Energy absorption linkage structure and robot

Abstract

The invention relates to an energy absorption linkage structure and a robot, the energy absorption linkage structure comprises a foot seat part, an elastic pressing part, a flexible connecting belt and a heat dissipation device, and the heat dissipation device comprises a piston part, a shell and an elastic part; when the movable end of the elastic pressing piece is elastically deformed towards the direction close to the foot seat part under the action of external pressure, the elastic part can drive the piston part to move towards the first direction; when the movable end of the elastic pressing piece is not subjected to the external pressure effect, the movable end of the elastic pressing piece can drive the piston part to move in the second direction through the flexible connecting belt. The first direction is opposite to the second direction, and when the piston part moves towards one of the first direction and the second direction, the liquid working medium can be changed into a gaseous working medium so as to absorb heat generated by a power element corresponding to the shell. According to the energy absorption linkage structure and the robot provided by the invention, the problems that the robot is relatively high in overall power consumption and relatively poor in quiet property are solved.

Description

Technical Field

[0001] The present application relates to the technical field of robot heat dissipation devices, and in particular to an energy-absorbing linkage structure and a robot. Background Art

[0002] With the rapid development of the humanoid robot industry, as the complexity of humanoid robot movements and the load they bear continue to increase, the heat generated by joint motors is also increasing. Therefore, there is an urgent need to improve the performance of the cooling module used to dissipate heat from the joint motors.

[0003] In the prior art, the cooling module itself consumes electricity. For example, the cooling module needs to circulate and cool the coolant through a pump, a compressor or a motor. In this way, on the one hand, due to the large number of joint motors, the number of corresponding cooling modules is also large, which will increase the overall power consumption of the robot, which is not conducive to the low-power design of the robot. On the other hand, it will increase the noise and vibration of the robot during operation, which is not conducive to the quiet design of the robot. Summary of the invention

[0004] Based on this, it is necessary to provide an energy-absorbing linkage structure and a robot to solve the problems of high overall power consumption and poor quietness of existing robots.

[0005] The energy-absorbing linkage structure provided by the present application includes a foot seat, a spring-loaded piece, a flexible connecting belt and a heat dissipation device, the heat dissipation device includes a piston portion, a shell and an elastic portion, a liquid working medium is arranged in the shell, and the piston portion is movably sealed with the inner wall of the shell; the connecting end of the spring-loaded piece is connected to the foot seat, the movable end of the spring-loaded piece is spring-loaded with the foot seat, one end of the flexible connecting belt is connected to the movable end of the spring-loaded piece, and the other end is connected to the piston portion; when the movable end of the spring-loaded piece undergoes elastic deformation toward a direction close to the foot seat under the action of external pressure, the elastic portion can drive the piston portion to move toward a first direction; when the movable end of the spring-loaded piece is not affected by external pressure, the movable end of the spring-loaded piece can drive the piston portion to move toward a second direction through the flexible connecting belt; the first direction and the second direction are opposite, and when the piston portion moves toward one of the first direction and the second direction, the liquid working medium can be phase-changed into a gaseous working medium to absorb the heat generated by the power element corresponding to the shell.

[0006] In one embodiment, the spring-pressing member includes a spring sheet, the connecting end of which is fixedly connected to the bottom of the foot seat, the movable end of which is protruding from the bottom of the foot seat, and the movable end of the spring sheet can undergo elastic deformation in a direction close to or away from the foot seat.

[0007] In one embodiment, the spring-pressing member includes a pressure plate and a first compression spring, the connecting end of the pressure plate is hinged to the bottom of the foot seat, one end of the first compression spring is connected to the bottom of the foot seat, and the other end is connected to the movable end of the pressure plate; the movable end of the pressure plate can be rotated toward the direction close to the foot seat so that the first compression spring is compressed; or, the first compression spring can push the movable end of the pressure plate to rotate in the direction away from the foot seat and reset itself.

[0008] In one of the embodiments, the energy-absorbing linkage structure further includes a pulley assembly, which is disposed between the heat dissipation device and the elastic pressure member, and the flexible connecting belt can be movably wound around the pulley assembly to change its own extension direction.

[0009] In one embodiment, the pulley assembly includes one or more first fixed pulleys, and the flexible connecting belt is movably wound around the one or more first fixed pulleys in sequence.

[0010] In one of the embodiments, the energy-absorbing linkage structure also includes a linkage block, one end of which is fixedly connected to the middle section of the flexible connecting belt. There are multiple heat dissipation devices, one of which is connected to one end of the flexible connecting belt away from the spring-pressing part, and the remaining heat dissipation devices are respectively connected to the linkage block.

[0011] In one embodiment, the pulley assembly includes a plurality of second fixed pulleys, the flexible connecting belt includes a connecting head and a plurality of connecting branches, the plurality of connecting branches are respectively connected to the connecting head, the flexible connecting belt is connected to the spring-pressing member through the connecting head, at least part of the connecting branches are movably arranged around the corresponding second fixed pulleys, the connecting branches and the heat dissipation devices are arranged in a one-to-one correspondence, and each connecting branch is connected to the piston part of the corresponding heat dissipation device.

[0012] In one of the embodiments, the flexible connecting belt also includes a movable pulley, the number of connecting branches is two, the ends of the two connecting branches away from the heat dissipation device are connected to each other and movably arranged around the outer circumference of the movable pulley, and the end of the connecting head away from the spring-pressing member is connected to the rotating shaft of the movable pulley.

[0013] In one of the embodiments, the heat dissipation device also includes a linkage valve, the piston part includes a rod body and a movable sleeve, the shell is provided with a pull-out cavity, the movable sleeve is movably arranged in the pull-out cavity along a preset axial direction, and divides the pull-out cavity into a heat dissipation cavity and an exhaust cavity, the exhaust cavity is connected to the atmospheric environment, a liquid working medium is arranged in the heat dissipation cavity, the heat dissipation cavity contacts the heating surface of the power element to dissipate heat to the power element; the movable sleeve is provided with an inner cavity and a connecting hole, the connecting hole connects the heat dissipation cavity and the exhaust cavity, one end of the rod body is provided with a limiting portion, one end of the rod body is movably arranged in the inner cavity through the limiting portion and is limitedly matched with the two ends of the inner cavity along the preset axial direction, and the rod body is far One end away from the limiting part is connected to the flexible connecting belt, and the linkage valve and the limiting part are movably cooperated; when the limiting part abuts against the end of the inner cavity away from the power element, the linkage valve closes the connecting hole, and when the limiting part drives the movable sleeve to continue to move in the direction away from the power element to expand the heat dissipation cavity, the liquid working medium in the heat dissipation cavity can be phase-changed into a gaseous working medium; when the limiting part abuts against the end of the inner cavity close to the power element, the linkage valve opens the connecting hole, and when the limiting part drives the movable sleeve to continue to move in the direction close to the power element to shrink the heat dissipation cavity, the gaseous working medium in the heat dissipation cavity can enter the atmospheric environment through the connecting hole and the exhaust cavity in turn.

