CN-122018593-A - Biped intelligent robot thermal management system

CN122018593ACN 122018593 ACN122018593 ACN 122018593ACN-122018593-A

Abstract

The invention discloses a biped intelligent robot thermal management system, which relates to the technical field of intelligent robots and comprises a battery system, a core control system, an execution system, a coolant pump, a replaceable thermal management module and a coolant multi-way valve, wherein the battery system comprises a battery body and a battery management system, a coolant path in the battery system can be connected with each subsystem in a serial, parallel or serial-parallel combination mode, and the core control system comprises a sensing module, a cognition and decision module, a control module and a communication module. The biped intelligent robot thermal management system adopts a centralized thermal management architecture, can distribute and regulate heat to a single subsystem or a plurality of subsystems in a core control system, an execution system and a battery system according to preset thermal management priority, and allows corresponding thermal management functional modules to be flexibly configured according to requirements of different application scenes.

Inventors

ZHANG JIANQIU
CHEN RONGWANG
ZHANG ZHEN
WU YONGBING
WU JINTAO

Assignees

浙江荣际科创股份有限公司

Dates

Publication Date: 20260512
Application Date: 20251125

Claims (9)

1. A biped intelligent robot thermal management system, comprising: The battery system (1), the battery system (1) comprises a battery body and a battery management system, and a cooling liquid path inside the battery system (1) can be connected with each subsystem in a serial, parallel or serial-parallel combination mode; the core control system (2) comprises a sensing module, a cognition and decision module, a control module and a communication module, and the core control system (2) and the battery system (1) are connected in series, in parallel or in a serial-parallel combination mode, wherein a cooling liquid path inside the core control system (2) can be connected with each module; The execution system (3) is composed of a plurality of joint actuators, each joint actuator comprises a joint motor and a speed reducer, and the execution mechanism with higher load of the bipedal robot is a waist and joints below the waist, a left hip, a right hip, a left knee, a right knee and a left ankle; A coolant pump (4), the coolant pump (4) being configured to drive a coolant to circulate the entire coolant circuit; The replaceable heat management module (5), the replaceable heat management module (5) is used for changing different modules according to different scenes, and comprises an air cooling module, a single refrigeration module, a single heating module and a heat pump module; The cooling liquid multi-way valve (6) is used for switching the working modes, changing the liquid path connection mode among the components, and connecting the outlet of the cooling liquid pump (4) with one, more or all of the battery system (1), the core control system (2) and the execution system (3) so as to realize directional heat management.
2. The bipedal intelligent robot thermal management system of claim 1, wherein the joint motor selects a heat exchange mode according to a load size, specifically as follows: for a joint motor with smaller load, natural heat exchange is preferentially considered, and a cooling liquid path is not connected; for a joint motor with a large load, a liquid cooling system is selected to dissipate heat.
3. The bipedal intelligent robot thermal management system of claim 1, wherein the coolant multiport valve (6) is seven ways of connection: 1) the battery system (1), the core control system (2) and the execution system (3) are all high thermal control priority; the battery system (1), the core control system (2) and the execution system (3) are connected in parallel, and are connected in series with the coolant pump (4) and the replaceable thermal management module (5) after converging before the inlet of the replaceable thermal management module (5); The replaceable thermal management module (5) can realize heat exchange among the battery system (1), the core control system (2) and the execution system (3) and simultaneously carry out thermal control on the battery system (1), the core control system (2) and the execution system (3); 2) The battery system (1) and the core control system (2) are of high thermal control priority; the connection mode is that the battery system (1) and the core control system (2) are connected in parallel, and are connected in series with the coolant pump (4) and the replaceable thermal management module (5) after converging before the inlet of the replaceable thermal management module (5); The replaceable heat management module (5) can simultaneously perform heat control on the battery system (1) and the core control system (2); 3) The battery system (1) and the execution system (3) are of high thermal control priority; the battery system (1) and the execution system (3) are connected in parallel, and are connected in series with the coolant pump (4) and the replaceable thermal management module (5) after converging before the inlet of the replaceable thermal management module (5); the replaceable thermal management module (5) can simultaneously perform thermal control on the battery system (1) and the execution system (3); 4) The core control system (2) and the execution system (3) are of high thermal control priority; the core control system (2) and the execution system (3) are connected in parallel, and are connected in series with the coolant pump (4) and the replaceable thermal management module (5) after converging before the inlet of the replaceable thermal management module (5); The replaceable heat management module (5) can simultaneously perform heat control on the core control system (2) and the execution system (3); 5) The battery system (1) has high thermal control priority; the connection mode is that the battery system (1), the coolant pump (4) and the replaceable thermal management module (5) are connected in series; the replaceable thermal management module (5) is used for carrying out thermal control on the battery system (1); 6) The core control system (2) is of high thermal control priority; The connection mode is that a core control system (2), a coolant pump (4) and a replaceable thermal management module (5) are connected in series; The replaceable heat management module (5) carries out heat control on the core control system (2); 7) The execution system (3) is of high thermal control priority; the connection mode is that an execution system (3), a coolant pump (4) and a replaceable thermal management module (5) are connected in series; The effect is that the replaceable thermal management module (5) carries out thermal control on the execution system (3).
