WO2021217881A1 - 主动散热关节及包含该散热关节的仿生机器人 - Google Patents

主动散热关节及包含该散热关节的仿生机器人 Download PDF

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Publication number
WO2021217881A1
WO2021217881A1 PCT/CN2020/100902 CN2020100902W WO2021217881A1 WO 2021217881 A1 WO2021217881 A1 WO 2021217881A1 CN 2020100902 W CN2020100902 W CN 2020100902W WO 2021217881 A1 WO2021217881 A1 WO 2021217881A1
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WIPO (PCT)
Prior art keywords
joint
heat dissipation
heat
refrigeration unit
thermoelectric refrigeration
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PCT/CN2020/100902
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English (en)
French (fr)
Inventor
张武
黄强
黄岩
孟兆平
张伟民
原野
刘兴中
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北京理工大学
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Publication of WO2021217881A1 publication Critical patent/WO2021217881A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means

Definitions

  • the invention relates to the field of bionic robots, in particular to an active heat dissipation joint and a bionic robot including the heat dissipation joint.
  • the robot power joint is the core unit of the whole system.
  • Humanoid robots simulate human movement modes such as walking, running, and jumping, and require the power joints to have instantaneous high explosive power and high torque density output.
  • Power joints work under high load for a long time, which will inevitably generate huge energy, and the installation space of joint power components is narrow, the ventilation and heat dissipation conditions are poor, and the heat cannot be dissipated in time, resulting in severe instantaneous heat generation of the joint power components. For a long time, it will affect the service life of joint power components and joints, and extreme working conditions may cause irreversible failure of the joints.
  • the existing joint design does not pay enough attention to the heat dissipation problem of the joint, and most of the heat dissipation is performed by natural cooling, and the heat dissipation efficiency is relatively inefficient.
  • the natural cooling method of heat dissipation can meet the needs of use.
  • the existing heat dissipation methods of power joints can no longer meet the needs.
  • embodiments of the present invention provide an active heat dissipation joint and a bionic robot including the heat dissipation joint, so as to eliminate or improve one or more defects in the prior art.
  • the joint includes a joint shell, the joint shell is used to cover the outside of a heat source, and the outer side of the joint shell has an accommodation groove and a supporting mechanism on the side of the accommodation groove ,
  • the joint further includes: a thermoelectric refrigeration unit sheathed between the inner wall of the joint housing and the heat source, the thermoelectric refrigeration unit including a cold end and a hot end, and the cold end is configured to be connected to the heat source In direct contact, the hot end is in direct contact with the inner surface of the joint housing; the equalizing heat pipe fixed in the accommodating groove of the joint housing; the heat dissipation rib member fixed on the outer surface of the joint housing, so The outer surface of the heat dissipation rib member is provided with at least one protruding heat dissipation rib.
  • the cold end of the thermoelectric refrigeration unit is used to continuously cool the heat source and transfer heat to the hot end, and the hot end transfers the heat to the joint shell.
  • the heat source is a power unit
  • the thermoelectric refrigeration unit is a semiconductor thermoelectric refrigeration unit.
  • the contact surface between the thermoelectric refrigeration unit and the power unit, and the contact surface between the thermoelectric refrigeration unit and the inner surface of the joint housing are filled with a thermal interface material.
  • the semiconductor thermoelectric refrigeration unit matches the outline of the power unit, and its cross section is a circular ring or a square ring.
  • the height of the semiconductor thermoelectric refrigeration unit is equal to the axial height of the power unit.
  • the heat dissipating rib member is a cylindrical sleeve structure or an arc-shaped bent sheet structure that is closely attached to and fixed on the outer surface of the joint shell.
  • the heat dissipation rib member includes a cylindrical sleeve portion and a plurality of uniformly distributed heat dissipation ribs protruding from the sleeve portion, and the heat dissipation ribs are on the outer periphery of the sleeve portion.
  • the face extends along a straight line or a curve.
  • the contact surface between the heat dissipation rib member and the joint shell is also filled with a thermal interface material.
  • the joint housing includes a first shaft section with an equal diameter and a second shaft section starting from one side of the first shaft section and gradually decreasing in diameter;
  • the accommodating groove includes a straight section opened on the first shaft section and a bent section opened on the second shaft section;
  • the uniform temperature heat pipe has a bent structure corresponding to the shape of the accommodating groove.
  • the accommodating groove and the heat equalizing tube are arranged on the outer surface of the joint shell in a spiral structure or an annular structure.
  • the uniform temperature heat pipe is welded and fixed in the accommodating groove.
  • At least one positioning hole is provided on the joint shell and the heat dissipation rib member, so as to achieve position limitation and/or fixation by screws or positioning pins.
  • a bionic robot includes the aforementioned active heat dissipation joint.
  • the beneficial effects that can be obtained include at least:
  • the active heat dissipation joint of the embodiment of the present invention can transfer the heat of the heat source to the joint shell by means of the thermoelectric refrigeration unit, and transfer the heat of the thermoelectric refrigeration unit to each area of the joint quickly and evenly by using the uniform temperature heat pipe, which is absorbed by the joint, and The radiating ribs of the radiating rib component dissipate heat.
