways for the robot 1000 to replenish the working fluid.

[0046] In order to improve the heat dissipation efficiency of the condenser 300 , in one embodiment, as shown in FIG3 , the bionic thermal management system 1 further includes a fan 800 . The fan 800 is disposed on one side of the condenser 300 to accelerate heat exchange between the condenser 300 and the atmosphere.

[0047] Specifically, in one embodiment, as shown in Figures 3-5 , the bionic thermal management system 1 includes a first heat exchange circuit 910, a second heat exchange circuit 920, and a third heat exchange circuit 930 arranged in parallel. The condenser 300 is connected to the compressor 200 through the first heat exchange circuit 910, the second heat exchange circuit 920, and the third heat exchange circuit 930, respectively. The first heat exchange circuit 910 is provided in the upper body of the robot 1000, the second heat exchange circuit 920 is provided in the lower body of the robot 1000, and the third heat exchange circuit 930 is used to connect to the heat pipe heat exchanger 100 at the battery 700 end.

[0048] It should be noted that the upper body of the robot 1000 includes the head, chest cavity, abdominal cavity and upper limbs of the robot 1000, the lower body of the robot 1000 includes the lower limbs of the robot 1000, and the battery 700 is set in the chest cavity of the robot 1000.

[0049] Such an arrangement is conducive to the reasonable distribution of the bionic thermal management system 1 throughout the entire body of the robot 1000, thereby greatly improving the heat exchange effect throughout the entire body of the robot 1000.

[0050] Specifically, in one embodiment, as shown in FIG. 3-FIG . 4 , the first heat exchange circuit 910 includes a plurality of first branches arranged in parallel, and similarly, the second heat exchange circuit 920 includes a plurality of second branches arranged in parallel.

[0051] Furthermore, in one embodiment, the first branch, the second branch and the third branch are each provided with a shut-off valve 950 electrically connected to the controller, so as to control the on / off of each branch (including the first branch, the second branch and the third branch) through the shut-off valve 950 .

[0052] In one embodiment, as shown in FIG3-5 , the bionic thermal management system 1 further includes a bypass line 940 , through which the compressor 200 can be directly connected to the condenser 300 , and the bypass line 940 is provided with a shut-off valve 950 electrically connected to the controller.

[0053] In this way, when the robot 1000 does not need to exchange heat, the working fluid can be circulated through the bypass pipeline 940 to prevent the working fluid from stagnation in the bionic thermal management system 1.

[0054] In one embodiment, as shown in FIG6 , the negative pressure evaporation device 40 includes a housing 410, a piston 420, a drive element 430, a first control valve 440, and a second control valve 450. The housing 410 is provided with a vaporization chamber 411. The vaporization chamber 411 is connected to the liquid outlet of the heat pipe heat exchanger 100 via the first control valve 440. The vaporization chamber 411 is also connected to the outside space via the second control valve 450. The piston 420 is movably disposed in the vaporization chamber 411, and the drive element 430 is connected to the rod end of the piston 420 to drive the piston 420 to move within the vaporization chamber 411.

[0055] Specifically, the first control valve 440 is connected to an end of the housing 410 away from the driving element 430 , and the second control valve 450 is connected to a side of the housing 410 .

[0056] Furthermore, in one embodiment, the driving element 430 is a driving motor or a driving cylinder.

[0057] The bionic thermal management method further includes the following steps: First, the first control valve 440 is opened and the second control valve 450 is closed. The driving element 430 drives the piston 420 to move away from the first control valve 440, so that the working medium at the liquid outlet of the heat pipe heat exchanger 100 enters the vaporization chamber 411 through the first control valve 440. When the amount of working medium entering the vaporization chamber 411 is greater than or equal to a second preset amount, the first control valve 440 is closed, and the driving element 430 drives the piston 420 to continue moving away from the first control valve 440, so that the liquid working medium in the vaporization chamber 411 is vaporized into a gaseous working medium. Thereafter, the second control valve 450 is opened, and the driving element 430 drives the piston 420 to move toward the first control valve 440, so that the gaseous working medium in the vaporization chamber 411 enters the external space through the second control valve 450.

[0058] It should be noted that the first control valve 440 , the second control valve 450 and the driving element 430 are electrically connected to the controller respectively, and the controller can control the actions of the first control valve 440 , the second control valve 450 and the driving element 430 in real time.

[0059] With this arrangement, the piston 420 can create a near-vacuum environment within the vaporization chamber 411, allowing the liquid working medium within the vaporization chamber 411 to be rapidly vaporized. Furthermore, the first control valve 440 and the second control valve 450 can cooperate to control the amount of liquid working medium entering the vaporization chamber 411. Furthermore, by timely closing the first control valve 440 and the second control valve 450, the atmosphere in the external space and the liquid working medium in the pipeline can be prevented from continuing to enter the vaporization chamber 411 and affecting the vaporization of the liquid working medium within the vaporization chamber 411, thereby greatly ensuring the complete vaporization of the liquid working medium within the vaporization chamber 411. Furthermore, after the liquid working medium within the vaporization chamber 411 has been completely vaporized, the second control valve 450 can be opened to completely discharge the gaseous working medium within the vaporization chamber 411 into the external space, allowing the negative pressure evaporation device 40 to proceed to the next stage of the vaporization process.