4. The bipedal intelligent robot thermal management system of claim 1, wherein the air cooling module comprises an air heat exchanger one (511) and a fan one (512), and the use is in a situation that only heat dissipation is required and heat exchange requirement is low; The working process comprises the steps that cooling liquid enters the first air heat exchanger (511) through an inlet under the driving of the cooling liquid pump (4), when the ambient temperature is lower than the cooling liquid temperature, heat enters the first air heat exchanger (511) from the cooling liquid and is dissipated into the environment through the cooling liquid, the first fan (512) is in a natural cooling mode when being turned off, the first fan (512) is in a forced air cooling mode when being turned on, heat exchange between the first air heat exchanger (511) and ambient air is accelerated, and cooled cooling liquid enters the cooling liquid pump (4) through an outlet to finally achieve cooling.
5. The bipedal intelligent robot thermal management system of claim 1, wherein the single refrigeration module comprises a second coolant heat exchanger (521), a second air heat exchanger (522), a second compressor (523), a second gas-liquid separator (524), a second expansion valve (525) and a second fan (526), wherein the use is in a situation that only heat dissipation is required and heat exchange requirement is high; The working flow comprises the steps that cooling liquid flows through a second cooling liquid heat exchanger 521 under the driving of a cooling liquid pump 4 to form heat exchange with cooling liquid flowing through the second cooling liquid heat exchanger 521 under the driving of a second compressor 523, the cooling liquid is subjected to phase change from a high-temperature and high-pressure state to a low-temperature and low-pressure state after passing through an expansion valve 525, when the temperature of the cooling liquid is lower than that of the cooling liquid flowing through the second cooling liquid heat exchanger 521, heat is conducted to the cooling liquid by the cooling liquid to enter a cooling liquid loop, the cooling liquid flows through the second air heat exchanger 522 through the working and driving of the second compressor 523 to form heat exchange with the environment, the cooling liquid absorbs heat in the cooling liquid in the second cooling liquid heat exchanger 521 and is further increased in temperature after the working of the second compressor 523 and is higher than air around the second air heat exchanger 522, the heat is conducted to the environment with the relatively low temperature by the cooling liquid, the second fan 526 is in a natural cooling mode when the cooling liquid is turned off, the cooling liquid is in a forced cooling mode when the second fan 526 is turned on, the cooling liquid flows out of the cooling liquid between the second air heat exchanger 522 and the cooling liquid is cooled by the cooling liquid pump 5, and the cooling liquid can be cooled down through the cooling liquid pump 5 after the cooling liquid is driven by the cooling liquid pump.
6. The bipedal intelligent robot thermal management system of claim 1, wherein the single warming module comprises a coolant heat exchanger four (541), an air heat exchanger four (542), a compressor four (543), a gas-liquid separator four (544), an expansion valve four (545), a fan four (546), and the use scenario is that only warming is required; the working flow comprises the steps that the refrigerant flows through the air heat exchanger IV (542) under the driving of the compressor IV (543) to form heat exchange with the environment around the air heat exchanger IV (542), the refrigerant is subjected to phase change from a high-temperature and high-pressure state to a low-temperature and low-pressure state after passing through the expansion valve IV (545), when the temperature of the refrigerant is lower than the temperature of the environment where the air heat exchanger IV (542) is located, heat is conducted from the environment to the relatively low-temperature refrigerant so as to enter a refrigerant loop, the fan IV (546) is in a natural heat exchange mode when the fan IV (546) is closed, when the fan IV (546) is opened, the heat exchange between the air heat exchanger IV (542) and ambient air is accelerated, the refrigerant flows through the cooling liquid heat exchanger IV (541) through the work and the driving of the compressor IV (543) to form heat exchange with the cooling liquid, the refrigerant absorbs the heat in the environment in the air heat exchanger IV (542), and after the working of the compressor is further increased and is higher than the temperature of the cooling liquid in the cooling liquid heat exchanger IV (541), the heat is conducted to the relatively low-temperature refrigerant, the refrigerant is conducted into the cooling liquid, the cooling liquid with the cooling liquid in the cooling liquid IV (541), the cooling liquid 4) is turned off, the cooling liquid is heated by the driving liquid IV (541), and the cooling liquid 5 is heated, and the cooling liquid is cooled down through the cooling liquid 5, and can be cooled and cooled down.
7. The bipedal intelligent robot thermal management system of claim 1, wherein the heat pump module comprises a coolant heat exchanger three (531), an air heat exchanger three (532), a compressor three (533), a gas-liquid separator three (534), an expansion valve three (535), a fan three (536), and a refrigerant four-way valve (537), wherein the heat pump module is used in a situation where both refrigeration and heating are required; And the working flow is that a refrigerant four-way valve (537) is utilized to change the connection relation among a cooling liquid heat exchanger III (531), an air heat exchanger III (532), a compressor III (533) and a gas-liquid separator III (534) so as to realize the switching of the heat pump between a refrigerating mode and a heating mode.
8. The bipedal intelligent robot thermal management system of claim 7, wherein the heat pump module is divided into a cooling mode and a heating mode, wherein the cooling mode is connected in a manner and a work flow is the same as a single cooling module, and the heating mode is connected in a manner and a work flow is the same as a single heating module.
9. The biped intelligent robot thermal management system according to claim 1, wherein the liquid path connection mode in the execution system (3) is that each of the hip, knee and ankle execution mechanisms is in a series connection, and each of the two feet is in a parallel connection and is connected in series with the waist execution mechanism.