[0014] The present application also provides a robot, which includes the energy-absorbing linkage structure described in any one of the above embodiments.

[0015] Compared with the prior art, the energy-absorbing linkage structure and robot provided in the present application utilize the elastic deformation of the spring-pressed part arranged on the foot seat and the linkage of the flexible connecting belt to drive the movement of the piston part, thereby realizing phase change heat dissipation of the liquid working fluid and avoiding additional power consumption and noise problems.

[0016] The movable end of the spring-loaded part elastically deforms toward the foot seat under the action of external pressure, driving the piston part to move in the first direction, and the liquid working medium changes into a gaseous working medium, absorbing heat. When the external pressure disappears, the spring-loaded part resets, driving the piston part to move in the second direction, and the gaseous working medium releases heat. The linkage between the spring-loaded part and the flexible connecting belt is used to achieve heat dissipation without the need for additional electricity. Alternatively, the piston part moves in the second direction, the liquid working medium changes into a gaseous working medium, absorbing heat, and the piston part moves in the first direction, and the gaseous working medium releases heat. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1A schematic diagram of the structure of the energy-absorbing linkage structure of Example 1 provided in the present application; Figure 2 A structural schematic diagram of state 1 of the energy-absorbing linkage structure of Example 2 provided in the present application; Figure 3 A structural schematic diagram of state 2 of the energy-absorbing linkage structure of embodiment 2 provided in the present application; Figure 4 A schematic cross-sectional view of a heat dissipation device according to an embodiment of the present application; Figure 5 The local structural state of the heat dissipation device of an embodiment provided in this application Figure 1 ; Figure 6 The local structural state of the heat dissipation device of an embodiment provided in this application Figure 2 .

[0019] Figure numerals: 10, heat dissipation device; 100, rod body; 110, limit portion; 111, mounting groove; 200, movable sleeve; 210, inner cavity; 220, connecting hole; 221, first hole; 222, second hole; 230, first ring; 300, shell; 311, heat dissipation cavity; 312, exhaust cavity; 320, third hole; 330, second ring; 400, linkage valve; 410, valve plug; 421, support rod; 422, connecting rod; 423, elastic member ; 500, liquid storage part; 510, water replenishment and exhaust hole; 600, liquid absorption core; 700, power element; 800, piston part; 900, elastic part; 20, foot seat part; 21, accommodating groove; 22, mounting slope; 30, spring-pressing part; 31, pressure plate; 32, first compression spring; 40, flexible connecting belt; 41, connecting head; 42, connecting branch; 43, movable pulley; 50, pulley assembly; 51, first fixed pulley; 52, second fixed pulley; 60, linkage block. DETAILED DESCRIPTION

[0020] With the rapid development of the humanoid robot industry, as the complexity of humanoid robot movements and the load they bear continue to increase, the heat generated by joint motors is also increasing. Therefore, there is an urgent need to improve the performance of the cooling module used to dissipate heat from the joint motors.

[0021] In the prior art, the cooling module itself consumes electricity. For example, the cooling module needs to circulate and cool the coolant through a pump, a compressor or a motor. In this way, on the one hand, due to the large number of joint motors, the number of corresponding cooling modules is also large, which will increase the overall power consumption of the robot, which is not conducive to the low-power design of the robot. On the other hand, it will increase the noise and vibration of the robot during operation, which is not conducive to the quiet design of the robot.

[0022] In order to solve the problems of high overall power consumption and poor quietness of existing robots, the present application provides an energy-absorbing linkage structure and a robot.

[0023] See also Figure 1-Figure 6 The energy absorption linkage structure includes a foot seat 20, a spring-pressed part 30, a flexible connecting belt 40 and a heat dissipation device 10. The heat dissipation device 10 includes a piston part 800, a shell 300 and an elastic part 900. A liquid working medium is provided in the shell 300. The piston part 800 is movably arranged in the shell 300 and movably seals with the inner wall of the shell 300. One end of the elastic part 900 is connected to the piston part 800, and the other end is connected to the shell 300. In addition, the elastic part 900 can apply an elastic force to the piston part 800 to move in the first direction.

[0024] It should be noted that the footrest 20 is the walking part of the robot, similar to the foot of the human body, and in order to facilitate the deformation of the elastic member 30, the elastic member 30 is arranged at the bottom of the footrest 20 to facilitate the compression and expansion of the elastic member 30.

[0025] The connecting end of the spring-pressing member 30 is connected to the foot seat 20 , and the movable end of the spring-pressing member 30 is spring-pressed to fit with the foot seat 20 . One end of the flexible connecting belt 40 is connected to the movable end of the spring-pressing member 30 , and the other end is connected to the piston part 800 of the heat dissipation device 10 .

[0026] When the movable end of the spring-pressing member 30 undergoes elastic deformation toward the direction close to the foot seat 20 under the action of external pressure, the external pressure is mainly the pressure effect of the robot's own weight on the movable end of the spring-pressing member 30 when walking, that is, when the foot seat 20 of the robot is pressed down and in contact with the ground, the movable end of the spring-pressing member 30 undergoes elastic deformation. At this time, the elastic part 900 can drive the piston part 800 to move in the first direction. When the movable end of the spring-pressing member 30 is not affected by external pressure, that is, when the foot seat 20 of the robot is lifted, the movable end of the spring-pressing member 30 can drive the piston part 800 to move in the second direction through the flexible connecting belt 40.

[0027] It should be noted that the flexible connecting belt 40 can be a structure such as a belt, a tension rope or a flexible plastic belt. Its main feature is that it has a certain degree of softness to facilitate the adjustment of the force transmission direction, and to facilitate the change of direction connection between the flexible connecting belt 40 and the piston part 800, and to facilitate the change of direction connection between the flexible connecting belt 40 and the spring-pressing part 30.

[0028] The first direction and the second direction are opposite, and when the piston part 800 moves toward one of the first direction and the second direction, the liquid working medium can be phase-changed into a gaseous working medium to absorb the heat generated by the power element 700 corresponding to the shell 300 (including but not limited to IGBT modules, motors and chips, etc., and, taking motors as an example, including but not limited to hip joint motors, knee joint motors and ankle joint motors).

[0029] Specifically, when the piston part 800 moves toward the first direction, the liquid working medium can be transformed into a gaseous working medium. At this time, the movable end of the elastic pressure member 30 is elastically deformed by the external pressure, and the elastic part 900 drives the piston part 800 to move toward the first direction.

[0030] Alternatively, when the piston part 800 moves toward the second direction, the liquid working medium can be transformed into a gaseous working medium. At this time, when the movable end of the elastic member 30 is not affected by external pressure, the movable end of the elastic member 30 can drive the piston part 800 to move toward the second direction through the flexible connecting belt 40.

[0031] It should be noted that the power element 700 may be in direct contact with the liquid medium in the housing 300 , or may perform heat transfer through the wall surface of the housing 300 .