  • the active heat dissipation joint can continuously cool the heat source such as the joint power component, and can effectively reduce the transient temperature rise of the heat source.
  • the active heat dissipation joint provided by the embodiment of the present invention not only has a compact overall structure design, a small footprint, and high cooling efficiency. The structure has small changes to the overall structure of the existing joints, and has strong applicability.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a joint housing according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a three-dimensional structure of a heat dissipation rib member according to an embodiment of the present invention.
  • FIG. 3 is a schematic cross-sectional structure diagram of an active heat dissipation joint according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a three-dimensional structure of an active heat dissipation joint according to an embodiment of the present invention.
  • connection herein can not only refer to a direct connection, but also an indirect connection in which an intermediate exists.
  • the present invention aims to provide an active heat dissipation joint and a bionic robot including the heat dissipation joint.
  • the embodiment of the present invention proposes a new type of thermal management scheme based on the dynamic joint structure of a humanoid robot. Even in a small space, it can give full play to the heat dissipation performance.
  • the present invention innovatively proposes the use of a semiconductor thermoelectric refrigeration unit, combined with an ultra-high heat conduction uniform temperature heat pipe and a reinforced radiating rib set outside the joint to provide a low temperature environment far below room temperature for the joint power components Therefore, the active heat dissipation joint of the present invention is small in size, high in reliability, does not require redundant equipment, and has an obvious instant cooling effect.
  • the embodiment of the present invention provides an active heat dissipation joint (hereinafter referred to as a joint) of a humanoid robot.
  • the joint includes a joint housing 1, a thermoelectric set between the heat source and the joint housing 1.
  • the refrigerating unit 4 the uniform temperature heat pipe 3 laid on the outer surface of the joint housing 1, and the heat dissipation rib member 2 sleeved on the outer surface of the joint housing 1.
  • the interior of the joint housing 1 is used to contain a heat source, which can generally be a power component, a moving or transmission component, and a large amount of heat is generated inside the joint housing 1 due to energy conversion, such as electric discharge, friction, and the like.
  • the active heat dissipation joint of the embodiment of the present invention can continuously cool the power component side of the joint by means of the thermoelectric refrigeration unit 4, and transfer the heat generated by the heat source to the joint housing 1, and the heat at the hot end of the thermoelectric refrigeration unit is quickly and uniformly distributed by the uniform temperature heat pipe.
  • the ground is transmitted to each area of the joint, and further heat is dissipated through joint absorption and the heat dissipation ribs of the heat dissipation rib member.
  • the active heat dissipation joint can continuously cool the heat source such as the joint power component, and can effectively reduce the transient temperature rise of the heat source.
  • the invention utilizes a combination of a thermoelectric refrigeration unit, a high thermal conductivity heat pipe and a heat dissipation rib member arranged outside the joint for heat dissipation.
  • the thermal conductivity of the uniform temperature heat pipe is as high as 5000W/(m*k), which can instantly transfer the heat of the joint shell to all parts of the joint structure, and the strengthened heat dissipation rib structure can quickly dissipate the heat transferred from the uniform temperature heat pipe out.
  • FIG. 1 is a three-dimensional structure diagram of the joint housing 1.
  • the inside of the joint housing 1 is a hollow chamber, which is mainly used as a fixed housing for its internal components together with the joint housing tail flange 6 (as shown in Figures 3 and 4).
  • the internal components can be a heat source, and the heat source can be It is the power unit 5 (or power component), such as a motor, and can also be other heating structures.
  • the joint housing 1 is used to be sleeved outside the heat source.
  • the outer side of the joint housing 1 has at least one accommodating groove 12 and a supporting mechanism on the side of the accommodating groove 1, and the accommodating groove 12 is used for installing the uniform temperature heat pipe 3.
  • a plurality of accommodating grooves 12 are evenly distributed on the outer surface of the joint housing 1 along a straight line.
  • the body structure of the joint housing 1 can be seen as a supporting structure 11 and the accommodating groove 12 staggered and spaced in the ring direction, and the supporting structure 11 between the accommodating grooves 12 plays a role in enhancing the structural strength of the joint housing.
  • the heat source is a power component or a power unit as an example.
  • the thermoelectric refrigeration unit 4 is provided in the joint housing 1, specifically, between the power unit 5 and the joint housing 1. .
  • the thermoelectric refrigeration unit 4 may include a cold end and a hot end, the cold end is configured to be in direct contact with the power unit 5, and the hot end is in direct contact with the inner surface of the joint housing 1.
  • the thermoelectric refrigeration unit 4 may be a ring-shaped semiconductor thermoelectric refrigeration unit, such as a semiconductor thermoelectric refrigeration sheet.
  • the semiconductor thermoelectric refrigeration unit matches the shape of the power unit, and its cross section can be circular or square.
