Energy-absorbing linkage structure and robot

Abstract

The present application relates to an energy-absorbing linkage structure and a robot. The energy-absorbing linkage structure includes a foot base portion, an elastic pressing member, a flexible connection belt, and a heat dissipation device. The heat dissipation device includes a piston portion, a housing, and an elastic portion. When the movable end of the elastic pressing member undergoes elastic deformation in the direction approaching the foot base portion under the action of an external pressure, the elastic portion can drive the piston portion to move in a first direction. When the movable end of the elastic pressing member is not subjected to the external pressure, the movable end of the elastic pressing member can drive the piston portion to move in a second direction through the flexible connection belt. The first direction and the second direction are opposite. When the piston portion moves in 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 housing. The energy-absorbing linkage structure and the robot provided in the present application solve the problems of high overall power consumption and poor quietness existing in the robot.

Description

Technical Field

[0001] This application relates to the technical field of robot heat dissipation devices, and particularly 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 the movements of humanoid robots and the loads they bear continue to increase, the heat generated by joint motors is also increasing. Therefore, it is urgent 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 use pumps, compressors, or motors to achieve the circulation and cooling of the coolant. Thus, on the one hand, since the number of joint motors is relatively large, the corresponding number of cooling modules is also relatively large, which will increase the overall power consumption of the robot and is not conducive to the low-power design of the robot. On the other hand, it will increase the noise and vibration during the operation of the robot and 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 relatively high overall power consumption and relatively poor quietness existing in existing robots.

[0005] The energy-absorbing linkage structure provided by this application includes a foot base portion, an elastic pressing member, a flexible connecting belt, and a heat dissipation device. The heat dissipation device includes a piston portion, a housing, and an elastic portion. A liquid working medium is provided inside the housing, and the piston portion is movably and sealingly fitted with the inner wall of the housing; the connecting end of the elastic pressing member is connected to the foot base portion, the movable end of the elastic pressing member and the foot base portion are elastically pressed and matched, one end of the flexible connecting belt is connected to the movable end of the elastic pressing member, and the other end is connected to the piston portion; when the movable end of the elastic pressing member undergoes elastic deformation in the direction approaching the foot base portion under the action of an external pressure, the elastic portion can drive the piston portion to move in a first direction; when the movable end of the elastic pressing member is not affected by the external pressure, the movable end of the elastic pressing member can drive the piston portion to move in a second direction through the flexible connecting belt; the first direction and the second direction are opposite, and when the piston portion moves in one of the first direction and the second direction, the liquid working medium can be changed into a gaseous working medium to absorb the heat generated by the power component corresponding to the housing.

[0006] In one embodiment, the elastic pressing member includes a spring sheet. The connecting end of the spring sheet is fixedly connected to the bottom of the foot base portion, the movable end of the spring sheet protrudes from the bottom of the foot base portion, and the movable end of the spring sheet can undergo elastic deformation in the direction approaching or away from the foot base portion.

[0007] In one embodiment, the resilient member includes a pressing plate and a first compression spring. The connecting end of the pressing plate is hinged to the bottom of the footrest portion. One end of the first compression spring is connected to the bottom of the footrest portion, and the other end is connected to the movable end of the pressing plate. The movable end of the pressing plate can rotate towards the direction close to the footrest portion to compress the first compression spring; or, the first compression spring can push the movable end of the pressing plate to rotate towards the direction away from the footrest portion and reset itself.

[0008] In one embodiment, the energy-absorbing linkage structure further includes a pulley assembly. The pulley assembly is disposed between the heat dissipation device and the resilient member. The flexible connection belt can movably wind 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 connection belt sequentially movably winds around one or more first fixed pulleys.

[0010] In one embodiment, the energy-absorbing linkage structure further includes a linkage block. One end of the linkage block is fixedly connected to the middle section of the flexible connection belt. The number of heat dissipation devices is multiple. One of the heat dissipation devices is connected to the end of the flexible connection belt away from the resilient member, and the remaining heat dissipation devices are respectively connected to the linkage block.

[0011] In one embodiment, the pulley assembly includes multiple second fixed pulleys. The flexible connection belt includes a connection head and multiple connection branches. The multiple connection branches are respectively connected to the connection head. The flexible connection belt is connected to the resilient member through the connection head. At least part of the connection branches movably wind around the corresponding second fixed pulleys. The connection branches and the heat dissipation devices are arranged in one-to-one correspondence, and each connection branch is connected to the piston portion of the corresponding heat dissipation device.

[0012] In one embodiment, the flexible connection belt further includes a movable pulley. The number of connection branches is two. The ends of the two connection branches away from the heat dissipation devices are connected to each other and movably wind around the outer periphery of the movable pulley. The end of the connection head away from the resilient member is connected to the rotating shaft of the movable pulley.

[0013] In one embodiment, the heat dissipation device further includes a linkage valve. The piston portion includes a rod body and a movable sleeve. The housing is provided with a drawing cavity. The movable sleeve is movably disposed in the drawing cavity along a preset axis and divides the drawing cavity into a heat dissipation cavity and an exhaust cavity. The exhaust cavity communicates with the atmospheric environment. A liquid working medium is provided in the heat dissipation cavity. The heat dissipation cavity contacts the heat generating surface of the power element to dissipate heat from the power element. The movable sleeve is provided with an inner cavity and a communication hole. The communication hole communicates 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 disposed in the inner cavity through the limiting portion and is in limit fit with both ends of the inner cavity along the preset axis. The end of the rod body away from the limiting portion is connected to the flexible connection band. The linkage valve is in movable cooperation with the limiting portion. When the limiting portion abuts against the end of the inner cavity away from the power element, the linkage valve closes the communication hole. When the limiting portion drives the movable sleeve to move further 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 portion abuts against the end of the inner cavity close to the power element, the linkage valve opens the communication hole. When the limiting portion drives the movable sleeve to move further in the direction close to the power element to contract the heat dissipation cavity, the gaseous working medium in the heat dissipation cavity can enter the atmospheric environment through the communication hole and the exhaust cavity in sequence.