[0032] The present application aims to solve the heat dissipation problem of the power element 700 (mainly the joint motor) of the robot. The present application designs an energy-absorbing linkage structure, utilizes the elastic deformation of the spring-pressing member 30 disposed on the foot seat 20 and the linkage of the flexible connecting belt 40 to drive the piston part 800 to move, thereby realizing the phase change heat dissipation of the liquid working medium, avoiding the problem of extra power consumption and noise.

[0033] The movable end of the spring-pressing member 30 elastically deforms toward the foot seat 20 under the action of external pressure, driving the piston 800 to move toward the first direction, and the liquid working medium changes phase into a gaseous working medium, absorbing heat. When the external pressure disappears, the spring-pressing member 30 is reset, driving the piston 800 to move toward the second direction, and the gaseous working medium releases heat. The linkage between the spring-pressing member 30 and the flexible connecting belt 40 is used to achieve heat dissipation without the need for additional electricity. Alternatively, the piston 800 moves toward the second direction, the liquid working medium changes phase into a gaseous working medium, absorbing heat, and the piston 800 moves toward the first direction, and the gaseous working medium releases heat.

[0034] The spring-pressing member 30 includes a spring sheet and a pressure plate 31. The spring sheet is fixed to the bottom of the foot seat 20, and the movable end is protruding, and can be elastically deformed toward or away from the foot seat 20. The pressure plate 31 is connected to the foot seat 20 through a first compression spring 32, and the movable end can rotate so that the first compression spring 32 is compressed or pushes the pressure plate 31 to reset. One end of the flexible connecting belt 40 is connected to the spring-pressing member 30, and the other end is connected to the piston part 800. The movement of the piston part 800 is achieved through elastic deformation and deformation reset.

[0035] During the movement, the piston part 800 absorbs heat by changing the phase of the liquid working medium into the gaseous working medium, thereby achieving a heat dissipation effect. Compared with the prior art, the present application does not require additional power consumption, reduces power consumption and noise, and improves the low power consumption and quietness design of the robot.

[0036] The present application realizes effective heat dissipation of the joint motor through the cooperation of the foot seat 20, the spring-pressed part 30, the flexible connecting belt 40 and the heat dissipation device 10. The spring-pressed part 30 elastically deforms under the action of external pressure, drives the piston part 800 to move through the flexible connecting belt 40, and the liquid working fluid absorbs heat by phase change. When there is no external pressure, the spring-pressed part 30 resets, drives the piston part 800 to move in the opposite direction, and completes the heat dissipation process. Therefore, the present application provides a low-power, low-noise innovative solution to solve the heat dissipation problem of the robot power element 700.

[0037] In one embodiment, the elastic member 30 includes an elastic sheet, the connection end of the elastic sheet is fixedly connected to the bottom of the foot seat 20, the movable end of the elastic sheet is protruding from the bottom of the foot seat 20, and the movable end of the elastic sheet can be elastically deformed in a direction close to or away from the foot seat 20. In addition, the flexible connecting belt 40 is connected to the movable end of the elastic sheet.

[0038] In the present application, the elastic member 30 is in the form of an elastic sheet, one end of which is fixed to the bottom of the foot seat 20, and the other end protrudes from the bottom of the foot seat 20. With this design, when the elastic sheet is subjected to external pressure, its movable end can be elastically deformed toward the direction close to the foot seat 20, and conversely, when the external pressure disappears, the movable end of the elastic sheet can return to its original position toward the direction away from the foot seat 20. Thus, the elastic deformation of the elastic sheet can be transmitted to the piston part 800 through the flexible connecting belt 40, so that the piston part 800 moves between the first direction and the second direction, thereby realizing the operation of the heat dissipation device 10.

[0039] Specifically, the material and shape of the spring piece can be selected and designed according to actual needs. For example, the spring piece can be made of a highly elastic material to ensure that it can maintain good elastic properties after multiple deformations. In addition, the thickness and width of the spring piece can also be adjusted as needed to provide a suitable elastic deformation range and strength. Through these designs, the spring piece can effectively cooperate with the flexible connecting belt 40 to ensure the smooth movement of the piston part 800.

[0040] Furthermore, the present application simplifies the structural design and reduces the number of parts by using a spring sheet as the spring pressure member 30, which helps to reduce manufacturing costs and improve assembly efficiency. At the same time, the elastic deformation of the spring sheet can provide stable mechanical properties, ensuring the reliability and stability of the heat dissipation device 10 under various working conditions. Compared with the prior art, the technical solution of the present application can not only effectively reduce the overall power consumption of the robot, but also reduce noise and vibration during operation, and improve the quietness of the robot.

[0041] Specifically, the spring piece can be made of metal or hard plastic, and the spring piece can be welded to the base portion 20 , or can be bonded or clamped to the base portion 20 .

[0042] In another embodiment, if Figure 1-Figure 3 As shown, the elastic member 30 includes a pressing plate 31 and a first compression spring 32. The connecting end of the pressing plate 31 is hinged to the bottom of the foot seat 20. One end of the first compression spring 32 is connected to the bottom of the foot seat 20, and the other end is connected to the movable end of the pressing plate 31. The movable end of the pressing plate 31 can rotate toward the direction close to the foot seat 20 so that the first compression spring 32 is compressed, or the first compression spring 32 can push the movable end of the pressing plate 31 to rotate toward the direction away from the foot seat 20 and reset itself (the first compression spring 32). In addition, a flexible connecting belt 40 is connected to the movable end of the pressing plate 31.

[0043] This technical solution introduces a pressure plate 31 and a first compression spring 32 into the spring-pressing member 30, so that the movable end of the pressure plate 31 can rotate toward the direction close to the foot seat 20 under the action of an external force and compress the first compression spring 32. Conversely, when the external force is released, the first compression spring 32 can push the movable end of the pressure plate 31 to rotate toward the direction away from the foot seat 20 and reset the pressure plate 31. Through this design, the elastic deformation and reset functions of the spring-pressing member 30 can be effectively realized, thereby driving the movement of the piston part 800, and then absorbing heat through the phase change of the liquid working medium to achieve the heat dissipation function.

[0044] In actual implementation, the pressure plate 31 can be made of metal or other high-strength materials to ensure its stability and durability in long-term use. The first compression spring 32 can select appropriate elastic coefficients and sizes according to specific mechanical requirements to ensure its reliability and effectiveness during compression and reset.

[0045] Further, in one embodiment, if Figure 1-Figure 3 As shown, a receiving groove 21 is provided at the bottom of the foot seat 20, a pressure plate 31 is hinged to the top of the receiving groove 21 (the end of the receiving groove 21 close to the ground), and a first compression spring 32 is connected to the bottom wall of the receiving groove 21 (the end of the receiving groove 21 away from the ground).