  • the power unit such as a motor
  • the semiconductor thermoelectric refrigeration unit has a ring-shaped sleeve structure to completely cover the power unit; the same is true when the power unit is a square motor.
  • the height of the semiconductor thermoelectric refrigeration unit is not less than the axial height of the power unit to completely cover the power unit and enhance the cooling and heat absorption effect.
  • the cold end of the thermoelectric refrigeration unit is used to continuously cool the power unit and transfer heat to the hot end.
  • the hot end transfers heat to the joint shell.
  • the heat is transferred to the various areas of the joints. From the perspective of heat transfer, since the volume and weight of the joint shell are much larger than the joint power components, the heat generated by the power components and the thermoelectric refrigeration unit has little effect on the temperature rise of the entire joint system.
  • the semiconductor thermoelectric cooling sheet of the embodiment of the present invention utilizes the Peltier effect of semiconductor materials.
  • direct current passes through a galvanic couple formed by two different semiconductor materials in series, the two ends of the galvanic couple can absorb heat and release heat respectively. Can achieve the purpose of refrigeration.
  • the cold end temperature of semiconductor thermoelectric cooling fins can reach below zero, far below room temperature.
  • This cooling method has a significant effect, which can be equivalently regarded as joint power components continuously in contact with the sub-zero environment. When applied to the dynamic joints of a biomimetic robot, it can effectively reduce the transient temperature rise of the power components, and significantly improve the high explosive torque performance of the power components and their joints.
  • FIG. 2 is a three-dimensional structural view of the heat dissipation rib member 2.
  • the heat dissipation rib member 2 is fixed on the outer surface of the joint housing 1, and the outer surface of the heat dissipation rib member 2 has at least one protruding heat dissipation rib 22 (also referred to as a heat dissipation rib).
  • the heat dissipation rib member 2 may include a cylindrical sleeve portion 21 and a plurality of heat dissipation ribs 22 protruding from the sleeve portion 21 and uniformly distributed. Or curve extension.
  • the heat dissipation rib 22 of the heat dissipation rib member 2 in the embodiment of the present invention uses a convex structure to increase the convective heat dissipation area of the joint and strengthen the convective heat dissipation capacity of the joint. At the same time, the heat dissipation ribs 22 have the effect of strengthening the structural strength, which can make the design of the joint structure lighter.
  • a single heat dissipation rib is a convex strip along the axial direction, and the heat dissipation ribs 22 are evenly distributed circumferentially at intervals.
  • the heat dissipation rib 22 extends along a curve on the outer peripheral surface of the sleeve portion 21, it may be at least one ring or spiral protrusion.
  • the joint housing 1 and the heat dissipation rib member 2 are provided with at least one positioning hole to realize the positioning and/or fixation by the stop stop device, and the stop stop device may adopt a positioning pin or a screw.
  • the support structure 11 of the joint housing 1 is provided with a plurality of uniformly distributed inner matching positioning holes 13
  • the heat dissipation rib member 2 is provided with a plurality of uniformly distributed outer matching positioning holes 23.
  • the spatial position and quantity of the two Correspondence is the same, used for connection and fixation.
  • the joint housing 1 and the heat dissipation rib member 2 adopt a split structure, and the joint housing 1 and the heat dissipation rib member 2 can also be arranged as an integral structure, that is, the outer side of the joint housing 1 is provided with a plurality of staggered containers.
  • Set groove 12 and heat dissipation rib 22 are provided.
  • the heat dissipation rib member 2 is a cylindrical sleeve structure closely attached to and fixed on the outer surface of the joint housing 1, and its cross-section is a completely closed circular ring, that is, an integral structure.
  • the heat dissipation rib member 2 can also be an arc-shaped bent piece structure, and its cross-section is a segment of arc or fan ring, and one or more arc-shaped bent pieces can be attached to the outer side of the joint housing 1. Department, that is, the combined structure.
  • the optimal axial height of the thermoelectric refrigeration unit is equal to the height of the joint power component, so as to completely cover the outer surface of the joint power component and ensure the cooling effect.
  • thermal interface materials can be used to fill gaps between the mating surfaces of each component for heat transfer to exhaust air, reduce the impact of slow heat transfer efficiency caused by air gaps, and enhance the heat transfer performance between joint structural parts. Facilitate the rapid transfer of system heat to the joints.
  • the thermal interface material can be silica gel, silicone grease, heat dissipation gasket, phase change material, phase change metal material (sheet) or thermal conductive glue, etc.
  • the phase change metal material can be pure indium sheet, indium/silver, tin/silver/copper, indium/tin/bismuth, etc.
  • the mating surface includes at least the contact surface between the cold end of the thermoelectric refrigeration unit and the joint power component, the contact surface between the hot end of the thermoelectric refrigeration unit and the inner surface of the joint housing, the contact surface between the outer surface of the joint housing and the inner surface of the heat dissipation rib member, etc. .
  • thermoelectric refrigeration unit 4 the uniform temperature heat pipe 3, the heat dissipation rib member 2, and the phase change metal material of the embodiment of the present invention can form an active heat dissipation system of the power joint.