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

[0015] Compared with the prior art, the energy absorption linkage structure and the robot provided by the present application utilize the elastic deformation of the elastic pressing member disposed on the foot seat portion and the linkage of the flexible connection band to drive the piston portion to move, thereby realizing the phase-change heat dissipation of the liquid working medium and avoiding additional power consumption and noise problems.

[0016] The movable end of the elastic pressing member elastically deforms in the direction of the foot seat portion under the action of an external pressure, driving the piston portion to move in the first direction. The liquid working medium is phase-changed into a gaseous working medium and absorbs heat. When the external pressure disappears, the elastic pressing member resets, driving the piston portion to move in the second direction, and the gaseous working medium releases heat. Heat dissipation is realized by the linkage of the elastic pressing member and the flexible connection band without additional power. Alternatively, the piston portion moves in the second direction, the liquid working medium is phase-changed into a gaseous working medium and absorbs heat, and the piston portion moves in the first direction, and the gaseous working medium releases heat. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1Schematic diagram of the energy-absorbing linkage structure of Embodiment 1 provided by this application;

[0019] Figure 2 Schematic diagram of the structure of State 1 of the energy-absorbing linkage structure of Embodiment 2 provided by this application;

[0020] Figure 3 Schematic diagram of the structure of State 2 of the energy-absorbing linkage structure of Embodiment 2 provided by this application;

[0021] Figure 4 Schematic cross-sectional view of the heat dissipation device of an embodiment provided by this application;

[0022] Figure 5 Partial structural state of the heat dissipation device of an embodiment provided by this application Figure 1 ;

[0023] Figure 6 Partial structural state of the heat dissipation device of an embodiment provided by this application Figure 2 .

[0024] Reference numerals: 10, heat dissipation device; 100, rod body; 110, limiting part; 111, installation groove; 200, movable sleeve; 210, inner cavity; 220, communication hole; 221, first hole; 222, second hole; 230, first collar; 300, housing; 311, heat dissipation cavity; 312, exhaust cavity; 320, third hole; 330, second collar; 400, linkage valve; 410, valve plug; 421, support rod; 422, connecting rod; 423, elastic member; 500, liquid storage part; 510, water replenishing and exhaust hole; 600, liquid absorption core; 700, power element; 800, piston part; 900, elastic part; 20, foot seat part; 21, receiving groove; 22, installation inclined surface; 30, elastic pressing member; 31, pressing 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 of the Invention

[0025] With the rapid development of the humanoid robot industry, as the complexity of the movements and the load borne by humanoid robots continue to increase, the heat generated by the joint motors is also increasing. Therefore, it is urgent to improve the performance of the cooling module used for cooling the joint motors.

[0026] In the prior art, the cooling module itself consumes power. For example, the cooling module needs to use a pump, a compressor, or a motor to achieve the circulation and cooling of the coolant. Thus, on the one hand, since the number of joint motors is relatively large, the corresponding number of cooling modules is also relatively large, which increases the overall power consumption of the robot and is not conducive to the low-power design of the robot. On the other hand, it increases the noise and vibration during the operation of the robot and is not conducive to the quiet design of the robot.

[0027] To solve the problems of relatively high overall power consumption and poor quietness existing in existing robots, the present application provides an energy-absorbing linkage structure and a robot.

[0028] Please refer to Figures 1 - 6 , the energy-absorbing linkage structure includes a foot base portion 20, a spring pressing member 30, a flexible connecting belt 40, and a heat dissipation device 10. The heat dissipation device 10 includes a piston portion 800, a housing 300, and an elastic portion 900. A liquid working medium is provided in the housing 300. The piston portion 800 is movably disposed in the housing 300 and is movably and sealingly fitted with the inner wall of the housing 300. One end of the elastic portion 900 is connected to the piston portion 800, and the other end is connected to the housing 300. Moreover, the elastic portion 900 can apply an elastic force to the piston portion 800 to move in the first direction.

[0029] It should be noted that the foot base portion 20 is the walking part of the robot, similar to the human foot. Moreover, for the convenience of the deformation of the spring pressing member 30, the spring pressing member 30 is disposed at the bottom of the foot base portion 20 to facilitate the compression and expansion of the spring pressing member 30.

[0030] The connecting end of the spring pressing member 30 is connected to the foot base portion 20. The movable end of the spring pressing member 30 and the foot base portion 20 are elastically cooperated. 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 of the heat dissipation device 10.

[0031] When the movable end of the spring pressing member 30 undergoes elastic deformation in the direction close to the foot base portion 20 under the action of an external pressure, the external pressure is mainly the pressure of the robot's own weight on the movable end of the spring pressing member 30 when the robot walks. That is, when the foot base portion 20 of the robot presses down and contacts the ground, the movable end of the spring pressing member 30 undergoes elastic deformation. At this time, the elastic portion 900 can drive the piston portion 800 to move in the first direction. When the movable end of the spring pressing member 30 is not affected by the external pressure, that is, when the foot base portion 20 of the robot is lifted, the movable end of the spring pressing member 30 can drive the piston portion 800 to move in the second direction through the flexible connecting belt 40.

[0032] It should be noted that the flexible connection belt 40 can be a belt, a tensile rope, a flexible plastic belt or other structures. Its main feature is that it has a certain softness, so as to facilitate the adjustment of the transmission direction of the force, and to facilitate the variable-direction connection between the flexible connection belt 40 and the piston part 800, and to facilitate the variable-direction connection between the flexible connection belt 40 and the elastic pressing member 30.

[0033] The first direction and the second direction are opposite. And when the piston part 800 moves towards 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 (including but not limited to IGBT modules, motors, chips, etc.) in the housing 300 corresponding to the housing 300. And taking the motor as an example, it includes but not limited to hip joint motors, knee joint motors and ankle joint motors).

