Patent Description:
This application relates to robotic systems, and in particular, to multi-path cooling for robotic arms, as well as related systems and methods.

Robotic systems, including robotic arms, may be used to perform various tasks, and are particularly common in automation. Robotic arms typically comprise a plurality of links connected by one or more joints. The one or more joints are driven by various types of actuators (e.g., electric motors, hydraulics, etc.) to control articulation of the robotic arm to position an end effector that is configured to perform a task.

Robotic systems often include heat generating components. For example, electrical components associated with driving the actuators of the robotic arm and various controllers of the robotic systems (e.g., processor boards for the robotic arm(s)) or other components can generate heat. Managing the heat generated by these components to adequately provide cooling for robotic systems may pose challenges in some instances.

The User's Guide for the Adept eCobra <NUM>/<NUM> Robot (P/N: <NUM>-<NUM>, Rev A; March <NUM>) discloses a robotic system and a method for dissipating heat in a robotic system.

This application describes multi-path cooling systems and methods for robotic arms. The multi-path cooling arrangements described herein can be configured to dissipate heat from heat generating components positioned within a base of a robotic arm. The heat generating components can be mounted on a thermally conductive bracket. A first portion of the bracket can be attached to a first portion of the base to form a first thermally conductive path for dissipating heat from the heat generating components. The first thermally conductive path can conduct heat from the heat generating component, through the bracket, to the first portion of the base. The first portion of the base can include a first heat sink. A second portion of the bracket can be in contact with a second portion of the base, for example, through a thermal pad, to form a second thermally conductive path. The second thermally conductive path can conduct heat from the heat generating component, through the bracket and the thermal pad, to the second portion of the base. The second portion of the base can include a second heat sink.

In one example described herein, a robotic system is disclosed. The robotic system includes a base supporting one or more articulating links. The base includes a front portion comprising a front wall and a rear portion removably attached to the front portion and comprising a back wall. The base also includes a bracket supporting a heat generating component. A first side of the bracket is attached to the back wall of the rear portion of the base to form a first thermally conductive path that, in use, dissipates heat from the heat generating component. The base also includes a thermal pad attached to a second side of the bracket. The thermal pad contacts the front wall of the base to form a second thermally conductive path that, in use, dissipates heat from the heat generating component.

In some embodiments, the robotic system can include one or more of the following features in any combination: (a) wherein the rear portion is removably connected to the front portion; (b) wherein the heat generating component comprises an amplifier; (c) wherein the amplifier is mounted on the bracket such that a longitudinal axis of the amplifier extends in a substantially horizontal direction; (d) wherein the front wall of the front portion comprises one or more fins configured to dissipate heat; (e) wherein the back wall of the rear portion comprises one or more fins configured to dissipate heat; (f) wherein the bracket comprises a first flange connected to the back wall of the rear portion, wherein the thermal pad is positioned on an outer surface of the first flange so as to contact the front wall of the front portion, a second flange, and a plate extending between the first flange and the second flange, wherein the heat generating component is mounted to the plate; (g) wherein the first flange and the second flange extend in a substantially vertical direction, and the plate extends in a substantially horizontal direction; (h) wherein the base is substantially watertight; and/or (i) wherein an integrated controller is positioned within the base, and wherein the integrated controller comprises the heat generating component.

In one example described herein, a robotic system is disclosed. The robotic system includes a heat generating component positioned within a base that supports one or more articulating links. The robotic system includes a bracket supporting the heat generating component, wherein the heat generating component is mounted on and directly contacts the bracket, and wherein the bracket is thermally conductive. The robotic system includes a first thermally conductive path configured to dissipate heat from the heat generating component. The first thermally conductive path comprises the bracket and a first heat sink connected to the bracket. The first heat sink is positioned on a first side of the base. The robotic system includes a second thermally conductive path configured to dissipate heat from the heat generating component. The second thermally conductive path comprises the bracket, a thermal pad positioned on the bracket, and a second heat sink positioned on a second side of the base. The thermal pad physically contacts the second heat sink.

In some embodiments, the robotic system can include one or more of the following features in any combination: (a) wherein the heat generating component comprises an amplifier; (b) wherein the amplifier is mounted on the bracket such that a longitudinal axis of the amplifier extends in a horizontal direction; (c) wherein the first heat sink is disposed on a first wall of the base, and the second heat sink is disposed on a second wall of the base, wherein the first and second wall are positioned on substantially opposite sides of the base; (d) wherein the bracket comprises a first flange connected to the first heat sink, a second flange, wherein the thermal pad is positioned on an outer surface of the first flange so as to contact the second heat sink, and a plate extending between the first flange and the second flange, wherein the heat generating component is mounted to the plate; and/or (e) wherein the first flange and the second flange extend in a substantially vertical direction, and the plate extends in a substantially horizontal direction.