[0060] Furthermore, in order to improve exhaust efficiency, in one embodiment, there are multiple second control valves 450 .

[0061] In one embodiment, as shown in Figure 6, the negative pressure evaporation device 40 also includes a porous medium layer 480, which is arranged at one end of the vaporization chamber 411 connected to the first control valve 440, so that the first control valve 440 can be connected to the vaporization chamber 411 through the porous medium layer 480.

[0062] In this way, the liquid working medium can first enter the porous medium layer 480. Since the porous medium layer 480 is a loose and porous structure, the surface area of ​​the liquid working medium is greatly increased, so as to accelerate the vaporization rate of the liquid working medium, thereby improving the heat dissipation rate of the robot 1000.

[0063] Furthermore, in one embodiment, the porous medium layer 480 includes but is not limited to sponge materials, carbon materials, foam materials, hydrogels, porous ceramics, porous metal materials, porous polymer materials, and the like.

[0064] This helps to reduce the difficulty of obtaining the porous medium layer 480 , thereby reducing the production cost of the robot 1000 .

[0065] In one embodiment, as shown in Figure 6, the second control valve 450 is connected to the end of the vaporization chamber 411 where the porous medium layer 480 is not provided. The negative pressure evaporation device 40 also includes a third control valve 460 and a fourth control valve 470. The porous medium layer 480 is made of elastic material (such as sponge material), and the porous medium layer 480 can be connected to the vaporization chamber 411 through the third control valve 460, and the third control valve 460 is movably sealed with the inner wall of the vaporization chamber 411. The fourth control valve 470 is provided on the side of the porous medium layer 480 away from the third control valve 460, and the porous medium layer 480 can be connected to the external space through the fourth control valve 470.

[0066] In one embodiment, the first control valve 440 , the second control valve 450 , the third control valve 460 , and the fourth control valve 470 are all one-way valves.

[0067] In one embodiment, the third control valve 460 includes a movable sealing plate 461 and a valve body 462. The third control valve 460 is movably sealed with the inner wall of the gasification chamber 411 through the movable sealing plate 461. The movable sealing plate 461 is provided with a through hole, and the valve body 462 is arranged at the through hole.

[0068] The bionic thermal management method further includes the following steps: closing the first control valve 440, the second control valve 450, and the third control valve 460, opening the fourth control valve 470, and using the driving element 430 to drive the piston 420 to squeeze the porous medium layer 480 (during this process, the piston 420 can push the third control valve 460 to move synchronously) to completely discharge the non-condensable gas (mainly air) in the porous medium layer 480. Afterwards, the first control valve 440 is opened, and the second control valve 450, the third control valve 460, and the fourth control valve 470 are closed. The driving element 430 drives the piston 420 to move away from the first control valve 440, so that the working fluid at the liquid outlet of the heat pipe exchanger 100 enters the porous medium layer 480 through the first control valve 440 until the porous medium layer 480 partially or completely rebounds. Then, the first control valve 440, the second control valve 450, and the fourth control valve 470 are closed, and the third control valve 460 is opened. In addition, the driving element 430 drives the piston 420 to continue to move away from the first control valve 440, so that the liquid working medium in the porous medium is vaporized into a gaseous working medium and enters the vaporization chamber 411. After that, the second control valve 450 is opened, and the first control valve 440, the third control valve 460, and the fourth control valve 470 are closed. The driving element 430 drives the piston 420 to move toward the first control valve 440, so that the gaseous working medium in the vaporization chamber 411 enters the external space through the second control valve 450.

[0069] Such a configuration enables the liquid working medium to be vaporized simultaneously during the process of entering the vaporization chamber 411 , thereby preventing the working medium from existing in the vaporization chamber 411 in liquid form, and is beneficial to significantly improving the vaporization degree of the liquid working medium in the negative pressure evaporation device 40 .

[0070] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0071] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of patent protection for the present application shall be determined by the appended claims.

Claims

1. A bionic heat management method, characterized in that, heat exchange is carried out on the robot through a bionic heat management system, and the bionic heat management system includes a heat pipe heat exchanger, a compressor, a condenser, a negative pressure evaporation device and a liquid storage chamber. The IGBT module and the battery respectively carry out heat exchange through the corresponding heat pipe heat exchanger. The heat pipe heat exchanger is sequentially connected to the compressor and the condenser through pipelines. The negative pressure evaporation device is arranged at the liquid outlet end of the heat pipe heat exchanger. The negative pressure evaporation device can vaporize part or all of the working medium at the liquid outlet end of the heat pipe heat exchanger and discharge it to the external space. The liquid storage chamber is communicated with the liquid inlet end or the liquid outlet end of the heat pipe heat exchanger; The bionic heat management method includes the following steps: When the temperature of the external space is less than or equal to the first preset temperature, and the heat generation of both the IGBT module and the battery is less than the first preset heat generation, the compressor is in the off state, and the negative pressure evaporation device vaporizes the working medium at the liquid outlet end of the heat pipe heat exchanger and discharges it into the external space; When the amount of the working medium in the bionic heat management system is less than or equal to the first preset amount, the liquid storage chamber conveys the working medium into the pipeline; When the temperature of the external space is greater than the first preset temperature and less than or equal to the second preset temperature, or when the heat generation of one of the IGBT module and the battery is greater than the first preset heat generation and less than or equal to the second preset heat generation, the compressor is in the start state to dissipate heat from the IGBT module and the battery, and the negative pressure evaporation device is in the off state; When the temperature of the external space is greater than the second preset temperature, or when the heat generation of one of the IGBT module and the battery is greater than the second preset heat generation, both the compressor and the negative pressure evaporation device are in the start state.