[0046] Such a configuration is beneficial to increasing the maximum stroke of the first compression spring 32, and thus is beneficial to the energy storage of the spring-pressing member 30. In addition, the first compression spring 32 is arranged in the accommodating groove 21, which is beneficial for the accommodating groove 21 to accommodate the first compression spring 32, thereby preventing the first compression spring 32 from affecting the walking stability of the foot seat 20.

[0047] Furthermore, in one embodiment, the bottom wall of the accommodating groove 21 is provided with a mounting bevel 22 , and the first compression spring 32 is connected to the mounting bevel 22 . When the first compression spring 32 is reset, the mounting bevel 22 and the pressure plate 31 are arranged in parallel.

[0048] This is helpful to increase the pressure effect of the pressure plate 31 on the first compression spring 32 .

[0049] In one embodiment, the elastic portion 900 includes a second compression spring, one end of the second compression spring is connected to the piston portion 800 , and the other end is connected to the housing 300 , and the second compression spring can exert an elastic force on the piston portion 800 to move in the first direction.

[0050] Such a configuration can reduce the difficulty of assembling the elastic part 900 .

[0051] But not limited to this, in other embodiments, the elastic part 900 can also be an elastomeric structure, including but not limited to POE elastomer and polyurethane elastomer and other elastomeric structures, which are not listed here one by one.

[0052] In one embodiment, if Figure 1-Figure 3 As shown, the energy absorption linkage structure also includes a pulley assembly 50, which is arranged between the heat dissipation device 10 and the elastic member 30, and the flexible connecting belt 40 can be movably wound around the pulley assembly 50 to change its own (flexible connecting belt 40) extension direction.

[0053] It should be noted that “movably wound around” refers to the rolling friction fit between the flexible connecting belt 40 and the pulley of the pulley assembly 50 .

[0054] The technical solution of the present application provides a pulley assembly 50, so that the flexible connecting belt 40 can bypass the pulley assembly 50, thereby changing its extension direction. This design can make the connection between the elastic member 30 and the heat sink 10 of the flexible connecting belt 40 more flexible and adapt to different installation positions and spatial layouts.

[0055] The advantage of this design is that the setting of the pulley assembly 50 makes the movement path of the flexible connecting belt 40 more flexible and can adapt to different installation requirements and space restrictions. At the same time, the use of the pulley assembly 50 can also reduce the wear and tear of the flexible connecting belt 40 and extend its service life.

[0056] However, it is not limited thereto. In other embodiments, the flexible connecting belt 40 can also change its extension direction through a cylindrical rod body 100 with a smooth surface.

[0057] Embodiment 1 In this embodiment, if Figure 1 As shown, the pulley assembly 50 includes one or more first fixed pulleys 51 , and the flexible connecting belt 40 is movably wound around the one or more first fixed pulleys 51 in sequence.

[0058] The first fixed pulley 51 of the pulley assembly 50 can be made of a variety of materials, such as metal or high-strength plastic, to ensure its durability and stability during use. The flexible connecting belt 40 can be made of high-strength fiber material to ensure that it will not break or deform during multiple bending and stretching processes. Through reasonable material selection and structural design, efficient linkage between the pulley assembly 50 and the flexible connecting belt 40 can be achieved.

[0059] Further, in one embodiment, if Figure 1 As shown, the energy absorption linkage structure also includes a linkage block 60, one end of which is fixedly connected to the middle section of the flexible connecting belt 40 (that is, the portion between the two ends of the flexible connecting belt 40), and there are multiple heat dissipation devices 10, one of which is connected to one end of the flexible connecting belt 40 away from the spring-pressing member 30, and the remaining heat dissipation devices 10 are respectively connected to the linkage block 60.

[0060] The linkage block 60 of the present application can realize the linkage operation of multiple heat sinks 10 by being fixedly connected to the middle section of the flexible connecting belt 40. When the spring-pressing member 30 is elastically deformed under the action of external pressure, the flexible connecting belt 40 drives the linkage block 60 to move, thereby simultaneously driving the piston parts 800 of multiple heat sinks 10 to move. This can improve the heat dissipation efficiency, ensure that multiple heat sinks 10 can work at the same time, and effectively absorb the heat generated by the power element 700. In addition, the provision of the linkage block 60 also simplifies the structural design and reduces the complexity of individually controlling each heat sink 10.

[0061] The linkage block 60 can be implemented in a variety of ways, for example, it can be fixed to the middle section of the flexible connecting belt 40 by mechanical connection, or fixed by welding, bonding, etc. The material of the linkage block 60 can be selected from metal materials or high-strength composite materials to ensure that it has sufficient strength and durability during operation. In addition, the shape and size of the linkage block 60 can be designed according to actual application requirements to adapt to different specifications of the heat dissipation device 10 and the flexible connecting belt 40.

[0062] Furthermore, in one embodiment, two heat dissipation devices 10 are respectively connected to two opposite ends of the linkage block 60 , and the two heat dissipation devices 10 are distributed along the extension direction of the flexible connection belt 40 .

[0063] Embodiment 2 In this embodiment, if Figure 2 and Figure 3 As shown, the pulley assembly 50 includes a plurality of second fixed pulleys 52, the flexible connecting belt 40 includes a connecting head 41 and a plurality of connecting branches 42, the plurality of connecting branches 42 are respectively connected to the connecting head 41, the flexible connecting belt 40 is connected to the spring-pressing member 30 through the connecting head 41, at least part of the connecting branches 42 are movably wound around the corresponding second fixed pulley 52, and the connecting branches 42 and the heat dissipation device 10 are arranged one by one, and each connecting branch 42 is connected to the piston part 800 of the corresponding heat dissipation device 10.

[0064] In this technical solution, the pulley assembly 50 enables the flexible connecting belt 40 to flexibly extend and contract in multiple directions through the arrangement of multiple second fixed pulleys 52, thereby driving the piston parts 800 of multiple heat sinks 10 to move accordingly. In this way, linkage control of multiple heat sinks 10 can be achieved, thereby improving heat dissipation efficiency and system reliability.

[0065] Furthermore, the connector 41 of the flexible connecting belt 40 can be connected to the elastic member 30 in a variety of ways, for example, by means of hinges, buckles, etc. to achieve quick connection and disassembly. The number and specific layout of the connecting branches 42 can be adjusted according to actual needs to meet different heat dissipation requirements. The material of the second fixed pulley 52 can be selected from wear-resistant and low-friction materials to ensure long-term stable operation of the system.

[0066] Further, in one embodiment, the connecting branch 42 and the second fixed pulley 52 are arranged in a one-to-one correspondence.

[0067] But it is not limited thereto, in other embodiments, the number of the second fixed pulleys 52 may be smaller than the number of the connecting branches 42 .

[0068] Further, in one embodiment, if Figure 2 and Figure 3 As shown, the flexible connecting belt 40 also includes a movable pulley 43, the number of connecting branches 42 is two, and the ends of the two connecting branches 42 away from the heat dissipation device 10 are connected to each other and movably arranged around the outer circumference of the movable pulley 43, and the end of the connecting head 41 away from the spring-pressing member 30 is connected to the rotating shaft of the movable pulley 43.