[0034] Specifically, it can be that when the piston part 800 moves towards the first direction, the liquid working medium can be phase-changed into a gaseous working medium. At this time, the movable end of the elastic pressing member 30 undergoes elastic deformation under the external pressure, and the elastic part 900 drives the piston part 800 to move towards the first direction.

[0035] It can also be that when the piston part 800 moves towards the second direction, the liquid working medium can be phase-changed into a gaseous working medium. At this time, when the movable end of the elastic pressing member 30 is not affected by the external pressure, the movable end of the elastic pressing member 30 can drive the piston part 800 to move towards the second direction through the flexible connection belt 40.

[0036] It should be noted that the power element 700 can be in direct contact with the liquid working medium in the housing 300, or can transfer heat through the wall surface of the housing 300.

[0037] 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, and uses the elastic deformation of the elastic pressing member 30 arranged on the foot base part 20 and the linkage of the flexible connection belt 40 to drive the piston part 800 to move, so as to realize the phase-change heat dissipation of the liquid working medium, avoiding additional power consumption and noise problems.

[0038] The movable end of the elastic pressing member 30 undergoes elastic deformation towards the foot base part 20 direction under the external pressure, driving the piston part 800 to move towards the first direction, and the liquid working medium is phase-changed into a gaseous working medium to absorb heat. When the external pressure disappears, the elastic pressing member 30 resets, driving the piston part 800 to move towards the second direction, and the gaseous working medium releases heat. The heat dissipation is realized by using the linkage of the elastic pressing member 30 and the flexible connection belt 40 without additional power. Or, the piston part 800 moves towards the second direction, the liquid working medium is phase-changed into a gaseous working medium to absorb heat, and the piston part 800 moves towards the first direction, and the gaseous working medium releases heat.

[0039] The elastic pressing member 30 includes a spring piece and a pressing plate 31. The spring piece is fixed to the bottom of the foot seat portion 20, and the movable end protrudes, and can elastically deform in a direction approaching or departing from the foot seat portion 20. The pressing plate 31 is connected to the foot seat portion 20 through a first compression spring 32, and the movable end can rotate, so that the first compression spring 32 is compressed or the pressing plate 31 is pushed to reset. One end of the flexible connection belt 40 is connected to the elastic pressing member 30, and the other end is connected to the piston portion 800. Through elastic deformation and deformation reset, the movement of the piston portion 800 is realized.

[0040] During the movement of the piston portion 800, heat is absorbed by the phase change of the liquid working medium into the gaseous working medium, 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 and quiet design of the robot.

[0041] Through the mutual cooperation of the foot seat portion 20, the elastic pressing member 30, the flexible connection belt 40 and the heat dissipation device 10, the present application realizes the effective heat dissipation of the joint motor. The elastic pressing member 30 elastically deforms under the action of an external pressure, drives the piston portion 800 to move through the flexible connection belt 40, and the liquid working medium absorbs heat during the phase change. When there is no external pressure, the elastic pressing member 30 resets, drives the piston portion 800 to move in the reverse direction, and completes the heat dissipation process. Thus, the present application provides an innovative solution with low power consumption and low noise for solving the heat dissipation problem of the power element 700 of the robot.

[0042] In an embodiment, the elastic pressing member 30 includes a spring piece. The connecting end of the spring piece is fixedly connected to the bottom of the foot seat portion 20, the movable end of the spring piece protrudes from the bottom of the foot seat portion 20, and the movable end of the spring piece can elastically deform in a direction approaching or departing from the foot seat portion 20. Moreover, the flexible connection belt 40 is connected to the movable end of the spring piece.

[0043] In the present application, the elastic pressing member 30 is in the form of a spring piece. One end of the spring piece is fixed to the bottom of the foot seat portion 20, while the other end protrudes from the bottom of the foot seat portion 20. Through this design, when the spring piece is subjected to an external pressure, its movable end can elastically deform in a direction approaching the foot seat portion 20. Conversely, when the external pressure disappears, the movable end of the spring piece can return to its original position in a direction departing from the foot seat portion 20. Thus, the elastic deformation of the spring piece can be transmitted to the piston portion 800 through the flexible connection belt 40, causing the piston portion 800 to move between the first direction and the second direction, thereby realizing the operation of the heat dissipation device 10.

[0044] Specifically, the material and shape of the elastic piece can be selected and designed according to actual requirements. For example, the elastic piece can be made of a highly elastic material to ensure that it can still maintain good elastic performance after multiple deformations. In addition, the thickness and width of the elastic piece can also be adjusted according to needs to provide an appropriate range of elastic deformation and strength. Through these designs, the elastic piece can effectively cooperate with the flexible connection belt 40 to ensure the smooth movement of the piston portion 800.

[0045] Furthermore, by adopting the elastic piece as the elastic pressing member 30 in this application, the structural design is simplified, the number of components is reduced, which helps to reduce the manufacturing cost and improve the assembly efficiency. At the same time, the elastic deformation of the elastic piece 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 this application can not only effectively reduce the overall power consumption of the robot, but also reduce the noise and vibration during operation, improving the quietness of the robot.

[0046] Specifically, the elastic piece can be made of metal or hard plastic, and the elastic piece can be welded to the foot seat portion 20, or can be adhered or snapped to the foot seat portion 20.

[0047] In another embodiment, as Figures 1 - 3 shown, the elastic pressing 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 portion 20. One end of the first compression spring 32 is connected to the bottom of the foot seat portion 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 towards the direction close to the foot seat portion 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 towards the direction away from the foot seat portion 20 and reset itself (the first compression spring 32). And the flexible connection belt 40 is connected to the movable end of the pressing plate 31.