In another example described herein, a method for dissipating heat in a robotic system is disclosed. The method includes mounting a heat generating component on a bracket within a base of a robotic arm, the bracket being thermally conductive; attaching the bracket to a first heat sink positioned on a first side of the base to form a first thermally conductive path configured to dissipate heat from the heat generating component; and contacting a thermal pad positioned on the bracket to a second heat sink positioned on a second side of the base to form a second thermally conductive path configured to dissipate heat from the heat generating component.

In some embodiments, the method can include one or more of the following features in any combination: (a) wherein contacting the thermal pad comprises attaching a rear portion of the housing to a front portion of the housing, wherein the first heat sink is disposed on the rear portion of the housing and the bracket is connected to the rear portion of the housing, and wherein the second heat sink is disposed on the front portion of the housing; (b) wherein the heat generating component comprises an amplifier, and wherein mounting the heat generating component on the bracket comprises mounting the amplifier on the bracket such that a longitudinal axis of the amplifier extends in a generally horizontal direction; (c) wherein the first heat sink comprises one of more fins formed on the first side of the base; and/or (d) wherein the second heat sink comprises one of more fins formed on the second side of the base.

The examples and features described in this section are intended only as a summary of the invention and should not be construed as limiting. Additional examples and features are described in more detail below.

The features and advantages of the multi-path cooling arrangements for robotic systems, as well as related systems and methods, described herein will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings. These drawings depict only several embodiments in accordance with the disclosure and are not to be considered limiting of its scope. In the drawings, similar reference numbers or symbols typically identify similar components, unless context dictates otherwise. The drawings may not be drawn to scale.

The features of the multi-path cooling arrangements for robotic systems, as well as related systems and methods, will now be described in detail with reference to certain embodiments illustrated in the figures. The illustrated embodiments described herein are provided by way of illustration and are not meant to be limiting. Other embodiments can be utilized, and other changes can be made, without departing from the spirit or scope of the subject matter presented. It will be readily understood that the aspects and features of the present disclosure described below and illustrated in the figures can be arranged, substituted, combined, and designed in a wide variety of different configurations by a person of ordinary skill in the art, all of which are made part of this disclosure.

<FIG> and <FIG> are isometric and side views, respectively, of an embodiment of a robotic system <NUM> that can include a multi-path cooling arrangement as described herein. Example, multi-path cooling arrangements are shown, for example, in <FIG>, which are described further below. In the illustrated embodiment of <FIG>, the robotic system <NUM> is configured as a robotic arm that includes a controller integrated within its base. In the illustrated embodiment, the robotic system <NUM> includes a base <NUM>, a first link <NUM>, a second link <NUM>, and an end effector <NUM>. The multi-path cooling arrangement described herein can also be used on other types of robotic arms and systems. The illustrated robotic system <NUM> is provided by way of example only.

The base <NUM> can be configured to support the other portions of the robotic system <NUM>, such as the first link <NUM>, the second link <NUM>, and the end effector <NUM>. As illustrated, the robotic arm is supported by and extends from the base <NUM>. In some embodiments, the base <NUM> includes an integrated controller for operating the robotic arm. In the illustrated embodiment, the first link <NUM> is connected to the base <NUM> by a first rotational joint <NUM>. The first rotational joint <NUM> allows the first link <NUM> to rotate or articulate relative to the base <NUM>. In the illustrated embodiment, the first link <NUM> rotates relative to the base <NUM> about a first axis of rotation <NUM>. In general, rotation of the first link <NUM> relative to the base <NUM> may be controlled through the execution of one or more sequences of instructions (i.e., software) and/or by customized hardware (e.g., application-specific integrated circuit(s), field-programmable gate array(s), etc.).

One or more motors (not illustrated) can be used to drive rotation or articulation of the first rotational joint <NUM>. The one or more motors can be, for example, electric motors. The motors can be positioned in the base <NUM> and/or the first link <NUM>. The one or more motors can be connected to one or more amplifiers <NUM> (see <FIG> and <FIG>) that are configured to drive the one or more motors. The amplifiers <NUM> can be controlled, for example, by a motor controller. As will be described more fully below, the amplifiers <NUM> can be positioned within the base <NUM>. The amplifiers <NUM> may generate heat that may need to be dissipated for sustained use of the robotic system <NUM>. The multi-path cooling arrangements described below can be used to dissipate the heat generated by the amplifiers <NUM>, for example. The multi-path cooling arrangements can also be configured to dissipate heat generated by other components of the robotic system <NUM>, such as processors positioned within the base <NUM>, for example.