[0069] Through this design, the two connecting branches 42 of the flexible connecting belt 40 can achieve synchronous movement under the action of the movable pulley 43. Such synchronous movement can ensure that the two connecting branches 42 always maintain the same tension and movement trajectory during operation, thereby ensuring the stability and reliability of the entire energy-absorbing linkage structure. The addition of the movable pulley 43 can not only reduce the wear of the flexible connecting belt 40, but also effectively reduce the friction of the system and improve the transmission efficiency of the system.

[0070] As a preferred embodiment, the outer periphery of the movable pulley 43 can be set to a smooth curved surface to reduce the friction between the flexible connecting belt 40 and the movable pulley 43, thereby extending the service life of the flexible connecting belt 40. The rotating shaft of the movable pulley 43 can be installed on the connector 41 through a bearing to ensure that the movable pulley 43 can rotate smoothly, further improving the transmission efficiency and stability of the system.

[0071] In one embodiment, if Figure 4-Figure 6 As shown, the heat dissipation device 10 also includes a linkage valve 400, the piston part 800 includes a rod body 100 and a movable sleeve 200, the shell 300 is provided with a pulling cavity, the movable sleeve 200 is movably arranged in the pulling cavity along a preset axial direction, and divides the pulling cavity into a heat dissipation cavity 311 and an exhaust cavity 312, and the exhaust cavity 312 is connected to the atmospheric environment.

[0072] The rod body 100 refers to a component used to drive the movable sleeve 200 to move, and can be implemented by a metal rod or a plastic rod.

[0073] The movable sleeve 200 refers to a sleeve structure that can move along a preset axial direction in the pull-out cavity, and can be specifically implemented by a hollow cylinder made of metal or plastic material.

[0074] The housing 300 refers to an external structure for accommodating the movable sleeve 200 and forming a pull-out cavity, and can be implemented by a housing made of metal or plastic material.

[0075] The linkage valve 400 refers to a valve mechanism for controlling the opening and closing of the connecting hole 220 , and can be specifically implemented by a combination of a valve plug 410 and a lever mechanism.

[0076] Specifically, in one embodiment, the housing 300 is provided with a third hole 320 , and the exhaust cavity 312 is connected to the atmosphere through the third hole 320 .

[0077] Liquid working medium is arranged in the heat dissipation cavity 311 , and the heat dissipation cavity 311 contacts the heating surface of the power element 700 to dissipate heat from the power element 700 .

[0078] In one embodiment, the movable sleeve 200 is arranged close to the bottom wall of the power element 700 , the side wall of the housing 300 , and the heat-generating surface of the power element 700 to form a heat-dissipating cavity 311 .

[0079] In this way, the three parts are together arranged to form a closed heat dissipation cavity 311 , so that the liquid working medium can directly contact the heating surface of the power element 700 , thereby greatly improving the heat dissipation efficiency of the power element 700 .

[0080] In another embodiment, the bottom wall of the heat dissipation cavity 311 at one end away from the exhaust cavity 312 contacts the heat generating surface of the power component 700 .

[0081] Since the contact area between the bottom wall of the heat dissipation cavity 311 away from the exhaust cavity 312 and the heating surface of the power element 700 is constant, such an arrangement can improve the heat transfer efficiency between the power element 700 and the heat dissipation cavity 311 .

[0082] Moreover, this design can ensure direct thermal contact between the heat dissipation cavity 311 and the power component 700, thereby improving the heat transfer efficiency. Specifically, the bottom wall of the heat dissipation cavity 311 can be made of a high thermal conductivity material, such as copper, aluminum or other metal alloys. The surface of the bottom wall can be specially treated, such as polishing or coating with thermal conductive paste, to further enhance the thermal contact with the heat generating surface of the power component 700.

[0083] But it is not limited thereto, in other embodiments, the side wall of the heat dissipation cavity 311 may contact the heat generating surface of the power component 700 .

[0084] Furthermore, the movable sleeve 200 is provided with an inner cavity 210 and a connecting hole 220, the connecting hole 220 connects the heat dissipation cavity 311 and the exhaust cavity 312, and one end of the rod body 100 is provided with a limiting portion 110, and one end of the rod body 100 can be movably arranged in the inner cavity 210 through the limiting portion 110 and is limitedly matched with both ends of the inner cavity 210 along a preset axial direction.

[0085] Specifically, the limiting portion 110 protrudes from the outer peripheral side of the rod body 100 along the radial direction of the rod body 100. The limiting portion 110 can be a circle of raised structure on the outer periphery of the rod body 100, and the limiting portion 110 and the rod body 100 are integrally formed. The limiting portion 110 can also be welded to the outer periphery of the rod body 100.

[0086] In addition, one end of the rod body 100 away from the limiting portion 110 is successively arranged in the inner cavity 210 and the exhaust cavity 312 and extends out of the shell 300. The end of the rod body 100 away from the limiting portion 110 is connected to the flexible connecting belt 40, and the linkage valve 400 and the limiting portion 110 are movably matched.

[0087] Specifically, the movable sleeve 200 is provided with a first ring 230, the housing 300 is provided with a second ring 330, and one end of the rod body 100 away from the limiting portion 110 is movably inserted into the first ring 230 and the second ring 330 in sequence to make the movement of the rod body 100 more stable.

[0088] Furthermore, there may be multiple communicating holes 220 , which are distributed in an array around the axial direction of the movable sleeve 200 . Correspondingly, the number of the linkage valves 400 is the same as the number of the communicating holes 220 , and the two are arranged in a one-to-one correspondence.

[0089] When the limiting portion 110 abuts against the end of the inner cavity 210 away from the power element 700, the linkage valve 400 closes the connecting hole 220. At this time, the rod body 100, the movable sleeve 200 and the linkage valve 400 constitute the piston portion 800, so that the heat dissipation cavity 311 is closed. Moreover, when the limiting portion 110 drives the movable sleeve 200 to continue to move in the direction away from the power element 700 to expand the heat dissipation cavity 311, the liquid working medium in the heat dissipation cavity 311 can be phase-changed into a gaseous working medium. When the limiting portion 110 abuts against one end of the inner cavity 210 close to the power element 700, the linkage valve 400 opens the connecting hole 220. At this time, the movable sleeve 200 is a structure that penetrates along a preset axial direction, and when the limiting portion 110 drives the movable sleeve 200 to continue to move in a direction close to the power element 700 to shrink the heat dissipation cavity 311, the gaseous working medium in the heat dissipation cavity 311 can enter the atmospheric environment through the connecting hole 220 and the exhaust cavity 312 in turn.

[0090] It should be noted that a circle of groove structure is provided on the outer circle of the bottom of the movable sleeve 200 to adapt to the step structure at the bottom of the heat dissipation cavity 311 so that the movable sleeve 200 can be completely fitted with the bottom wall of the heat dissipation cavity 311 .