[0048] This technical solution introduces the pressing plate 31 and the first compression spring 32 into the elastic pressing member 30, so that the movable end of the pressing plate 31 can rotate towards the direction close to the foot seat portion 20 under the action of an external force and compress the first compression spring 32. Conversely, when the external force is removed, the first compression spring 32 can push the movable end of the pressing plate 31 to rotate towards the direction away from the foot seat portion 20 and reset the pressing plate 31. Through this design, the elastic deformation and reset functions of the elastic pressing member 30 can be effectively realized, thereby driving the movement of the piston portion 800, and then absorbing heat through the phase change of the liquid working medium to achieve the heat dissipation function.

[0049] In actual implementation, the pressing plate 31 can be made of metal or other high-strength materials to ensure its stability and durability during long-term use. The first compression spring 32 can be selected with an appropriate elastic coefficient and size according to specific mechanical requirements to ensure its reliability and effectiveness during the compression and reset processes.

[0050] Furthermore, in one embodiment, as Figures 1 - 3 shown, a receiving groove 21 is provided at the bottom of the foot seat portion 20. The pressing plate 31 is hinged to the top end of the receiving groove 21 (the end of the receiving groove 21 close to the ground), and the first compression spring 32 is connected to the bottom wall of the receiving groove 21 (the end of the receiving groove 21 far from the ground).

[0051] With such a setting, it is beneficial to increase the maximum stroke of the first compression spring 32, and thus beneficial to the energy storage of the elastic pressing member 30. Moreover, the first compression spring 32 is disposed in the receiving groove 21, which is beneficial for the receiving groove 21 to accommodate the first compression spring 32 and prevent the first compression spring 32 from affecting the walking stability of the foot seat portion 20.

[0052] Even further, in one embodiment, an installation inclined surface 22 is provided on the bottom wall of the receiving groove 21. The first compression spring 32 is connected to the installation inclined surface 22. When the first compression spring 32 is reset, the installation inclined surface 22 and the pressing plate 31 are arranged in parallel.

[0053] In this way, it is beneficial to increase the pressure exerted by the pressing plate 31 on the first compression spring 32.

[0054] 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. Moreover, the second compression spring can exert an elastic force on the piston portion 800 to move in the first direction.

[0055] With such a setting, the assembly difficulty of the elastic portion 900 can be reduced.

[0056] However, it is not limited to this. In other embodiments, the elastic portion 900 can also be an elastomeric structure, including but not limited to various elastomeric structures such as POE elastomer and polyurethane elastomer, which are not listed one by one here.

[0057] In one embodiment, as Figures 1 - 3 shown, the energy absorption linkage structure further includes a pulley assembly 50. The pulley assembly 50 is disposed between the heat dissipation device 10 and the elastic pressing member 30. The flexible connecting belt 40 can movably wind around the pulley assembly 50 to change its own (the flexible connecting belt 40) extension direction.

[0058] It should be noted that "movably wind around" means that the flexible connecting belt 40 has a rolling friction fit with the pulley of the pulley assembly 50.

[0059] The technical solution of this application enables the flexible connection belt 40 to bypass the pulley assembly 50 by setting the pulley assembly 50, thereby changing its extension direction. This design can make the connection between the flexible connection belt 40 and the heat dissipation device 10 more flexible between the elastic member 30, adapting to different installation positions and spatial layouts.

[0060] The advantage of this design is that the setting of the pulley assembly 50 makes the movement path of the flexible connection belt 40 more flexible, which can adapt to different installation requirements and space limitations. At the same time, the use of the pulley assembly 50 can also reduce the wear and loss of the flexible connection belt 40 and extend its service life.

[0061] However, not limited to this, in other embodiments, the flexible connection belt 40 can also change its own extension direction through a cylindrical rod 100 with a smooth surface.

[0062] Embodiment 1

[0063] In this embodiment, as Figure 1 shown, the pulley assembly 50 includes one or more first fixed pulleys 51, and the flexible connection belt 40 sequentially and movably winds around one or more first fixed pulleys 51.

[0064] The first fixed pulley 51 of the pulley assembly 50 can be made of various materials, such as metal or high-strength plastic, to ensure its durability and stability during use. The flexible connection 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, the efficient linkage of the pulley assembly 50 and the flexible connection belt 40 can be achieved.

[0065] Furthermore, in an embodiment, as Figure 1 shown, the energy-absorbing linkage structure further includes a linkage block 60. One end of the linkage block 60 is fixedly connected to the middle section of the flexible connection belt 40 (that is, the part between the two ends of the flexible connection belt 40). The number of heat dissipation devices 10 is multiple. One of the heat dissipation devices 10 is connected to one end of the flexible connection belt 40 away from the elastic member 30, and the remaining heat dissipation devices 10 are respectively connected to the linkage block 60.

[0066] The linkage block 60 of this application can achieve the linkage operation of multiple heat dissipation devices 10 by being fixedly connected to the middle section of the flexible connection belt 40. When the elastic member 30 undergoes elastic deformation under an external pressure, the flexible connection belt 40 drives the linkage block 60 to move, thereby simultaneously driving the piston parts 800 of multiple heat dissipation devices 10. This can improve the heat dissipation efficiency, ensure that multiple heat dissipation devices 10 can work simultaneously, and effectively absorb the heat generated by the power element 700. In addition, the setting of the linkage block 60 also simplifies the structural design and reduces the complexity of individually controlling each heat dissipation device 10.

[0067] The linkage block 60 can be implemented in various ways. For example, it can be fixed to the middle section of the flexible connection belt 40 by mechanical connection, or fixed by welding, bonding, etc. The material of the linkage block 60 can be selected as metal material or high-strength composite material to ensure 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 the specifications of different heat dissipation devices 10 and flexible connection belts 40.

[0068] Furthermore, in one embodiment, the two heat dissipation devices 10 are respectively connected to opposite ends of the linkage block 60, and the above two heat dissipation devices 10 are distributed along the extension direction of the flexible connection belt 40.