As shown in <FIG> and <FIG>, the second link <NUM> can be connected to the first link <NUM> by a second rotational joint <NUM>. The second rotational joint <NUM> allows the second link <NUM> to rotate or articulate relative to the first link <NUM>. In the illustrated embodiment, the second link <NUM> rotates relative to the first link <NUM> about a second axis of rotation <NUM>. Again, in general, rotation of the second link <NUM> relative to the first link <NUM> may be controlled or limited by software or customized hardware. One or more motors (not illustrated) can be used to drive rotation or articulation of the second rotational joint <NUM> as described above with reference to the first rotational joint <NUM>. Again, the one or more motors can be connected to one or more amplifiers <NUM>, which can be positioned within the base <NUM>. The multi-path cooling arrangements described below can be used to dissipate the heat generated by the amplifiers <NUM> associated with the motors of the second rotational joint <NUM> or other heat generating components within the base <NUM>.

In the illustrated embodiment, the base <NUM>, first link <NUM>, and second link <NUM> are arranged to form a selective compliance assembly robot arm (SCARA). The multi-path cooling arrangements described herein may be configured for use with SCARAs and may also be configured for use with other types of robotic arms (e.g., non-SCARA) and other robotic systems.

In the illustrated embodiment of <FIG>, the robotic system <NUM> includes an end effector <NUM>. In this embodiment, the end effector <NUM> is positionable by rotating or articulating the first and/or second links <NUM>, <NUM> about the first and/or second rotational axes <NUM>, <NUM>. The end effector <NUM> may be driven by one or more motors. The one or motors can be driven by amplifiers <NUM>, which can be positioned within the base <NUM>. The end effector <NUM> can be configured to perform various tasks as will be apparent to those of ordinary skill in the art.

The base <NUM> may house (e.g., partially or fully enclose) many of the electronic components of the robotic system <NUM>. In some embodiments, the base <NUM> houses an integrated controller. The integrated controller may comprise one or more components configured to control or allow control of the robotic arm. In some instances, it may be advantageous to include the integrated controller within the base <NUM>. For example, housing the integrated controller within the base <NUM> removes the need for a separate controller, which can simplify the robotic system <NUM>. At the same time, integrating the controller into the base <NUM> adds additional components to the base <NUM>. This causes the base <NUM> to be more full (less empty space) and generates more heat. The multi-path cooling arrangements described herein can address these challenges, allowing for the use of a controller integrated into the base <NUM>, while still sufficiently managing heat.

In some embodiments, the controller, which may comprise one or more processor boards, is mounted directly to the rear heat sink (e.g., the first heat sink <NUM> or the second heat sink <NUM>), displacing the amplifiers <NUM> to the position shown in <FIG> and <FIG> (e.g., on the bracket <NUM>). In this position, the amplifiers <NUM>, which generate heat, are not closely positioned to a heat sink. Thus, it may be difficult to dissipate heat from the amplifiers <NUM>. The multi-path cooling arrangements described herein can address this difficulty as discussed below. In another arrangement, the amplifiers <NUM> can be mounted directly to a heat sink (e.g., the first or second heat sinks <NUM>, <NUM>), displaying the controller to a position within the base that does not directly contact a heat sink. In this arrangement, the multi-path cooling arrangement described herein can be used to dissipate heat from the controller.

As mentioned above, the base <NUM> may house the integrated controller, the amplifiers <NUM>, and motor controllers associated with motion of the first link <NUM>, the second link <NUM>, and the end effector <NUM>. Other components can also be positioned within the base <NUM>. Often, these electronic components generate heat that must be dissipated in order to prevent the robotic system <NUM> from overheating. In many instances, it can be beneficial to position many of these heat generating components of the robotic system <NUM> within the base <NUM> because, for example, this may produce a space-efficient design, maximize the stability of the robotic system <NUM>, and/or simplify wiring of the robotic system <NUM>. However, grouping heat generating components within the base <NUM> may pose some challenges. For example, grouping heat generating components within the base <NUM> may increase the total amount of heat that needs to be dissipated, while minimizing the space with which do so. Further, in some embodiments, the base <NUM> may be water resistant, water tight, or tightly sealed such that natural convection of heat within or from the base <NUM> is limited. The multi-path cooling arrangements described herein may resolve or aid in resolving these challenges.