[0091] Specifically, the working principle of the heat dissipation device 10 is as follows: when the rod body 100 drives the movable sleeve 200 to move outward, the limiting portion 110 abuts against one end of the inner cavity 210 away from the power element 700, and at this time the linkage valve 400 closes the connecting hole 220. As the movable sleeve 200 continues to move outward, the heat dissipation cavity 311 expands, and the liquid working medium in the heat dissipation cavity 311 absorbs heat and vaporizes. When the rod body 100 drives the movable sleeve 200 to move inward, the limiting portion 110 abuts against one end of the inner cavity 210 close to the power element 700, and at this time the linkage valve 400 opens the connecting hole 220. As the movable sleeve 200 continues to move inward, the heat dissipation cavity 311 contracts, and the gaseous working medium is squeezed and discharged into the atmosphere through the connecting hole 220 and the exhaust cavity 312 in turn.

[0092] The core innovation of this application is that the rod body 100 drives the movable sleeve 200 to move back and forth in the drawer cavity, combined with the opening and closing control of the linkage valve 400, to achieve the periodic gasification and discharge of the liquid working medium in the heat dissipation cavity 311, thereby achieving a continuous and effective heat dissipation effect. This design cleverly utilizes the efficient heat absorption characteristics of phase change materials, while solving the problem of directional discharge of gaseous working medium, avoiding the dependence on ambient temperature and the use of large refrigeration equipment in traditional liquid cooling solutions.

[0093] The key to this design lies in the coordinated work of the rod body 100, the movable sleeve 200 and the linkage valve 400. The reciprocating motion of the rod body 100 not only drives the movable sleeve 200 to move, but also controls the opening and closing timing of the linkage valve 400 through the limiter 110. The movement of the movable sleeve 200 realizes the periodic change of the volume of the heat dissipation cavity 311, and the opening and closing of the linkage valve 400 ensures the directional discharge of the gaseous working medium. This coordinated working mechanism ensures the continuity and high efficiency of the heat dissipation process.

[0094] In another embodiment, the piston portion 800 of the heat dissipation device 10 may also be a solid structure.

[0095] In this way, the structure of the heat dissipation device 10 is simpler, which is conducive to the processing and manufacturing of the energy-absorbing linkage structure.

[0096] In one embodiment, the connecting hole 220 includes a first hole 221 and a second hole 222. The first hole 221 is arranged at one end of the movable sleeve 200 close to the power element 700, and the first hole 221 connects the inner cavity 210 and the heat dissipation cavity 311. The second hole 222 is arranged at one end of the movable sleeve 200 away from the power element 700, and the second hole 222 connects the inner cavity 210 and the exhaust cavity 312. The limiting portion 110 enables the linkage valve 400 to open or close one or both of the first hole 221 and the second hole 222.

[0097] It should be noted that the distance between the side wall where the first hole 221 is located and the side wall where the second hole 222 is located is the stroke of the limiting portion 110 in the inner cavity 210 along the preset axial direction.

[0098] In this way, by respectively setting the first hole 221 and the second hole 222 at both ends of the movable sleeve 200, and enabling the limiter 110 to control the opening and closing of the two holes by the linkage valve 400, the control flexibility of the connecting hole 220 is improved. The first hole 221 is mainly used for the communication between the heat dissipation cavity 311 and the inner cavity 210, while the second hole 222 is mainly used for the communication between the inner cavity 210 and the exhaust cavity 312. This separation design allows the gas flow between the heat dissipation cavity 311, the inner cavity 210 and the exhaust cavity 312 to be more accurately controlled.

[0099] For example, in the expansion stage of the heat dissipation cavity 311, the first hole 221 and the second hole 222 can be closed to ensure that the liquid working medium in the heat dissipation cavity 311 can fully absorb heat and change into a gaseous state. In the contraction stage of the heat dissipation cavity 311, the first hole 221 can be opened first to allow the gaseous working medium to enter the inner cavity 210, and then the second hole 222 can be opened to allow the gaseous working medium to be discharged from the inner cavity 210 into the exhaust cavity 312. This step-by-step operation can better control the gas flow and improve the heat dissipation efficiency.

[0100] Furthermore, this design can also flexibly adjust the opening and closing sequence and timing according to actual needs. For example, in some cases, the first hole 221 and the second hole 222 can be opened at the same time to achieve faster gas discharge. Alternatively, only one of the holes can be opened to achieve partial gas exchange. This flexibility allows the heat dissipation device 10 to better adapt to different working conditions and heat dissipation requirements.

[0101] As a preferred embodiment, the first hole 221 can be designed as a plurality of small holes, evenly distributed on the end surface of the movable sleeve 200 close to the power element 700. This design can make the gaseous working medium in the heat dissipation cavity 311 enter the inner cavity 210 more evenly. The second hole 222 can be designed as a larger hole, located at the center of the end surface of the movable sleeve 200 away from the power element 700, so as to facilitate the rapid discharge of gas.

[0102] Specifically, when the limiting portion 110 abuts against the end of the inner cavity 210 away from the power element 700, the rod body 100 can drive the linkage valve 400 to close one or both of the first hole 221 and the second hole 222; When the limiting portion 110 abuts against one end of the inner cavity 210 close to the power element 700, the rod body 100 can drive the linkage valve 400 to open one or both of the first hole 221 and the second hole 222, and when the rod body 100 drives the movable sleeve 200 to compress the heat dissipation cavity 311, the gaseous working medium can enter the atmospheric environment through the first hole 221, the inner cavity 210, the second hole 222 and the exhaust cavity 312 in sequence.

[0103] However, the present invention is not limited thereto. In other embodiments, the communicating hole 220 may be a through hole that is not connected to the inner cavity 210 and is independently provided to penetrate the movable sleeve 200 .

[0104] In one embodiment, the linkage valve 400 includes a valve plug 410 and a lever mechanism, one end of the lever mechanism is connected to the valve plug 410, and the other end of the lever mechanism is crimped together with the limiting portion 110. When the rod body 100 drives the limiting portion 110 to move along a preset axial direction, the limiting portion 110 can cause the lever mechanism to rotate and drive the valve plug 410 to open or close the connecting hole 220.

[0105] By introducing the lever mechanism, the linkage valve 400 can be precisely controlled. The lever mechanism, as a simple and effective mechanical structure, can convert the linear motion of the rod 100 into the opening and closing motion of the valve plug 410, thereby improving the control accuracy and reliability of the linkage valve 400.

[0106] Specifically, one end of the lever mechanism is connected to the valve plug 410, and the other end is connected to the limiter 110. When the rod body 100 moves, the limiter 110 moves accordingly, thereby driving the lever mechanism to rotate around the fulcrum. This rotational motion is transmitted to the valve plug 410, so that it can accurately open or close the connecting hole 220. This mechanical linkage method is not only simple in structure, but also reliable in operation, and can effectively avoid possible failures or delays in the electronic control system.