  • the active heat dissipation system of the embodiment of the present invention can be nested on the basis of the existing joint power components and the structure of integrated joints.
  • the semiconductor thermoelectric refrigeration unit is used to continuously cool the power component side of the joint, and the heat generated by the system is transferred to each area of the joint through the uniform temperature heat pipe, and the heat is dissipated through the joint absorption and external strengthening heat dissipation ribs.
  • the accommodating groove and the uniform temperature heat pipe of the joint housing of the embodiment of the present invention can be arranged in a variety of ways, such as a straight line along the axial direction, a curved or spiral arrangement along the circumferential direction.
  • the uniform temperature heat pipe 3 can be fixed in the containing groove 12 of the joint housing 1 by soldering.
  • the embodiment of the present invention utilizes the high heat conduction performance of the uniform temperature heat pipe to quickly and uniformly transfer the heat of the hot end of the thermoelectric refrigeration unit to each area of the joint shell.
  • the joint housing 1 includes a first shaft section with an equal diameter and a second shaft section with a tapered shape starting from one side of the first shaft section and gradually decreasing in diameter.
  • the accommodating groove 12 includes a straight section opened in the first shaft section and along its axial direction and a bent section opened in the second shaft section;
  • the uniform temperature heat pipe 3 is a 3D bending structure corresponding to the shape of the accommodating groove 12, Through the high thermal conductivity of the uniform temperature heat pipe 3, the heat of the joint power components is transferred to the joint shell to the greatest extent.
  • the accommodating groove 12 and the uniform temperature heat pipe 3 are arranged on the outer surface of the joint housing 1 in a spiral structure or an annular structure, and the accommodating groove 12 corresponds to the shape of the uniform temperature heat pipe 3 .
  • a bionic robot which includes the aforementioned active heat dissipation joint or active heat dissipation system.
  • the aforementioned active heat dissipation system is applied to the power joints of a bionic robot, the transient temperature rise of the power components can be effectively reduced, and the high explosive torque performance of the power components and their joints can be significantly improved.