The cooling arrangements described herein are referred to as "multi-path" because, in some embodiments, heat generated by the heat generating components has more than one path (e.g., more than one thermally conductive path) by which it can be dissipated. As shown in <FIG> and <FIG>, for example, the base <NUM> can include a first heat sink <NUM> and a second heat sink <NUM>. A multi-path cooling arrangement can provide a first thermal path for dissipating heat to the first heat sink <NUM> and a second thermal path for dissipating heat to the second heat sink <NUM>.

In the illustrated embodiment, the first heat sink <NUM> is positioned on a rear side or portion <NUM> of the base <NUM>, and the second heat sink <NUM> is positioned on a front side or portion <NUM> of the base <NUM>. In this example, the rear side or portion <NUM> is opposite the front side or portion <NUM>. Other positions of the first heat sink <NUM> and the second heat sink <NUM> are also possible. For example, in some embodiments, the first heat sink <NUM> and the second heat sink <NUM> can be reversed such that the first heat sink <NUM> is positioned on the front side or portion <NUM> and the second heat sink <NUM> is positioned on the rear side or portion <NUM>. In some embodiments, the first heat sink <NUM> and the second heat sink <NUM> can be positioned on a right side or portion <NUM> and a left side or portion <NUM>, respectively (or vice versa). In some embodiments, one of the first heat sink <NUM> and the second heat sink <NUM> can be positioned on the rear side or portion <NUM> or the front side or portion <NUM> and the other of the first heat sink <NUM> and the second heat sink <NUM> can be positioned on the right side or portion <NUM> or the left side or portion <NUM>. In some embodiments, both the first heat sink <NUM> and the second heat sink <NUM> can be positioned on the same side or portion. In some embodiments, one or both of the first heat sink <NUM> and the second heat sink <NUM> can be positioned on a top side or portion <NUM> of the base <NUM>. Those of ordinary skill in the art will appreciate, upon consideration of this disclosure, that many possibilities exist at which the first heat sink <NUM> and the second heat sink <NUM> can be positioned.

The term "heat sink" is used broadly to denote any structure that is configured to dissipate heat. For example, in some embodiments, a heat sink comprises one or more fins <NUM> configured to provide surface areas for dissipating heat. Other structures for the heat sinks are also possible. In some embodiments, a heat sink can comprise a wall, such as a wall of the base <NUM>. In some embodiments, a heat sink is integrally formed with or attached to the base <NUM>.

<FIG> and <FIG> are cross-sectional views of a portion of the robotic system <NUM>. These figures illustrate an example multi-path cooling arrangement that includes paths to the first heat sink <NUM> and the second heat sink <NUM>. In the illustrated example, the multi-path cooling arrangement is configured to dissipate heat from one or more amplifiers <NUM> positioned within the base <NUM>. As mentioned above, the amplifiers <NUM> may be configured to drive one or more motors associated with rotation of the first rotational joint <NUM>, the second rotational joint <NUM>, and/or the end effector <NUM>. It will be appreciated that the multi-path cooling system may also be used to dissipate heat from other heat generating components, such as processors or controllers, for example.

As shown in <FIG> and <FIG>, the amplifiers <NUM> can be mounted on a bracket <NUM>. The amplifiers <NUM> can be mounted on the bracket <NUM> in a manner that allows thermal communication between the bracket <NUM> and the amplifiers <NUM>. For example, in some embodiments, the amplifiers <NUM> are in direct physical contact with the bracket <NUM> such that heat generated by the amplifiers <NUM> can be directly conducted to the bracket <NUM>. The bracket <NUM> may comprise a thermally conductive material, such as aluminum, although other thermally conductive materials may also be used. In some embodiments, the bracket <NUM> may be configured in size and shape so as to provide an effective conductive pathway. For example, the bracket may comprise a thickness of at least <NUM>, at least <NUM>, at least <NUM>, at least <NUM>, at least <NUM>, at least <NUM>, at least <NUM>, at least <NUM>, at least <NUM>, or thicker such that it can adequately dissipate heat from the amplifiers <NUM> through conduction. In one example, the bracket is approximately <NUM> thick.