[0069] Embodiment Two

[0070] In this embodiment, as Figure 2 and Figure 3 shown, the pulley assembly 50 includes a plurality of second fixed pulleys 52, the flexible connection belt 40 includes a connection head 41 and a plurality of connection branches 42. The plurality of connection branches 42 are respectively connected to the connection head 41. The flexible connection belt 40 is connected to the elastic pressing member 30 through the connection head 41. At least part of the connection branches 42 are movably wound around the corresponding second fixed pulleys 52, and the connection branches 42 and the heat dissipation devices 10 are arranged in one-to-one correspondence, and each connection branch 42 is connected to the piston part 800 of the corresponding heat dissipation device 10.

[0071] In this technical solution, through the arrangement of the plurality of second fixed pulleys 52 in the pulley assembly 50, the flexible connection belt 40 can be flexibly extended and contracted in multiple directions, and then drive the piston parts 800 of the plurality of heat dissipation devices 10 to move accordingly. In this way, the linkage control of the plurality of heat dissipation devices 10 can be realized, improving the heat dissipation efficiency and the reliability of the system.

[0072] Further, the connection head 41 of the flexible connection belt 40 can be connected to the elastic pressing member 30 in various ways. For example, it can be quickly connected and disassembled by means of hinges, buckles, etc. The number and specific layout of the connection branches 42 can be adjusted according to actual needs to adapt to different heat dissipation requirements. The material of the second fixed pulley 52 can be selected as wear-resistant and low-friction coefficient material to ensure the long-term stable operation of the system.

[0073] Further, in one embodiment, the connection branches 42 and the second fixed pulleys 52 are arranged in one-to-one correspondence.

[0074] However, it is not limited to this. In other embodiments, the number of the second fixed pulleys 52 can also be less than the number of the connection branches 42.

[0075] Further, in one embodiment, as Figure 2 and Figure 3 shown, the flexible connection belt 40 further includes a movable pulley 43. The number of connection branches 42 is two, and the ends of the two connection branches 42 away from the heat dissipation device 10 are connected to each other and movably wound around the outer periphery of the movable pulley 43. The end of the connection head 41 away from the elastic pressing member 30 is connected to the rotating shaft of the movable pulley 43.

[0076] Through this design, the two connection branches 42 of the flexible connection belt 40 can achieve synchronous movement under the action of the movable pulley 43. Such synchronous movement can ensure that the two connection 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 connection belt 40, but also effectively reduce the friction of the system and improve the transmission efficiency of the system.

[0077] As a preferred embodiment, the outer periphery of the movable pulley 43 can be set as a smooth curved surface to reduce the friction between the flexible connection belt 40 and the movable pulley 43, thereby extending the service life of the flexible connection belt 40. The rotating shaft of the movable pulley 43 can be installed on the connection head 41 through a bearing to ensure that the movable pulley 43 can rotate smoothly, further improving the transmission efficiency and stability of the system.

[0078] In one embodiment, as Figures 4 - 6 shown, the heat dissipation device 10 further includes a linkage valve 400. The piston portion 800 includes a rod body 100 and a movable sleeve 200. The housing 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. The exhaust cavity 312 is communicated with the atmospheric environment.

[0079] Among them, the rod body 100 refers to a component for driving the movable sleeve 200 to move, and specifically can be implemented by using a metal rod or a plastic rod.

[0080] Among them, the movable sleeve 200 refers to a sleeve structure that can move along a preset axial direction in the pulling cavity, and specifically can be implemented by using a hollow cylinder made of metal or plastic materials.

[0081] Among them, the housing 300 refers to an external structure for accommodating the movable sleeve 200 and forming the pulling cavity, and specifically can be implemented by using a housing made of metal or plastic materials.

[0082] Among them, the linkage valve 400 refers to a valve mechanism for controlling the opening and closing of the communication hole 220, and specifically can be implemented by using a combination of a valve plug 410 and a lever mechanism.

[0083] Specifically, in one embodiment, the housing 300 is provided with a third hole 320, and the exhaust cavity 312 communicates with the atmospheric environment through the third hole 320.

[0084] The heat dissipation cavity 311 is provided with a liquid working medium. The heat dissipation cavity 311 contacts the heat generating surface of the power element 700 to dissipate heat from the power element 700.

[0085] In one embodiment, the heat dissipation cavity 311 is formed by enclosing the bottom wall of the movable sleeve 200 close to the power element 700, the side wall of the housing 300, and the heat generating surface of the power element 700.

[0086] With such a setting, these three parts jointly enclose a closed heat dissipation cavity 311, enabling the liquid working medium to directly contact the heat generating surface of the power element 700, greatly improving the heat dissipation efficiency of the power element 700.

[0087] In another embodiment, the bottom wall of the heat dissipation cavity 311 at the end far from the exhaust cavity 312 contacts the heat generating surface of the power element 700.

[0088] Since the contact area between the bottom wall of the heat dissipation cavity 311 at the end far from the exhaust cavity 312 and the heat generating surface of the power element 700 remains unchanged, thus, with such a setting, the heat transfer efficiency between the power element 700 and the heat dissipation cavity 311 can be improved.

[0089] Moreover, this design can ensure direct thermal contact between the heat dissipation cavity 311 and the power element 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 applying a thermal paste, to further enhance the thermal contact with the heat generating surface of the power element 700.

[0090] However, it is not limited thereto. In other embodiments, it can also be that the side wall of the heat dissipation cavity 311 contacts the heat generating surface of the power element 700.

[0091] Furthermore, the movable sleeve 200 is provided with an inner cavity 210 and a communication hole 220. The communication hole 220 communicates 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 in limit fit with both ends of the inner cavity 210 along a preset axial direction.

[0092] Specifically, the limiting portion 110 protrudes radially from the outer peripheral side of the rod body 100 along the rod body 100. The limiting portion 110 can be a circular 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.