  • the active heat dissipating joint in the embodiment of the present invention uses miniature refrigeration equipment such as semiconductor thermoelectric refrigeration units to create a low-temperature area for the joint's heat source side for continuous cooling.
  • miniature refrigeration equipment such as semiconductor thermoelectric refrigeration units to create a low-temperature area for the joint's heat source side for continuous cooling.
  • the heat of the system is transferred to all parts of the joint system, and is dissipated through the heat dissipation ribs on the side of the joint shell.
  • the mass of the joint is much greater than that of the joint power components.
  • the uniform temperature heat pipe transfers the heat of the system to the joints, which has a much lower impact on the temperature rise of the joints than the motors.
  • the joints can absorb more heat transferred from the joint power components.
  • the active heat dissipation joint of the embodiment of the present invention adopts a nested structure design, which is divided into parts, which facilitates the implementation of a heat dissipation solution in a narrow space.
  • a nested structure design which is divided into parts, which facilitates the implementation of a heat dissipation solution in a narrow space.
  • the active heat dissipation joints and active heat dissipation system schemes of the embodiments of the present invention are not limited to joint motors and their integrated joint structures. In this field, similar schemes are generally used. All can be regarded as a derivative of the patent of the present invention.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种主动散热关节及包含该散热关节的仿生机器人。关节包括关节外壳(1)，关节外壳(1)用于套置在发热源的外部，关节外壳(1)的外侧面具有容置槽(12)和在容置槽(12)侧部的支撑机构，关节还包括：套置在关节外壳(1)的内壁与发热源之间的热电制冷单元(4)，热电制冷单元(4)包括冷端和热端，冷端被配置成与发热源直接接触，热端与关节外壳(1)的内侧面直接接触；固定在关节外壳(1)的容置槽(12)内的均温热管(3)；固定在关节外壳(1)外侧面上的散热筋构件(2)，散热筋构件(2)的外侧面上具有至少一个凸出的散热筋(22)；其中，热电制冷单元(4)的冷端用于为发热源进行持续性的冷却，并将热量传递到热端，热端将热量传递给关节外壳(1)，通过关节吸收、以及散热筋构件(2)的散热筋(22)进行散热。提供了一种具有整体结构设计紧凑、冷却效率高的主动散热关节及包含该散热关节的仿生机器人。

Description

主动散热关节及包含该散热关节的仿生机器人 技术领域
本发明涉及仿生机器人领域，尤其涉及一种主动散热关节及包含该散热关节的仿生机器人。
背景技术
机器人动力关节作为机器人的动力单元，是整个系统的核心单元。仿人机器人模拟人类的走、跑、跳等运动模式，要求动力关节具有瞬时高爆发力、高转矩密度输出。动力关节长时间高负荷工作，必然会产生巨大的能量，且关节动力部件安装空间狭小，通风散热条件差，热量不能及时散出，造成关节动力部件瞬时发热严重。长久如此，会影响关节动力部件及关节的使用寿命，极限工况可能会导致关节的不可逆故障。
之前对于工业机器人来说，动力关节设计，对小型化、轻量化的要求不高，动力关节的发热量仍能满足使用需求，所以通常没有对关节的冷却做特殊处理，仅依靠动力关节的自然散热。但目前，随着仿人机器人的发展，对动力关节小型化、轻量化、高能量密度的要求越来越高，动力关节的发热问题就凸显了出来。现有机器人的散热结构设置，已经无法满足仿人机器人对动力关节轻量化、小型化以及高爆发力、高转矩密度输出的要求。由此，对关节高能量密度的追求，必然需要以解决关节的散热问题为前提才能实现。