[0107] Furthermore, the design of the lever mechanism can be adjusted according to actual needs. For example, the force transmission and displacement amplification effect can be adjusted by changing the length ratio of the lever arm, thereby achieving more precise control. At the same time, the fulcrum position of the lever mechanism can also be optimized according to the spatial layout and mechanical requirements to ensure the stability and sensitivity of the entire mechanism.

[0108] Therefore, the present application uses a lever mechanism to control the opening and closing of the linkage valve 400, which not only simplifies the structure but also improves the accuracy of control. Compared with electronic control systems, this mechanical control method has higher reliability and lower failure rate. Especially in harsh environments or long-term use, mechanical control can maintain stable performance and is not easily affected by external factors.

[0109] However, it is not limited thereto. In other embodiments, the limiting portion 110 may also directly drive the valve plug 410 to move along a preset axial direction.

[0110] Furthermore, in one embodiment, the lever mechanism includes a support rod 421, a connecting rod 422 and an elastic member 423, one end of the support rod 421 is connected to the inner wall of the inner cavity 210, and the other end is hinged to the connecting rod 422 to form a fulcrum of the lever mechanism, one end of the connecting rod 422 is connected to the valve plug 410, and the other end is hinged to the elastic member 423, and the elastic member 423 is connected to the inner wall of the inner cavity 210.

[0111] When the limiting portion 110 compresses the elastic member 423, the elastic member 423 can drive the connecting rod 422 to rotate and make the valve plug 410 open the connecting hole 220. When the limiting portion 110 and the elastic member 423 are separated, the elastic member 423 can push the connecting rod 422 to rotate and make the valve plug 410 close the connecting hole 220.

[0112] Such arrangement enables the linkage valve 400 to automatically control the opening and closing state of the connecting hole 220 according to the position of the rod body 100. When the rod body 100 drives the limiting part 110 to move to the position of the compression elastic member 423, the elastic member 423 is compressed, thereby driving the connecting rod 422 to rotate around the fulcrum, so that the valve plug 410 opens the connecting hole 220. In this way, when the heat dissipation cavity 311 expands, the gaseous working medium is allowed to enter the exhaust cavity 312 through the connecting hole 220. On the contrary, when the rod body 100 drives the limiting part 110 away from the elastic member 423, the elastic member 423 will push the connecting rod 422 to rotate in the opposite direction, so that the valve plug 410 closes the connecting hole 220, thereby preventing external air from entering the heat dissipation cavity 311 when the heat dissipation cavity 311 contracts.

[0113] Through this design, the heat dissipation device 10 of the present application can realize automatic control of the opening and closing of the connecting hole 220, without the need for an additional control mechanism, and has a simple structure and high reliability. At the same time, this design can also ensure that the working medium in the heat dissipation cavity 311 undergoes phase change and is discharged at an appropriate time, thereby improving the heat dissipation efficiency.

[0114] Specifically, in one embodiment, a mounting groove 111 is provided at one end of the limiting portion 110 facing the first hole 221 , and the elastic member 423 is disposed in the mounting groove 111 .

[0115] Such an arrangement is helpful to reduce the assembly volume of the entire lever mechanism.

[0116] Furthermore, in one embodiment, the elastic member 423 is a compression spring.

[0117] But not limited thereto, in other embodiments, the elastic member 423 may also be a metal spring structure.

[0118] In one embodiment, the heat dissipation device 10 further includes a liquid storage portion 500 , in which liquid medium is provided and the liquid storage portion 500 is connected to the heat dissipation cavity 311 .

[0119] In this configuration, the problem of insufficient liquid medium is solved by adding the liquid storage part 500, thereby improving the heat dissipation efficiency. As an additional storage space for the liquid medium, the liquid storage part 500 can be replenished in time when the liquid medium in the heat dissipation cavity 311 is insufficient, ensuring the continuous heat dissipation process.

[0120] Specifically, the liquid storage part 500 can be set at an appropriate position of the housing 300, for example, it can be located at one side or the bottom of the heat dissipation cavity 311. A communication channel is provided between the liquid storage part 500 and the heat dissipation cavity 311, so that the liquid working medium can flow freely. When the liquid working medium in the heat dissipation cavity 311 is reduced due to evaporation, the liquid working medium in the liquid storage part 500 can be automatically replenished into the heat dissipation cavity 311 through the communication channel to keep the liquid working medium in the heat dissipation cavity 311 sufficient.

[0121] Specifically, in one embodiment, a water replenishment and exhaust hole 510 is provided on the top of the liquid storage part 500 to facilitate the liquid storage part 500 to replenish the liquid working medium and exhaust the gas inside.

[0122] Furthermore, in one embodiment, the heat dissipation device 10 also includes a liquid wick 600, one end of which is arranged on the liquid storage portion 500, and the other end is arranged on the inner wall of the heat dissipation cavity 311, so that the liquid working medium can enter the heat dissipation cavity 311 from the liquid storage portion 500 through the liquid wick 600, and the liquid working medium in the heat dissipation cavity 311 is adsorbed on the liquid wick 600.

[0123] By arranging the liquid wick 600 between the liquid storage part 500 and the heat dissipation cavity 311, the liquid working medium is transported from the liquid storage part 500 to the heat dissipation cavity 311 by capillary action, and the liquid working medium in the heat dissipation cavity 311 is adsorbed on the liquid wick 600. This design can effectively solve the problem that the liquid working medium cannot smoothly enter the heat dissipation cavity 311, and at the same time ensure the uniform distribution of the liquid working medium in the heat dissipation cavity 311.

[0124] Specifically, the wick 600 can be made of a variety of materials and structures. For example, a wick 600 made of porous materials such as fiber, metal mesh or sintered powder can be used. These materials have good capillary action and can effectively absorb and transmit liquid working fluid. One end of the wick 600 can be fixed in the liquid storage part 500 by embedding, bonding or pressing, and the other end can be attached to or embedded in the inner wall of the heat dissipation cavity 311.

[0125] However, it is not limited thereto. In other embodiments, the liquid medium in the liquid storage portion 500 may also enter the heat dissipation cavity 311 through a control valve.

[0126] Furthermore, in one embodiment, the liquid level of the liquid medium in the liquid storage portion 500 is lower than the height of the liquid wick 600 in the heat dissipation cavity 311. In addition, the liquid wick 600 is attached to the heat generating surface of the power element 700.

[0127] The liquid level of the liquid working medium in the liquid storage part 500 is lower than the setting height of the liquid wick 600 in the heat dissipation cavity 311. This design can effectively prevent the liquid working medium from excessively accumulating in the heat dissipation cavity 311, thereby ensuring that there is enough space in the heat dissipation cavity 311 for gas-liquid phase change. At the same time, due to the capillary action of the liquid wick 600, the liquid working medium can still be transported from the liquid storage part 500 to the heat dissipation cavity 311, ensuring that there is always enough liquid working medium in the heat dissipation cavity 311 for phase change heat dissipation.

[0128] The present application also provides a robot, which includes the energy-absorbing linkage structure described in any one of the above embodiments.