[0093] Moreover, one end of the rod body 100 away from the limiting portion 110 sequentially passes through the inner cavity 210 and the exhaust cavity 312 and extends out of the housing 300. One end of the rod body 100 away from the limiting portion 110 is connected to the flexible connection band 40, and the linkage valve 400 and the limiting portion 110 are movably matched.

[0094] Specifically, the movable sleeve 200 is provided with a first collar 230, and the housing 300 is provided with a second collar 330. One end of the rod body 100 away from the limiting portion 110 sequentially passes through the first collar 230 and the second collar 330 movably, so that the movement of the rod body 100 is more stable.

[0095] Moreover, the number of the communication holes 220 can be multiple, and the multiple communication holes 220 are arranged 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 communication holes 220, and the two are arranged in one-to-one correspondence.

[0096] 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. At this time, the rod body 100, the movable sleeve 200 and the linkage valve 400 form a piston portion 800, so that the heat dissipation cavity 311 is hermetically arranged. Moreover, when the limiting portion 110 drives the movable sleeve 200 to move further 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;

[0097] 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 communication hole 220. At this time, the movable sleeve 200 is a structure that penetrates along the preset axial direction. Moreover, when the limiting portion 110 drives the movable sleeve 200 to move closer to the power element 700 to contract the heat dissipation cavity 311, the gaseous working medium in the heat dissipation cavity 311 can sequentially enter the atmospheric environment through the communication hole 220 and the exhaust cavity 312.

[0098] It should be noted that a groove structure is provided on the outer circumference of the bottom of the movable sleeve 200 to adapt to the stepped structure at the bottom of the heat dissipation cavity 311, so as to facilitate the movable sleeve 200 to be completely attached to the bottom wall of the heat dissipation cavity 311.

[0099] 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. At this time, the linkage valve 400 closes the communication 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. At this time, the linkage valve 400 opens the communication 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 atmospheric environment through the communication hole 220 and the exhaust cavity 312 in sequence.

[0100] The core innovation of this application lies in driving the movable sleeve 200 to reciprocate in the draw cavity through the rod body 100, combined with the opening and closing control of the linkage valve 400, realizing the periodic vaporization and discharge of the liquid working medium in the heat dissipation cavity 311, so as to achieve a continuous and effective heat dissipation effect. This design cleverly utilizes the high-efficiency heat absorption characteristics of the phase change material, and at the same time solves the problem of the directional discharge of the gaseous working medium, avoiding the dependence on the ambient temperature and the use of large refrigeration equipment in the traditional liquid cooling heat dissipation scheme.

[0101] The key to this design lies in the coordinated operation 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 limiting portion 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 ensure the directional discharge of the gaseous working medium. This coordinated working mechanism ensures the continuity and efficiency of the heat dissipation process.

[0102] In another embodiment, the piston portion 800 of the heat dissipation device 10 can also be a solid structure.

[0103] In this way, the structure of the heat dissipation device 10 is simpler, which is beneficial to the processing and manufacturing of the energy-absorbing linkage structure.

[0104] In one embodiment, the communication 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 communicates 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 communicates the inner cavity 210 and the exhaust cavity 312. The limiting portion 110 can make the linkage valve 400 open or close one or both of the first hole 221 and the second hole 222.

[0105] 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 along the preset axial direction within the inner cavity 210.

[0106] With such a setting, by respectively arranging the first hole 221 and the second hole 222 at both ends of the movable sleeve 200 and enabling the limiting portion 110 to control the opening and closing of these two holes by the linkage valve 400, the control flexibility of the communication 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 separated design enables the gas flow between the heat dissipation cavity 311, the inner cavity 210, and the exhaust cavity 312 to be controlled more precisely.

[0107] For example, during 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 phase-change into a gas. During 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 discharge the gaseous working medium 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.

[0108] 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 simultaneously to achieve faster gas discharge. Or, only one of the holes can be opened to achieve partial gas exchange. This flexibility enables the heat dissipation device 10 to better adapt to different working conditions and heat dissipation requirements.

[0109] As a preferred implementation manner, the first hole 221 can be designed as multiple small holes, evenly distributed on the end face of the movable sleeve 200 close to the power element 700. This design can enable the gaseous working medium in the heat dissipation cavity 311 to 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 face of the movable sleeve 200 far from the power element 700, so as to facilitate the rapid discharge of gas.

[0110] Specifically, when the limiting portion 110 abuts against one end of the inner cavity 210 far 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;

[0111] When the limiting part 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. Moreover, when the rod body 100 drives the movable sleeve 200 to compress the heat dissipation cavity 311, the gaseous working medium can sequentially enter the atmospheric environment through the first hole 221, the inner cavity 210, the second hole 222, and the exhaust cavity 312.

[0112] However, it is not limited to this. In other embodiments, the communication hole 220 can also be a through hole that does not communicate with the inner cavity 210 and is independently provided through the movable sleeve 200.

[0113] 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 in press-fit with the limiting part 110. When the rod body 100 drives the limiting part 110 to move along the preset axial direction, the limiting part 110 can make the lever mechanism rotate and drive the valve plug 410 to open or close the communication hole 220.

[0114] With such a setting, by introducing the lever mechanism, precise control of the linkage valve 400 is achieved. As a simple and effective mechanical structure, the lever mechanism can convert the linear motion of the rod body 100 into the opening and closing actions of the valve plug 410, thereby improving the control accuracy and reliability of the linkage valve 400.

[0115] Specifically, one end of the lever mechanism is connected to the valve plug 410, and the other end is connected to the limiting part 110. When the rod body 100 moves, the limiting part 110 moves accordingly, and then drives the lever mechanism to rotate around the fulcrum. This rotational motion is transmitted to the valve plug 410, enabling it to precisely open or close the communication hole 220. This mechanical linkage method not only has a simple structure but also reliable actions, and can effectively avoid the possible failures or delays of the electronic control system.