现有关节设计对关节的散热问题未给予足够的重视，大都是通过自然冷却的方式来进行散热，散热效率相对低效。对于对小型化、轻量化的要求不高的动力关节设计，自然冷却的散热方式能满足使用需求。但对一些对轻量化、小型化要求高的高端机器人，现有动力关节的散热方式已不能满足需求。
也有少数仿生机器人在动力关节外额外增加一套冷却系统，如冷却风扇和冷却腔体，但冷却风扇需要单独的电机提供动力，冷却腔体也需要供电，系统复杂，且该设计方案不能直接对电机冷却，因此散热效果并不显著。
因此设计一种整体结构设计紧凑，占用空间体积小，冷却效率高的散热结构，是一个亟待解决的问题。
发明内容
鉴于此，本发明实施例提供了一种主动散热关节及包含该散热关节的仿生机器人，以消除或改善现有技术中存在的一个或更多个缺陷。
本发明的技术方案如下：
一种仿人机器人的主动散热关节，所述关节包括关节外壳，关节外壳用于套置在发热源的外部，所述关节外壳的外侧面具有容置槽和在容置槽侧部的支撑机构，所述关节还包括：套置在所述关节外壳的内壁与所述发热源之间的热电制冷单元，所述热电制冷单元包括冷端和热端，冷端被配置成与所述发热源直接接触，所述热端与所述关节外壳的内侧面直接接触；固定在所述关节外壳的容置槽内的均温热管；固定在所述关节外壳外侧面上的散热筋构件，所述散热筋构件的外侧面上具有至少一个凸出的散热筋。其中，所述热电制冷单元的冷端用于为所述发热源进行持续性的冷却，并将热量传递到所述热端，所述热端将热量传递给关节外壳。
在一些实施例中，所述发热源为动力单元，所述热电制冷单元为半导体热电制冷单元。
在一些实施例中，所述热电制冷单元与所述动力单元的接触面、所述热电制冷单元与所述关节外壳内侧面的接触面填充有热界面材料。
在一些实施例中，所述半导体热电制冷单元与所述动力单元的外形轮廓相匹配，其截面为圆环型或方环型。
在一些实施例中，所述半导体热电制冷单元的高度等于所述动力单元的轴向高度。
在一些实施例中，所述散热筋构件为紧贴并固定在所述关节外壳外侧面的圆筒形的套筒结构或弧形弯片结构。
在一些实施例中，所述散热筋构件包括圆筒形的套筒部和多个从所述套筒部上凸出且均布的散热筋，所述散热筋在所述套筒部的外周面沿直线或曲线延伸。
在一些实施例中，所述散热筋构件与所述关节外壳的接触面也填充有热界面材料。
在一些实施例中，所述关节外壳包括等径的第一轴段以及从第一轴段一侧起始且直径逐渐缩小的第二轴段；
所述容置槽包括开设在所述第一轴段的直线段和开设在所述第二轴段的弯折段；
所述均温热管为与所述容置槽形状对应的弯折结构。
在一些实施例中，所述容置槽与所述均温热管以螺旋结构或环形结构排布的方式设在所述关节外壳的外侧面上。
在一些实施例中，所述均温热管焊接固定在所述容置槽内。
在一些实施例中，所述关节外壳以及散热筋构件上具有至少一个定位孔，以通过螺钉或定位销实现限位和/或固定。
一种仿生机器人，包括前述的主动散热关节。
根据本发明实施例的主动散热关节及包含该散热关节的仿生机器人，可获得的有益效果至少包括：
本发明实施例的主动散热关节可借助热电制冷单元将发热源的热量传递至关节外壳，并利用均温热管将热电制冷单元的热量迅速均匀地传递到关节的各区域，通过关节吸收、以及散热筋构件的散热筋进行散热。该主动散热关节可持续对诸如关节动力部件的发热源进行持续性的冷却，可有效降低发热源的暂态温升。本发明实施例提供的主动散热关节，不仅整体结构设计紧凑，占用空间体积小，而且冷却效率高。该结构对现有关节整体结构改动也较小，适用性强。
本发明的附加优点、目的，以及特征将在下面的描述中将部分地加以阐述，且将对于本领域普通技术人员在研究下文后部分地变得明显，或者可以根据本发明的实践而获知。本发明的目的和其它优点可以通过在书面说明及其权利要求书以及附图中具体指出的结构实现到并获得。
本领域技术人员将会理解的是，能够用本发明实现的目的和优点不限于以上具体所述，并且根据以下详细说明将更清楚地理解本发明能够实现的上述和其他目的。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，并不构成对本发明的限定。附图中的部件不是成比例绘制的，而只是为了示出本发明的原理。为了便于示出和描述本发明的一些部分，附图中对应部分可能被放大，即，相对于依据本发明实际制造的示例性装置中的其它部件可能变得更大。在附图中：
图1为本发明一实施例的关节外壳的立体结构示意图。
图2为本发明一实施例的散热筋构件的立体结构示意图。
图3为本发明一实施例的主动散热关节的剖面结构示意图。
图4为本发明一实施例的主动散热关节的立体结构示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，下面结合实施方式和附图，对本 发明做进一步详细说明。在此，本发明的示意性实施方式及其说明用于解释本发明，但并不作为对本发明的限定。
在此，还需要说明的是，为了避免因不必要的细节而模糊了本发明，在附图中仅仅示出了与根据本发明的方案密切相关的结构和/或处理步骤，而省略了与本发明关系不大的其他细节。
应该强调，术语“包括/包含”在本文使用时指特征、要素、步骤或组件的存在，但并不排除一个或更多个其它特征、要素、步骤或组件的存在或附加。
在此，还需要说明的是，如果没有特殊说明，术语“连接”在本文不仅可以指直接连接，也可以表示存在中间物的间接连接。
在下文中，将参考附图描述本发明的实施例。在附图中，相同的附图标记代表相同或类似的部件，或者相同或类似的步骤。