As illustrated in <FIG> and <FIG>, the bracket <NUM> may comprise a base plate <NUM>, a first flange <NUM>, and a second flange <NUM>. In the illustrated embodiment, the base plate <NUM> extends along the bottom of the base <NUM> in a horizontal direction, for example, generally parallel to a support surface (such as the ground) on which the base <NUM> is placed. The amplifiers <NUM> can be mounted on the base plate <NUM> between the first flange <NUM> and the second flange <NUM>. The first flange <NUM> can be positioned on a first side of the base plate <NUM>. The first flange <NUM> can extend from the base plate <NUM> at an angle. In the illustrated embodiment, the angle of the first flange <NUM> relative to the base plate <NUM> is about <NUM> degrees, although this need not be the case in all embodiments (e.g., the angle of the first flange can be less than or greater than <NUM> degrees depending on the application). The second flange <NUM> can be positioned on a second side of the base plate <NUM>. In some embodiments, the second side of the base plate <NUM> is opposite the first side of the base plate <NUM> such that the first flange <NUM> and the second flange <NUM> are on opposite sides or ends of the base plate <NUM>. The second flange <NUM> can extend from the base plate <NUM> at an angle. In the illustrated embodiment, the angle of the second flange <NUM> relative to the base plate <NUM> is about <NUM> degrees, although this need not be the case in all embodiments. In some embodiments, one or both of the first flange <NUM> and the second flange <NUM> can be the same thickness as the base plate <NUM>. In some embodiments, one or both of the first flange <NUM> and the second flange <NUM> can be slightly thinner than the base plate <NUM>. For example, in an embodiment where the base plate <NUM> is about <NUM> thick, one or both of the first flange <NUM> and the second flange <NUM> can be about <NUM> thick. This can be because the bracket <NUM> can be machined in these areas. Machining one or both of the first flange <NUM> and the second flange <NUM> can ensure contact between the flanges and the base <NUM>, which as described below can provide thermal communication therebetween.

The first flange <NUM> can be attached to the rear side or portion <NUM> of the base <NUM>, as shown in <FIG> and <FIG>. In some embodiments, the first flange <NUM> is attached to the rear side or portion <NUM> of the base <NUM> with one or more mechanical fasteners <NUM> as shown. Additionally or alternatively, the first flange <NUM> can be bonded, welded, or integrally formed with the rear side or portion <NUM> of the base <NUM>. Accordingly, the first flange <NUM> can be in contact with the rear side or portion <NUM> of the base <NUM> so as to allow thermal conduction between the two. As described above with reference to <FIG> and <FIG>, the first heat sink <NUM> can be included on the rear side or portion <NUM> of the base <NUM>. Thus, the first flange <NUM> can be in thermal communication with the first heat sink <NUM>.

The second flange <NUM> of the bracket <NUM> can be positioned so as to contact the front side or portion <NUM> of the base <NUM>, as shown in <FIG> and <FIG>. In some embodiments, the second flange <NUM> can include a thermal pad <NUM> positioned on a face thereof that contacts the contact the front side or portion <NUM> of the base <NUM>. The thermal pad <NUM> can be configured to improve or maximize conduction from the second flange <NUM> to the front side or portion <NUM> of the base <NUM>. For example, the thermal pad <NUM> can fill any gaps between the second flange <NUM> and the base <NUM> so as to facilitate or ensure direct contact therebetween. The thermal pad <NUM> can be adhesively attached to the face of the second flange <NUM>, or can be attached in other ways. In some embodiments, the thermal pad <NUM> is compliant such that it can be pressed between the second flange <NUM> and the front side or portion <NUM> of the base <NUM> to ensure or facilitate contact between the two. The thermal pad <NUM> may comprise a thermally conductive material. In some embodiments, the thermal pad is about <NUM>, about <NUM>, about <NUM>, about <NUM>, about <NUM>, about <NUM>, about <NUM>, about <NUM> or thicker. In one example, the thermal pad <NUM> is about <NUM> thick. As described above with reference to <FIG> and <FIG>, the second heat sink <NUM> can be included on the front side or portion <NUM> of the base <NUM>. Thus, the second flange <NUM> can be in thermal communication with the second heat sink <NUM> through the thermal pad <NUM>. In some embodiments, the thermal pad <NUM> can be omitted and the second flange <NUM> can directly contact the front side or portion <NUM> of the base <NUM>. In some embodiments, the thermal pad <NUM> is attached to the inner surface of the front side or portion <NUM> rather than to the second flange <NUM>.

In the illustrated embodiment, the second flange <NUM> of the bracket <NUM> is not attached to the front side or portion <NUM> of the base <NUM>. This may allow the base <NUM> to be configured such that the rear side or portion <NUM> is removable from the front side or portion <NUM> of the base <NUM> as shown in <FIG>, which is described below. In other embodiments, the second flange <NUM> of the bracket <NUM> may be attached to the front side or portion <NUM> of the base <NUM> similar to how the first flange <NUM> of the bracket <NUM> is attached the rear side or portion <NUM> of the base <NUM>.