[0116] Furthermore, the design of the lever mechanism can be adjusted according to actual needs. For example, the force transmission and displacement amplification effects can be adjusted by changing the length ratio of the lever arms, thereby achieving more refined 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.

[0117] Therefore, by adopting the lever mechanism to control the opening and closing of the linkage valve 400 in this application, not only is the structure simplified, but also the control accuracy is improved. This mechanical control method has higher reliability and lower failure rate compared with the electronic control system. Especially in harsh environments or during long-term use, the mechanical control can maintain stable performance and is not easily affected by external factors.

[0118] However, without limitation, in other embodiments, the limiting portion 110 can also directly drive the valve plug 410 to move along a preset axial direction.

[0119] Further, 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. The elastic member 423 is connected to the inner wall of the inner cavity 210.

[0120] When the limiting portion 110 compresses the elastic member 423, the elastic member 423 can drive the connecting rod 422 to rotate and open the communication hole 220 by the valve plug 410. When the limiting portion 110 is separated from the elastic member 423, the elastic member 423 can push the connecting rod 422 to rotate and close the communication hole 220 by the valve plug 410.

[0121] With such a setting, the linkage valve 400 can automatically control the opening and closing state of the communication hole 220 according to the position of the rod body 100. When the rod body 100 drives the limiting portion 110 to move to a position where the elastic member 423 is compressed, the elastic member 423 is compressed, thereby driving the connecting rod 422 to rotate around the fulcrum and opening the communication hole 220 by the valve plug 410. In this way, when the heat dissipation cavity 311 expands, the gaseous working medium can be allowed to enter the exhaust cavity 312 through the communication hole 220. On the contrary, when the rod body 100 drives the limiting portion 110 away from the elastic member 423, the elastic member 423 will push the connecting rod 422 to rotate in the reverse direction, closing the communication hole 220 by the valve plug 410, so as to prevent external air from entering the heat dissipation cavity 311 when the heat dissipation cavity 311 contracts.

[0122] Through this design, the heat dissipation device 10 of the present application can realize automatic control of the opening and closing of the communication hole 220, without an additional control mechanism, with 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 a phase change and is discharged at an appropriate time, thereby improving the heat dissipation efficiency.

[0123] Specifically, in one embodiment, an installation groove 111 is provided at one end of the limiting portion 110 facing the first hole 221, and the elastic member 423 is arranged in the installation groove 111.

[0124] With such a setting, it is beneficial to reduce the assembly volume of the entire lever mechanism.

[0125] Furthermore, in one embodiment, the elastic member 423 is a compression spring.

[0126] However, without limitation, in other embodiments, the elastic member 423 can also be a metal shrapnel structure.

[0127] In one embodiment, the heat dissipation device 10 further includes a liquid storage part 500 which is provided with a liquid working medium and communicates with the heat dissipation cavity 311.

[0128] With such a setting, the problem of insufficient liquid working medium is solved by adding the liquid storage part 500, thereby improving the heat dissipation efficiency. The liquid storage part 500 serves as an additional storage space for the liquid working medium and can timely supplement the liquid working medium in the heat dissipation cavity 311 when it is insufficient, ensuring the continuous progress of the heat dissipation process.

[0129] Specifically, the liquid storage part 500 can be arranged at an appropriate position of the housing 300. For example, it can be located on one side or at 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, enabling the liquid working medium to flow freely. When the liquid working medium in the heat dissipation cavity 311 decreases due to evaporation, the liquid working medium in the liquid storage part 500 can be automatically supplemented into the heat dissipation cavity 311 through the communication channel to keep the liquid working medium in the heat dissipation cavity 311 sufficient.

[0130] Specifically, in one embodiment, a water replenishing and exhaust hole 510 is provided at the top of the liquid storage part 500 to facilitate the replenishment of the liquid working medium to the liquid storage part 500 and the discharge of the internal gas.

[0131] Furthermore, in one embodiment, the heat dissipation device 10 further includes a liquid absorption core 600. One end of the liquid absorption core 600 is arranged in the liquid storage part 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 part 500 through the liquid absorption core 600, and the liquid working medium in the heat dissipation cavity 311 is adsorbed on the liquid absorption core 600.

[0132] By arranging the liquid absorption core 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 absorption core 600. This design can effectively solve the problem that the liquid working medium cannot smoothly enter the heat dissipation cavity 311 and can also ensure the uniform distribution of the liquid working medium in the heat dissipation cavity 311.

[0133] Specifically, the liquid absorption core 600 can adopt various materials and structural forms. For example, the liquid absorption core 600 can be made of porous materials such as fibers, metal meshes or sintered powders. These materials have good capillary action and can effectively absorb and transport the liquid working medium. One end of the liquid absorption core 600 can be fixed in the liquid storage part 500 by means of embedding, bonding or pressing, and the other end can be attached to or embedded in the inner wall of the heat dissipation cavity 311.

[0134] However, it is not limited thereto. In other embodiments, the liquid working medium in the liquid storage part 500 can also enter the heat dissipation cavity 311 through a control valve.

[0135] Furthermore, in one embodiment, the liquid level height of the liquid working medium in the liquid storage part 500 is lower than the installation height of the wick 600 in the heat dissipation cavity 311. And, the wick 600 is attached to the heat generating surface of the power element 700.

[0136] The liquid level height of the liquid working medium in the liquid storage part 500 is lower than the installation height of the wick 600 in the heat dissipation cavity 311. This design can effectively prevent the excessive accumulation of the liquid working medium in the heat dissipation cavity 311, thus 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 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.

[0137] The present application also provides a robot, which includes the energy absorption linkage structure described in any one of the above embodiments.