[0129] The robot of the present application adopts the above-mentioned energy absorption linkage structure, and does not require an additional electric drive cooling module, thereby reducing the overall power consumption of the robot and improving energy efficiency. At the same time, since no electric components such as pumps and compressors are used, the noise and vibration of the robot during operation are also effectively controlled, which improves the quietness of the robot. Therefore, the robot provided by the present application not only solves the heat dissipation problem of the joint motor, but also achieves the advantages of low power consumption and low noise.

[0130] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

[0132] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0133] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0134] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0135] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0136] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0137] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

Claims

1. An energy absorbing linkage structure, characterized in that: The heat dissipation device (10) comprises a foot seat (20), a spring-pressing member (30), a flexible connecting belt (40) and a heat dissipation device (10), wherein the heat dissipation device (10) comprises a piston portion (800), a shell (300) and an elastic portion (900), wherein a liquid working medium is provided in the shell (300), and the piston portion (800) is movably sealed with the inner wall of the shell (300); The connecting end of the spring-pressing member (30) is connected to the foot seat (20), the movable end of the spring-pressing member (30) and the foot seat (20) are spring-pressed together, one end of the flexible connecting belt (40) is connected to the movable end of the spring-pressing member (30), and the other end is connected to the piston portion (800); When the movable end of the elastic member (30) undergoes elastic deformation in a direction close to the foot seat (20) under the action of external pressure, the elastic portion (900) can drive the piston portion (800) to move in a first direction; When the movable end of the elastic member (30) is not subjected to external pressure, the movable end of the elastic member (30) can drive the piston part (800) to move in the second direction via the flexible connecting belt (40); The first direction and the second direction are opposite, and when the piston portion (800) moves toward one of the first direction and the second direction, the liquid working medium can be phase-changed into a gaseous working medium to absorb heat generated by a power element (700) corresponding to the housing (300).

2. The energy absorbing linkage structure according to claim 1, characterized in that: The spring-pressing member (30) comprises a spring sheet, the connection end of which is fixedly connected to the bottom of the foot seat (20), the movable end of which is protruding from the bottom of the foot seat (20), and the movable end of which is capable of elastic deformation in a direction approaching or moving away from the foot seat (20).

3. The energy absorbing linkage structure according to claim 1, characterized in that: The elastic pressure member (30) comprises a pressure plate (31) and a first compression spring (32), wherein the connection end of the pressure plate (31) is hinged to the bottom of the foot seat (20), and one end of the first compression spring (32) is connected to the bottom of the foot seat (20), and the other end is connected to the movable end of the pressure plate (31); The movable end of the pressing plate (31) is capable of rotating in a direction close to the foot seat (20) so that the first compression spring (32) is compressed; Alternatively, the first compression spring (32) can push the movable end of the pressure plate (31) to rotate in a direction away from the foot seat (20) and reset itself.

4. The energy absorbing linkage structure according to claim 1, characterized in that: It also comprises a pulley assembly (50), wherein the pulley assembly (50) is arranged between the heat dissipation device (10) and the elastic member (30), and the flexible connection belt (40) can be movably wound around the pulley assembly (50) to change its own extension direction.

5. The energy absorbing linkage structure according to claim 4, characterized in that: The pulley assembly (50) comprises one or more first fixed pulleys (51), and the flexible connection belt (40) is movably wound around the one or more first fixed pulleys (51) in sequence.

6. The energy absorbing linkage structure according to claim 4, characterized in that: It also includes a linkage block (60), one end of which is fixedly connected to the middle section of the flexible connection belt (40), and the number of the heat dissipation devices (10) is multiple, one of which is connected to an end of the flexible connection belt (40) away from the spring-pressing member (30), and the remaining heat dissipation devices (10) are respectively connected to the linkage block (60).

7. The energy absorbing linkage structure according to claim 4, characterized in that: The pulley assembly (50) comprises a plurality of second fixed pulleys (52); the flexible connecting belt (40) comprises a connecting head (41) and a plurality of connecting branches (42); the plurality of connecting branches (42) are respectively connected to the connecting head (41); the flexible connecting belt (40) is connected to the spring-pressing member (30) via the connecting head (41); at least a portion of the connecting branches (42) are movably arranged around corresponding second fixed pulleys (52); the connecting branches (42) and the heat dissipation devices (10) are arranged in a one-to-one correspondence; each of the connecting branches (42) is connected to a piston portion (800) corresponding to the heat dissipation device (10).

8. The energy absorbing linkage structure according to claim 7, characterized in that: The flexible connecting belt (40) further comprises a movable pulley (43), the number of the connecting branches (42) is two, the ends of the two connecting branches (42) away from the heat dissipation device (10) are mutually connected and movably arranged around the outer circumference of the movable pulley (43), and the end of the connecting head (41) away from the elastic pressure member (30) is connected to the rotating shaft of the movable pulley (43).

9. The energy absorbing linkage structure according to claim 1, characterized in that: The heat dissipation device (10) further comprises a linkage valve (400); the piston portion (800) comprises a rod body (100) and a movable sleeve (200); the housing (300) is provided with a draw-out cavity; the movable sleeve (200) is movably arranged in the draw-out cavity along a preset axial direction and divides the draw-out cavity into a heat dissipation cavity (311) and an exhaust cavity (312); the exhaust cavity (312) is connected to the atmosphere; a liquid working medium is arranged in the heat dissipation cavity (311); the heat dissipation cavity (311) contacts a heating surface of a power element (700) to dissipate heat from the power element (700); The movable sleeve (200) is provided with an inner cavity (210) and a connecting hole (220), the connecting hole (220) being connected with the heat dissipation cavity (311) and the exhaust cavity (312); one end of the rod body (100) is provided with a limiting portion (110); one end of the rod body (100) is movably arranged in the inner cavity (210) through the limiting portion (110) and is limitedly matched with two ends of the inner cavity (210) along a preset axial direction; one end of the rod body (100) away from the limiting portion (110) is connected to the flexible connecting belt (40); and the linkage valve (400) and the limiting portion (110) are movably matched; When the limiting portion (110) abuts against one end of the inner cavity (210) away from the power element (700), the linkage valve (400) closes the communication hole (220); when the limiting portion (110) drives the movable sleeve (200) to continue moving in a direction away from the power element (700) to expand the heat dissipation cavity (311), the liquid working medium in the heat dissipation cavity (311) can be phase-changed into a gaseous working medium; When the limiting portion (110) abuts against one end of the inner cavity (210) close to the power element (700), the linkage valve (400) opens the connecting hole (220); when the limiting portion (110) drives the movable sleeve (200) to continue moving in a direction close to the power element (700) so as to shrink the heat dissipation cavity (311), the gaseous working medium in the heat dissipation cavity (311) can enter the atmosphere through the connecting hole (220) and the exhaust cavity (312) in sequence.

10. A robot, characterized in that: It comprises the energy absorbing linkage structure as described in any one of claims 1 to claim 9.

Images