With reference to <FIG> and <FIG>, the multi-path cooling arrangement thus includes at least two thermal paths for dissipating heat from the amplifiers <NUM>. These paths are illustrated with dotted lines in the figures. A first thermal path <NUM> allows heat to be conducted from the amplifiers <NUM> into the base plate <NUM> of the bracket <NUM>. The heat is conducted through the bracket <NUM> to the first flange <NUM> and into the rear side or portion <NUM> where it can be dissipated by the first heat sink <NUM>. A second thermal path <NUM> allows heat to be conducted from the amplifiers <NUM> into the base plate of the bracket <NUM>. The heat is then conducted through the bracket <NUM> to the second flange <NUM> and into the front side or portion <NUM> where it can be dissipated by the second heat sink <NUM>. Such a multi-path cooling arrangement may advantageously improve heat dissipation for the amplifiers <NUM>.

In some embodiments, the multi-path cooling arrangement may provide other or additional benefits as well. For example, as shown in <FIG>, the amplifiers <NUM> extend generally along a longitudinal axis <NUM>. The amplifiers <NUM> may generally comprise a length (measured along the longitudinal axis <NUM>) that is longer than their width (measured transverse to the longitudinal axis <NUM>). In some embodiments, to minimize the overall size of the base <NUM> it may be beneficial to arrange the amplifiers as shown in <FIG>, such that the longitudinal axis <NUM> extends in a generally horizontal direction. While this arrangement may minimize the overall size of the base <NUM>, it may not be advantageous from a thermal perspective. However, the multi-path cooling arrangements described herein can be allow the amplifiers to be arranged such that the longitudinal axis <NUM> extends in a generally horizontal direction while still providing sufficient heat dissipation.

<FIG> is a side view of a base <NUM> of the robotic system <NUM> of <FIG> and illustrates that, in some embodiments, the rear side or portion <NUM> of the base <NUM> can be removed from the front side or portion <NUM> of the base <NUM>. This can be done to allow access to the interior of the base <NUM> for, for example, assembly, maintenance, repairs, etc. As illustrated in <FIG>, when the rear side or portion <NUM> of the base <NUM> is removed from the front side or portion <NUM> of the base <NUM>, the bracket <NUM> and amplifiers <NUM> mounted thereto can be removed as well. This may be because, as described above, the bracket <NUM> is attached to the rear side or portion <NUM> as described above. For example, as shown in <FIG> and <FIG>, the first flange <NUM> of the bracket <NUM> can be attached to the rear side or portion <NUM>. Thus, when the rear side or portion <NUM> is removed, the bracket <NUM> and amplifiers <NUM> can be removed as well.

Further, the bracket <NUM> can be removed with the rear side or portion <NUM> because the bracket <NUM> may not, in some embodiments, be attached to the front side or portion <NUM>. Rather, as described above with reference to <FIG> and <FIG>, the bracket <NUM> only contacts the front side or portion <NUM> without being attached thereto. For example, as described above, the second flange <NUM> of the bracket <NUM> is in contact with the front side or portion <NUM> through the thermal pad <NUM> when assembled. Thus, the bracket <NUM> and amplifiers <NUM> can easily be removed from the front side or portion <NUM> as shown in <FIG>.

Additionally, the rear side or portion <NUM> can be brought back together with the front side or portion <NUM> to form the base <NUM> as an enclosure (as shown, for example, in <FIG> and <FIG>). As discussed above, in this assembled position, the second flange <NUM> of the bracket <NUM> contacts the front side or portion <NUM> through the thermal pad <NUM> to establish the second thermal path to the second heat sink <NUM> on the front side or portion <NUM>. The thermal pad <NUM> may ensure or facilitate strong thermal contact between the second flange <NUM> and the front side or portion <NUM>. The first and/or second flanges <NUM>, <NUM> of the bracket <NUM> can be configured in size and shape to provide sufficient contact between the flanges <NUM>, <NUM> and the corresponding portions <NUM>, <NUM> of the base <NUM> so as to provide an effective thermally conductive path. For example, in some embodiments, one or both of the flanges <NUM>, <NUM> are configured with a surface area of at least <NUM> square inches, at least <NUM> square inches, at least <NUM> square inches, at least <NUM> square inches, or more so as to provide sufficient contact between the flanges <NUM>, <NUM> and the base <NUM> to conduct heat. In one example, the first and/or second flange has a contact surface are of about <NUM> inches with the base <NUM>.