本发明旨在提出一种主动散热关节及包含该散热关节的仿生机器人，本发明实施例基于仿人机器人动力关节结构，提出一种新型的热管理方案，通过嵌套式安装结构，在关节类狭小空间，也能充分发挥散热性能。本发明从仿人机器人的关节结构出发，创新性的提出利用半导体热电制冷单元，搭配超高导热均温热管以及关节外部设置的加强散热筋，为关节动力部件提供远低于室温的低温环境，本发明的主动散热关节体积小，可靠性高，不需冗余的设备，且瞬时冷却效果明显。
如图1-图4所示，本发明实施例提供了一种仿人机器人的主动散热关节(以下可简称为关节)，关节包括关节外壳1、设置在发热源和关节外壳1之间的热电制冷单元4、敷设在关节外壳1的外侧面的均温热管3以及套设在关节外壳1的外侧面的散热筋构件2。关节外壳1的内部用于容纳发热源，发热源一般可为动力部件、运动或传动的部件，其内部由于能量转化，如放电、摩擦等产生大量热量。
本发明实施例的主动散热关节可借助热电制冷单元4为关节动力部件侧持续冷却，并将发热源产生的热量传递至关节外壳1，并利用均温热管将热电制冷单元热端的热量迅速均匀地传递到关节的各区域，进一步通过关节吸收、以及散热筋构件的散热筋进行散热。该主动散热关节可持续对诸如关节动力部件的发热源进行持续性的冷却，可有效降低发热源的暂态温升。
现有技术中存在利用相变材料进行散热的方式，但采用的相变材料热导率极低，仅1W/(m*k)，瞬时传热效果差，不能快速有效的将电机的热量传出，影响整体热管理方案的工作效率。本发明利用热电制冷单元、高导热均温热管以及关节外部设置的散热筋构件 组合进行散热。均温热管热导率高达5000W/(m*k)，能够将关节外壳的热量瞬间传递到关节结构的各处，利用加强散热筋结构，可以快速地将均温热管传递过来的热量散出。
在一实施例中，图1为关节外壳1的立体结构图。关节外壳1的内部为中空腔室，主要用于与关节外壳尾法兰6(如图3和图4所示)一起作为其内部部件的固定壳体，内部部件可以是发热源，发热源可以是动力单元5(或动力部件)，如电机，也可为其他发热结构。关节外壳1用于套置在发热源的外部，关节外壳1外侧面具有至少一个容置槽12和在容置槽1侧部的支撑机构，容置槽12用于安装均温热管3。可选地，多个容置槽12沿直线均匀分布在关节外壳1的外侧面。关节外壳1的本体结构在环向上可以看成支撑结构11和容置槽12交错间隔分布，容置槽12之间的支撑结构11起到加强关节外壳结构强度的作用。
在一实施例中，如图3所示，发热源以动力部件或动力单元为例，热电制冷单元4设在关节外壳1内，具体而言，是设在动力单元5与关节外壳1之间。热电制冷单元4可包括冷端和热端，冷端被配置成与动力单元5直接接触，热端与关节外壳1的内侧面直接接触。
在该实施例中，热电制冷单元4可为环型的半导体热电制冷单元，例如半导体热电制冷片。此外，半导体热电制冷单元与动力单元的外形轮廓相匹配，其截面可为圆环型或方环型。动力单元(如电机)整体呈为圆柱体时，半导体热电制冷单元为的圆环型的套筒结构，以完全包覆动力单元；动力单元为方形电机时同理。此外，半导体热电制冷单元的高度不小于动力单元的轴向高度，以完全包覆动力单元，强化冷却吸热效果。
在上述实施例中，热电制冷单元的冷端用于为动力单元进行持续性的冷却，并将热量传递到热端，热端将热量传递给关节外壳，均温热管将热电制冷单元热端的热量传递到关节的各区域。从传热学角度考虑，由于关节外壳的体积、重量相比关节动力部件要大得多，所以动力部件及热电制冷单元产生的热量对整个关节系统的温升影响较小。
本发明实施例的半导体热电制冷片，是利用半导体材料的珀耳帖效应，当直流电通过两种不同半导体材料串联成的电偶时，在电偶的两端即可分别吸收热量和放出热量，可以实现制冷的目的。半导体热电制冷片的冷端温度可达零下，远低于室温，此种冷却方式效果显著，可等效看成是关节动力部件持续与零度以下的环境接触。应用在仿生机器人的动力关节时，可有效降低动力部件的暂态温升，显著提升动力部件及其关节的高爆发转矩性能。
在一实施例中，图2为散热筋构件2的立体结构图。散热筋构件2固定在关节外壳1 的外侧面上，散热筋构件2的外侧面上具有至少一个凸出的散热筋22(也可称为散热加强筋)。进一步地，散热筋构件2可包括圆筒形的套筒部21和多个从套筒部21上凸出且均布的散热筋22，散热筋22可在套筒部21的外周面沿直线或曲线延伸。本发明实施例散热筋构件2的散热筋22利用凸起结构，增大关节的对流散热面积，强化关节对流散热能力。同时，散热筋22具有加强结构强度的效果，可使关节结构设计轻质化。
在上述实施例中，散热筋22在套筒部21的外周面沿直线延伸时，单个的散热筋呈沿轴向的凸条，各散热筋22间隔地周向均布。散热筋22在套筒部21的外周面沿曲线延伸时，可为至少一圈的环形或螺旋形凸起。
在上述实施例中，关节外壳1以及散热筋构件2上具有至少一个定位孔，以通过止口限位装置实现限位和/或固定，止口限位装置可采用定位销或螺钉。具体地，在关节外壳1的支撑结构11上设有多个均布的内配合定位孔13，在散热筋构件2上设有多个均布的外配合定位孔23，两者空间位置、数量对应一致，用于连接固定。
在上述实施例中，关节外壳1以及散热筋构件2采用分体式构造，关节外壳1以及散热筋构件2也可设置为一体式构造，即关节外壳1的外侧面设有多个交错布置的容置槽12和散热筋22。
在上述实施例中，散热筋构件2为紧贴并固定在关节外壳1外侧面的圆筒形的套筒结构，其截面为完整封闭的圆环形，即整体式结构。在另一实施例中，散热筋构件2也可为弧形弯片结构，其截面为一段的弧形或扇环形，可采用一个或多个弧形弯片贴设在关节外壳1的外侧面处，即组合式结构。
在本发明实施例中，热电制冷单元的轴向最佳高度与关节动力部件等高，以能完全包覆关节动力部件的外侧面，确保冷却效果。进一步地，各个部件进行热传递的配合面之间可采用热界面材料填隙，以排出空气、减少因空气隙造成的传热效率慢的影响，用于增强关节结构件之间的热传导性能，方便系统热量迅速传递到关节各处。
热界面材料可以采用硅胶、硅脂、散热垫片、相变化材料、相变化金属材料(片)或导热胶等。相变化金属材料可采用纯铟片、铟/银、锡/银/铜、铟/锡/铋等。配合面至少包括热电制冷单元的冷端与关节动力部件的接触面、热电制冷单元的热端与关节外壳的内侧面的接触面、关节外壳的外侧面与散热筋构件的内侧面的接触面等。