2. The bionic heat management method according to claim 1, wherein, The negative pressure evaporation device includes a housing, a piston, a driving element, a first control valve and a second control valve. The housing is provided with a vaporization chamber. The vaporization chamber is communicated with the liquid outlet end of the heat pipe heat exchanger through the first control valve. The vaporization chamber is communicated with the external space through the second control valve. The piston is movably arranged in the vaporization chamber, and the driving element is connected to the rod end of the piston to drive the piston to move in the vaporization chamber; The bionic heat management method further includes the following steps: Open the first control valve and close the second control valve. The driving element drives the piston to move in a direction away from the first control valve, so that the working medium at the liquid outlet end of the heat pipe heat exchanger enters the vaporization chamber through the first control valve; When the amount of the working medium entering the vaporization chamber is greater than or equal to the second preset amount, close the first control valve, and the driving element drives the piston to continue to move in a direction away from the first control valve, so that the liquid working medium in the vaporization chamber is vaporized into a gaseous working medium; Open the second control valve, and the driving element drives the piston to move in a direction close to the first control valve, so that the gaseous working medium in the vaporization chamber enters the external space through the second control valve.

3. The bionic heat management method according to claim 2, wherein, The negative pressure evaporation device further includes a porous medium layer, which is arranged at one end of the gasification chamber communicating with the first control valve, so that the first control valve can communicate with the gasification chamber through the porous medium layer.

4. The bionic heat management method according to claim 3, wherein, the second control valve is connected to one end of the gasification chamber where the porous medium layer is not provided. The negative pressure evaporation device further includes a third control valve and a fourth control valve. The porous medium layer is made of an elastic material and can communicate with the gasification chamber through the third control valve. The third control valve is movably and sealingly fitted with the inner wall of the gasification chamber. The fourth control valve is arranged on the side of the porous medium layer away from the third control valve, and the porous medium layer can communicate with the external space through the fourth control valve; The bionic heat management method further includes the following steps: shutting off the first control valve, the second control valve and the third control valve, opening the fourth control valve, and using the driving element to drive the piston to squeeze the porous medium layer to completely discharge the non-condensable gas in the porous medium layer; Opening the first control valve and shutting off the second control valve, the third control valve and the fourth control valve, and the driving element drives the piston to move in a direction away from the first control valve, so that the working medium at the liquid outlet end of the heat pipe heat exchanger enters the porous medium layer through the first control valve until the porous medium layer partially or completely rebounds; Shutting off the first control valve, the second control valve and the fourth control valve, and opening the third control valve, and the driving element drives the piston to continue to move in a direction away from the first control valve, so that the liquid working medium in the porous medium is vaporized into a gaseous working medium and enters the gasification chamber; Opening the second control valve and shutting off the first control valve, the third control valve and the fourth control valve, and the driving element drives the piston to move in a direction close to the first control valve, so that the gaseous working medium in the gasification chamber enters the external space through the second control valve.

5. The bionic heat management method according to claim 4, wherein, The third control valve includes a movable sealing plate and a valve body part. The third control valve is movably and sealingly fitted with the inner wall of the gasification chamber through the movable sealing plate. The movable sealing plate is provided with a through hole, and the valve body part is arranged at the through hole.

6. The bionic heat management method according to claim 4, wherein, The first control valve, the second control valve, the third control valve and the fourth control valve are all one-way valves.

7. The bionic heat management method according to claim 3, wherein, The porous medium layer is a sponge material, a carbon material, a foam material, a hydrogel, a porous ceramic, a porous metal material or a porous polymer material.

8. The bionic heat management method according to claim 1, wherein, The bionic heat management system includes a first heat exchange circuit, a second heat exchange circuit, and a third heat exchange circuit that are arranged in parallel, and the condenser is connected to the compressor through the first heat exchange circuit, the second heat exchange circuit, and the third heat exchange circuit respectively.

9. The bionic heat management method according to claim 1, wherein, the bionic heat management system further includes a bypass pipeline, the compressor can be connected to the condenser through the bypass pipeline, and a stop valve is provided on the bypass pipeline.

10. The bionic heat management method according to claim 1, wherein, the liquid storage chamber includes a first chamber, a second chamber, and a third chamber. The first chamber is arranged at the head of the robot, the second chamber is arranged in the chest cavity of the robot, and the third chamber is arranged in the abdominal cavity of the robot.

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