<FIG> is a block diagram illustrating a system <NUM> including a multi-path cooling arrangement according to one embodiment. In this example, the system <NUM> includes a heat generating component <NUM>, a bracket <NUM>, a first heat sink <NUM>, a thermal pad <NUM>, and a second heat sink <NUM> arranged so as to provide a first thermal path <NUM> and a second thermal path <NUM>. In some embodiments, the system <NUM> is a robotic system, such as a robotic arm.

The heat generating component <NUM> can be any component which generates heat. The system <NUM> can be configured to dissipate the heat generated by the heat generating component <NUM> along the first thermal path <NUM> and the second thermal path <NUM>. In some embodiments, the heat generating component is an amplifier (e.g., amplifier <NUM> described above), although this need not be the case in all embodiments. The heat generating component <NUM> could be a processor, an integrated circuit, a motor control, a motor, a data storage device, and/or a memory, among many others.

As shown in <FIG>, the heat generating component <NUM> can be mounted on a bracket <NUM> or other thermally conductive structure configured to support the heat generating component <NUM>. The bracket <NUM> can be arranged so that heat generated by the heat generating component <NUM> is communicated to the bracket <NUM>. The heat can be communicated into the bracket <NUM> by conduction, for example. The heat generating component <NUM> can be in physical contact with the bracket <NUM>, either directly or indirectly through another structure (such as, e.g., a thermal pad, thermal paste, an additional thermally conductive bracket, etc.). The bracket <NUM> can comprise a thermally conductive material, such as aluminum, silicon carbide, tungsten, and/or others.

The bracket <NUM> can be attached, either directly or indirectly to a first heat sink <NUM> as shown in <FIG>. In some embodiments, the bracket <NUM> is attached to the first heat sink <NUM> with mechanical fasteners, although other joining methods are also possible. The first heat sink <NUM> can be positioned on (or be part of) a base, enclosure, or other structure. As shown, a first thermal path <NUM> is formed from the heat generating component <NUM>, through the bracket <NUM>, and to the first heat sink <NUM>.

As shown in <FIG>, a thermal pad <NUM> can be attached to the bracket <NUM>. The thermal pad <NUM> can comprise a thermally conductive material. The thermal pad <NUM> and bracket <NUM> can be arranged so as to contact a second heat sink <NUM>. In some embodiments, the bracket <NUM> is not attached to the second heat sink <NUM>. Accordingly, in <FIG>, a dashed line has been used between the thermal pad <NUM> and the second heat sink <NUM> to indicate that these features may, in some embodiments, be in contact with each other, while not mechanically connected to each other. The second heat sink <NUM> can be positioned on (or be part of) a base, enclosure, or other structure. As shown, a second thermal path <NUM> is formed from the heat generating component <NUM>, through the bracket <NUM> and thermal pad <NUM>, and to the second heat sink <NUM>. In some embodiments, the thermal pad <NUM> may be omitted and the bracket <NUM> may contact the second heat sink <NUM> directly.

Accordingly, the system <NUM> includes a multi-path cooling arrangement that includes the first thermal path <NUM> and the second thermal path <NUM> for dissipating heat from the heat generating component <NUM> to the first heat sink <NUM> and the second heat sink <NUM>, respectively.

<FIG> is a block diagram illustrating another embodiment of the system <NUM>. In this embodiment, the first heat sink <NUM> is positioned on a first housing component <NUM> and the second heat sink <NUM> is positioned on a second housing component <NUM>. The first and second housing components <NUM>, <NUM> can be configured to form an enclosure that partially or fully encloses the heat generating component. The first and second housing components <NUM>, <NUM> can be detached from each other to allow access to the interior of the enclosure. As shown in <FIG>, the bracket <NUM> can be attached to the first heat sink <NUM>, which is formed on the first housing component <NUM>. Thus, when the first housing component <NUM> is removed from the second housing component <NUM>, the bracket <NUM> and heat generating component <NUM> can be removed with it. When the first housing component <NUM> is reattached to the second housing component <NUM>, the bracket <NUM> may contact the second heat sink <NUM> through the thermal pad <NUM>. As shown, the first thermal path <NUM> is formed from the heat generating component <NUM>, through the bracket <NUM>, and to the first heat sink <NUM> on the first housing component <NUM>. Also, the second thermal path <NUM> is formed from the heat generating component <NUM>, through the bracket <NUM> and thermal pad <NUM>, and to the second heat sink <NUM> on the second housing component <NUM>.