本发明实施例的热电制冷单元4、均温热管3、散热筋构件2以及相变化金属材料等可组成动力关节的主动散热系统。在仿生机器人或其他机器人、机电一体化设备领域，可在现有关节动力部件及其一体化关节的结构基础上，嵌套本发明实施例的主动散热系统。 通过半导体热电制冷单元为关节动力部件侧持续冷却，系统产生的热量则通过均温热管传递到关节各区域，通过关节吸收、以及外置加强散热筋进行散热。
本发明实施例的关节外壳的容置槽以及均温热管布置方式可有多种，如沿其轴向的直线方式，也可为沿其周向的曲线方式或螺旋布置方式。均温热管3可通过锡焊方式固定在关节外壳1的容置槽12内。本发明实施例利用均温热管的高热传导性能，将热电制冷单元热端的热量迅速均匀地传递到关节外壳的各区域。
在一实施例中，如图1-图4所示，关节外壳1包括等径的第一轴段以及从第一轴段一侧起始且直径逐渐缩小的呈锥形的第二轴段。容置槽12包括开设在第一轴段且沿其轴向的直线段和开设在第二轴段的弯折段；均温热管3为与容置槽12形状对应的3D弯折结构，通过均温热管3的高热传导性，最大程度的将关节动力部件的热量传递到关节外壳上。
在另一实施例中，容置槽12与均温热管3以螺旋结构或环形结构排布的方式设在关节外壳1的外侧面上，容置槽12与均温热管3的形状对应。
根据本发明的另一方面，也提供了一种仿生机器人，包括前述的主动散热关节或主动散热系统。将前述的主动散热系统应用在仿生机器人的动力关节时，可有效降低动力部件的暂态温升，显著提升动力部件及其关节的高爆发转矩性能。
本发明实施例的主动散热关节利用半导体热电制冷单元等微型制冷设备，为关节发热源侧制造低温区，进行持续性的冷却。利用3D超高导热均温热管的高热传导性，将系统的热量传递到关节系统的各处，通过关节外壳侧的散热筋散出。同时，关节的质量远大于关节动力部件，均温热管将系统的热量传递到关节，对关节温升的影响远低于电机，关节可以吸收更多从关节动力部件侧传过来的热量。
本发明实施例的主动散热关节采用嵌套式结构设计，化整为零，方便在狭小空间处实施散热解决方案。结合仿人关节结构设计特点，在关节内嵌套主动散热系统，整体结构设计紧凑，占用空间体积小，冷却效率高，对现有关节整体结构改动小，适用性强，方便在关节结构中植入。
如上述所述实施方案为本发明的较佳实施例，本发明实施例的主动散热关节及主动散热系统方案不仅限于关节电机及其一体化关节结构，在该领域，凡是采用相似方案的技术实施均可视为本发明专利的衍生。
本发明中，针对一个实施方式描述和/或例示的特征，可以在一个或更多个其它实施方式中以相同方式或以类似方式使用，和/或与其他实施方式的特征相结合或代替其他实 施方式的特征。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明实施例可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种仿人机器人的主动散热关节，所述关节包括关节外壳，关节外壳用于套置在发热源的外部，其特征在于，所述关节外壳的外侧面具有容置槽和在容置槽侧部的支撑机构，所述关节还包括：
    套置在所述关节外壳的内壁与所述发热源之间的热电制冷单元，所述热电制冷单元包括冷端和热端，冷端被配置成与所述发热源直接接触，所述热端与所述关节外壳的内侧面接触；
    固定在所述关节外壳的容置槽内的均温热管；
    固定在所述关节外壳外侧面的散热筋构件，所述散热筋构件的外侧面具有至少一个凸出的散热筋；
    其中，所述热电制冷单元的冷端用于为所述发热源进行持续性的冷却，并将热量传递到所述热端，所述热端将热量传递给关节外壳。
  2. 根据权利要求1所述的仿人机器人的主动散热关节，其特征在于，所述发热源为动力单元，所述热电制冷单元为半导体热电制冷单元；
    所述热电制冷单元与所述动力单元的接触面、所述热电制冷单元与所述关节外壳内侧面的接触面填充有热界面材料。
  3. 根据权利要求2所述的仿人机器人的主动散热关节，其特征在于，所述半导体热电制冷单元与所述动力单元的外形轮廓相匹配，其截面为圆环型或方环型；
    所述半导体热电制冷单元的高度等于所述动力单元的轴向高度。
  4. 根据权利要求1所述的仿人机器人的主动散热关节，其特征在于，所述散热筋构件为紧贴并固定在所述关节外壳外侧面的圆筒形的套筒结构或弧形弯片结构。
  5. 根据权利要求1所述的仿人机器人的主动散热关节，其特征在于，所述散热筋构件包括圆筒形的套筒部和多个从所述套筒部上凸出且均布的散热筋，所述散热筋在所述套筒部的外周面沿直线或曲线延伸；
    所述散热筋构件与所述关节外壳的接触面也填充有热界面材料。
  6. 根据权利要求1所述的仿人机器人的主动散热关节，其特征在于，所述关节外壳包括等径的第一轴段以及从第一轴段一侧起始且直径逐渐缩小的第二轴段；
    所述容置槽包括开设在所述第一轴段的直线段和开设在所述第二轴段的弯折段；
    所述均温热管为与所述容置槽形状对应的弯折结构。
  7. 根据权利要求1所述的仿人机器人的主动散热关节，其特征在于，所述容置槽与所述均温热管以螺旋结构或环形结构排布的方式设在所述关节外壳的外侧面上。
  8. 根据权利要求7所述的仿人机器人的主动散热关节，其特征在于，所述均温热管焊接固定在所述容置槽内。
  9. 根据权利要求1所述的仿人机器人的主动散热关节，其特征在于，所述关节外壳以及散热筋构件上具有至少一个定位孔，以通过螺钉或定位销实现限位和/或固定。
  10. 一种仿生机器人，包括权利要求1至9中任一项所述的主动散热关节。
PCT/CN2020/100902 2020-04-30 2020-07-08 主动散热关节及包含该散热关节的仿生机器人 WO2021217881A1 (zh)

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