Description

Biped intelligent robot thermal management system Technical Field The invention relates to the technical field of intelligent robots, in particular to a biped intelligent robot thermal management system. Background The bipedal intelligent robot is an intelligent system which deeply fuses sensing, action and cognitive functions and realizes learning and task execution by physically interacting with the environment. Such robots are typically equipped with a number of subsystems, including a perception module, a cognition and decision module, a control module, a communication module, an execution system, a battery system, etc., to enable complex environmental perception, decision making and action execution. The bipedal intelligent robot thermal management system is a set of comprehensive thermal management solution designed for the bipedal intelligent robot, and aims to ensure that key components (such as a processing chip and a power device in a core control system, a driving motor and a speed reducer in an execution system and a power battery and a battery management system in a battery system) of the robot can be maintained in a proper working temperature range under various working environments. The system ensures the stable operation and the high-efficiency performance of the robot through a high-efficiency heat transfer, distribution and adjustment mechanism. However, in the actual use process, as the prior art mostly adopts a distributed thermal management layout, each subsystem is configured with a mutually independent special thermal management device, and heat exchange and cooperative adjustment cannot be realized among the subsystems. Under the working condition of high heat load, the heat dissipation requirement of a single component may exceed the design capability of a corresponding heat management device, so that the heat management control is invalid, and under the condition of low heat load or standby, the redundant heat management device increases the mass burden and the energy consumption expenditure of the system, and reduces the energy efficiency ratio of the whole machine. The traditional heat management system mainly depends on a passive heat dissipation technology (such as a heat dissipation fin and a shell heat dissipation) and a forced air cooling technology, the passive heat dissipation scheme has limited heat dissipation capacity, cannot meet the heat dissipation requirement of a high-power density device, and the heat dissipation effect is strongly dependent on the environment temperature and the air flow condition, and the forced air cooling scheme has the technical defects of lag heat response, insufficient dynamic adjustment capability, limited local hot spot treatment effect and the like. In addition, the design concept of the existing thermal management system mainly surrounds the high-temperature heat dissipation requirement, lacks consideration of the heating function in the low-temperature environment, and limits the environment application range of the bipedal intelligent robot. In a low-temperature working environment, the robot is faced with a series of technical problems such as reduced charging and discharging efficiency of a power battery, abnormal operation performance of a control system, reduced detection precision of a sensing system, lubrication failure of a mechanical system, low-temperature embrittlement of structural materials and the like, and the working reliability and task execution capacity of the robot are seriously affected. Disclosure of Invention The invention aims to provide a bipedal intelligent robot thermal management system for solving the problems in the background technology. In order to achieve the purpose, the invention provides the following technical scheme that the biped intelligent robot thermal management system comprises: the battery system comprises a battery body and a battery management system, and a cooling liquid path inside the battery system can be connected with each subsystem (namely the battery body and the battery management system) in a serial, parallel or serial-parallel combination mode; The core control system comprises a sensing module, a cognition and decision module, a control module and a communication module, and is connected with the battery system, and a cooling liquid path in the core control system can be connected with each module (namely the sensing module, the cognition and decision module, the control module and the communication module) in a serial, parallel or serial-parallel combination mode; the execution system consists of a plurality of joint actuators, each joint actuator comprises a joint motor and a speed reducer, and the execution mechanism with higher load of the biped robot is a waist and joints below, namely a waist, left and right hip, left and right knee, left and right ankle execution mechanism; The cooling liquid pump is used for driving cooling liquid to realize circulation of the whole coo