<FIG> is a flowchart illustrating a method <NUM> for dissipating heat in a robotic system according to one embodiment. As illustrated, the method begins at block <NUM>, at which a heat generating component is mounted on a thermally conductive bracket. In some embodiments, the bracket is positioned with a base of a robotic system, such as a robotic arm. The heat generating component can be mounted on the bracket such that heat generated by the heat generating component is conducted into the bracket. In some embodiments, the heat generating component is an amplifier as described above, although the method <NUM> is useful with other types of heat generating components as well. In some embodiments, is mounted on the bracket such that a longitudinal axis of the heat generating component extends in a generally horizontal direction.

The method <NUM> then moves to block <NUM>. At block <NUM>, the bracket is attached to a first heat sink to form a first thermally conductive path configured to dissipate heat from the heat generating component. In some embodiments, the heat sink is positioned on a first side of the base. In some embodiments, the heat sink comprises one or more fins configured to dissipate heat. In some embodiments, the bracket is mechanically fastened to the first heat sink. Other joining methods may also be used.

Next, at block <NUM>, a thermal pad positioned on the bracket is contacted to a second heat sink to form a second thermally conductive path configured to dissipate heat from the heat generating component. In some embodiments, the heat sink is positioned on a second side of the base. In some embodiments, the heat sink comprises one or more fins configured to dissipate heat. In some embodiments, contacting the thermal pad to the second heat sink comprises attaching a rear portion of the housing to a front portion of the housing. The first heat sink can be positioned on the rear portion of the housing and the bracket can be connected to the rear portion of the housing. The second heat sink can be disposed on the front portion of the housing.

The foregoing description details certain embodiments of the systems, devices, and methods disclosed herein. It will be appreciated, however, that no matter how detailed the foregoing appears in text, the systems, devices, and methods can be practiced in many ways. As is also stated above, it should be noted that the use of particular terminology when describing certain features or aspects of the disclosure should not be taken to imply that the terminology is being re-defined herein to be restricted to including any specific characteristics of the features or aspects of the technology with which that terminology is associated.

It will be appreciated by those skilled in the art that various modifications and changes can be made without departing from the scope of the described technology. Such modifications and changes are intended to fall within the scope of the embodiments. It will also be appreciated by those of skill in the art that parts included in one embodiment are interchangeable with other embodiments; one or more parts from a depicted embodiment can be included with other depicted embodiments in any combination. For example, any of the various components described herein and/or depicted in the Figures can be combined, interchanged or excluded from other embodiments.

The various singular/plural permutations can be expressly set forth herein for sake of clarity.

Directional terms used herein (e.g., top, bottom, side, up, down, inward, outward, etc.) are generally used with reference to the orientation shown in the figures and are not intended to be limiting. For example, the top surface described above can refer to a bottom surface or a side surface. Thus, features described on the top surface may be included on a bottom surface, a side surface, or any other surface.

It will be understood by those within the art that, in general, terms used herein are generally intended as "open" terms (e.g., the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," the term "includes" should be interpreted as "includes but is not limited to," etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims can contain usage of the introductory phrases "at least one" and "one or more" to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles "a" or "an" limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "a" or "an" (e.g., "a" and/or "an" should typically be interpreted to mean "at least one" or "one or more"); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of "two recitations," without other modifiers, typically means at least two recitations, or two or more recitations). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms.

The term "comprising" as used herein is synonymous with "including," "containing," or "characterized by," and is inclusive or open-ended and does not exclude additional, unrecited elements or method steps.

Claim 1:
A robotic system (<NUM>), comprising:
a base (<NUM>) supporting one or more articulating links (<NUM>,<NUM>), the base (<NUM>) comprising:
a front portion comprising a front wall;
a rear portion removably attached to the front portion and comprising a back wall; and
a bracket (<NUM>,<NUM>) supporting a heat generating component (<NUM>), a first side of the bracket (<NUM>,<NUM>) attached to the back wall of the rear portion of the base (<NUM>) to form a first thermally conductive path that, in use, dissipates heat from the heat generating component (<NUM>);
wherein,
the robotic system (<NUM>) is characterized by further comprising
a thermal pad (<NUM>,<NUM>) attached to a second side of the bracket (<NUM>,<NUM>), the thermal pad (<NUM>,<NUM>) contacting the front wall of the base (<NUM>) to form a second thermally conductive path that, in use, dissipates heat from the heat generating component (<NUM>).