[0138] By adopting the above energy absorption linkage structure, the robot of the present application does not require an additional power-driven cooling module, thereby reducing the overall power consumption of the robot and improving the energy efficiency. At the same time, since no electric components such as pumps and compressors are used, the noise and vibration during the operation of the robot are effectively controlled, improving the quietness of the robot. Thus, the robot provided by the present application not only solves the heat dissipation problem of the joint motor, but also realizes the advantages of low power consumption and low noise.

[0139] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0140] The above embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limitations on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

[0141] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0142] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0143] In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0144] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0145] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation.

[0146] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific implementations 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, It includes a foot base part (20), an elastic pressing part (30), a flexible connecting belt (40) and a heat dissipation device (10). The heat dissipation device (10) includes a piston part (800), a housing (300) and an elastic part (900). A liquid working medium is provided in the housing (300), and the piston part (800) is movably and sealingly fitted with the inner wall of the housing (300); The connecting end of the elastic pressing part (30) is connected to the foot base part (20), the movable end of the elastic pressing part (30) is elastically pressed with the foot base part (20), one end of the flexible connecting belt (40) is connected to the movable end of the elastic pressing part (30), and the other end is connected to the piston part (800); When the movable end of the elastic pressing part (30) undergoes elastic deformation in the direction approaching the foot base part (20) under the action of an external pressure, the elastic part (900) can drive the piston part (800) to move in a first direction; When the movable end of the elastic pressing part (30) is not affected by an external pressure, the movable end of the elastic pressing part (30) can drive the piston part (800) to move in a second direction through the flexible connecting belt (40); The first direction and the second direction are opposite. When the piston part (800) moves in 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 corresponding power element (700) of the housing (300).

2. The energy-absorbing linkage structure according to claim 1, wherein The elastic pressing part (30) includes a spring sheet. The connecting end of the spring sheet is fixedly connected to the bottom of the foot base part (20), the movable end of the spring sheet protrudes from the bottom of the foot base part (20), and the movable end of the spring sheet can undergo elastic deformation in the direction approaching or away from the foot base part (20).

3. The energy-absorbing linkage structure according to claim 1, characterized in that The elastic pressing part (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 base part (20), one end of the first compression spring (32) is connected to the bottom of the foot base part (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 in the direction approaching the foot base part (20) to compress the first compression spring (32); Or, the first compression spring (32) can push the movable end of the pressing plate (31) to rotate in the direction away from the foot base part (20) and reset itself.

4. The energy-absorbing linkage structure according to claim 1, wherein It further includes a pulley assembly (50). The pulley assembly (50) is arranged between the heat dissipation device (10) and the elastic pressing part (30), and the flexible connecting belt (40) can movably wind around the pulley assembly (50) to change its own extension direction.

5. The energy-absorbing linkage structure according to claim 4, wherein, The pulley assembly (50) includes one or more first fixed pulleys (51), and the flexible connecting belt (40) movably winds around one or more of the first fixed pulleys (51) in sequence.

6. The energy-absorbing linkage structure according to claim 4, characterized in that, It further includes a linkage block (60). One end of the linkage block (60) is fixedly connected to the middle section of the flexible connection belt (40). The number of the heat dissipation devices (10) is multiple. One of the heat dissipation devices (10) is connected to one end of the flexible connection belt (40) away from the elastic 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) includes multiple second fixed pulleys (52). The flexible connection belt (40) includes a connection head (41) and multiple connection branches (42). The multiple connection branches (42) are respectively connected to the connection head (41). The flexible connection belt (40) is connected to the elastic pressing member (30) through the connection head (41). At least part of the connection branches (42) are movably wound around the corresponding second fixed pulleys (52). The connection branches (42) and the heat dissipation devices (10) are arranged in one-to-one correspondence. Each connection branch (42) is connected to the piston part (800) of the corresponding heat dissipation device (10).

8. The energy-absorbing linkage structure according to claim 7, wherein The flexible connection belt (40) further includes a movable pulley (43). The number of the connection branches (42) is two. One ends of the two connection branches (42) away from the heat dissipation devices (10) are connected to each other and movably wound around the outer periphery of the movable pulley (43). One end of the connection head (41) away from the elastic pressing 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 includes a linkage valve (400). The piston part (800) includes a rod body (100) and a movable sleeve (200). The housing (300) is provided with a pulling cavity. The movable sleeve (200) is movably arranged in the pulling cavity along a preset axis and divides the pulling cavity into a heat dissipation cavity (311) and an exhaust cavity (312). The exhaust cavity (312) communicates with the atmospheric environment. A liquid working medium is arranged in the heat dissipation cavity (311). The heat dissipation cavity (311) contacts the heating surface of the power element (700) to dissipate heat from the power element (700). The movable sleeve (200) is provided with an inner cavity (210) and a communication hole (220). The communication hole (220) communicates the heat dissipation cavity (311) and the exhaust cavity (312). One end of the rod body (100) is provided with a limiting part (110). One end of the rod body (100) is movably arranged in the inner cavity (210) through the limiting part (110) and is in limit fit with the two ends of the inner cavity (210) along the preset axis. The end of the rod body (100) away from the limiting part (110) is connected to the flexible connection belt (40). The linkage valve (400) is in movable cooperation with the limiting part (110). When the limiting part (110) abuts against one end of the inner cavity (210) far from the power element (700), the linkage valve (400) closes the communication hole (220). When the limiting part (110) drives the movable sleeve (200) to continue moving 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 part (110) abuts against one end of the inner cavity (210) close to the power element (700), the linkage valve (400) opens the communication hole (220). When the limiting part (110) drives the movable sleeve (200) to continue moving towards the power element (700) to contract the heat dissipation cavity (311), the gaseous working medium in the heat dissipation cavity (311) can enter the atmospheric environment through the communication hole (220) and the exhaust cavity (312) in sequence.

10. A robot, characterized in that, It includes the energy-absorbing linkage structure according to any one of claims 1-9.

Images