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 labor-saving mechanism, a driving motor and a heat dissipation device, the heat dissipation device comprises a piston part, a shell and an elastic part, the piston part is movably and hermetically matched with the inner wall of the shell, and the elastic part can apply an elastic force effect on the piston part to move towards a first direction; the driving motor can apply a pulling force effect towards the second direction to the piston part through the labor-saving mechanism, and the pulling force effect between the driving motor and the labor-saving mechanism is smaller than that between the piston part and the labor-saving mechanism; the first direction is opposite to the second direction, 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, and when the piston part moves towards the other one, the gaseous working medium can be discharged out of the heat dissipation device. According to the energy absorption linkage structure and the robot, the problems that the robot is difficult to miniaturize and poor in quiet property are solved.

Description

Technical Field

[0001] The present application relates to the field of robot heat dissipation technology, 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 basically realizes the circulation and cooling of the coolant through a pump and a compressor. On the one hand, the volume of the pump and the compressor is large, making it difficult to miniaturize the robot. On the other hand, the operation vibration and noise of the pump and the compressor are large, 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 existing robots being difficult to miniaturize and having poor quietness.

[0005] The energy-absorbing linkage structure provided in the present application includes a labor-saving mechanism, a driving motor and a heat dissipation device. The heat dissipation device includes a piston part, a shell and an elastic part. A liquid working medium is arranged in the shell. The piston part and the inner wall of the shell are movably sealed and cooperated. The elastic part can exert an elastic force on the piston part to move in a first direction; one end of the labor-saving mechanism is connected to the output end of the driving motor, and the other end is connected to the piston part. The driving motor can exert a pulling force on the piston part in a second direction through the labor-saving mechanism, and the pulling force between the driving motor and the labor-saving mechanism is smaller than the pulling force between the piston part and the labor-saving mechanism; the first direction and the second direction are opposite. When the piston part 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. When the piston part moves toward the other of the first direction and the second direction, the gaseous working medium can be discharged from the heat dissipation device.

[0006] In one of the embodiments, the labor-saving mechanism is a movable pulley assembly, which includes a first traction member, a second traction member and at least one labor-saving movable pulley. The first traction member is movably arranged around the wheel groove of the labor-saving movable pulley. One end of the first traction member is connected to the output end of the drive motor, and the other end is connected to the non-rotating part of the energy-absorbing linkage structure. One end of the second traction member is connected to the rotating shaft of the labor-saving movable pulley, and the other end is connected to the piston part.

[0007] In one of the embodiments, the non-rotating part of the energy-absorbing linkage structure is the rotating shaft of the energy-saving movable pulley, and the first traction member includes a first traction rope and a first fixed pulley. The first traction rope is movably arranged around the wheel groove of the energy-saving movable pulley and the wheel groove of the first fixed pulley in sequence, and is connected to the rotating shaft of the energy-saving movable pulley.

[0008] In one embodiment, the second traction member includes a first connecting portion, a second traction rope and a first split movable pulley, one end of the first connecting portion is connected to the rotating shaft of the labor-saving movable pulley, and the other end is connected to the rotating shaft of the first split movable pulley, the second traction rope is movably arranged around the wheel groove of the first split movable pulley, and the two ends of the second traction rope are respectively connected to the piston parts of the two heat dissipation devices.

[0009] In one embodiment, the second traction member further includes a third traction rope, one end of the third traction rope is connected to the rotating shaft of the first split movable pulley, and the other end of the third traction rope is connected to the piston portion of the third heat dissipation device.

[0010] In one of the embodiments, the non-rotating portion of the energy-absorbing linkage structure is a fixed bracket, and the first traction member is movably arranged around the wheel groove of the labor-saving fixed pulley and connected to the fixed bracket.

[0011] In one embodiment, the second traction member includes a second connecting portion, a fourth traction rope and a second split movable pulley, one end of the second connecting portion is connected to the rotating shaft of the labor-saving movable pulley, and the other end is connected to the rotating shaft of the second split movable pulley, the fourth traction rope is movably arranged around the wheel groove of the second split movable pulley, and both ends of the fourth traction rope are respectively connected to the piston parts of the two heat dissipation devices.

[0012] In one embodiment, the second traction member further includes a fifth traction rope, one end of which is connected to the rotating shaft of the second split movable pulley, and the other end of which is connected to the piston portion of the third heat dissipation device.

[0013] In one embodiment, the first traction member includes a third fixed pulley and a sixth traction rope, the non-rotating part of the energy-absorbing linkage structure is the rotating shaft of the third fixed pulley, and the sixth traction rope is movably arranged around the wheel groove of the third fixed pulley and the wheel groove of the labor-saving movable pulley in sequence, and is connected to the rotating shaft of the third fixed pulley.

[0014] 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 labor-saving mechanism, and the linkage valve and the limiting part are movably coordinated; 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.

[0015] The present application also provides a robot, which includes the energy-absorbing linkage structure described in any one of the above embodiments.

[0016] Compared with the prior art, the energy-absorbing linkage structure and robot provided in the present application have a labor-saving mechanism designed so that the drive motor only needs to apply a small pulling force to drive the piston part to move. On the one hand, it improves the energy utilization efficiency, and on the other hand, it reduces the power of the drive motor required for the robot. That is, the robot can be driven by a smaller power drive motor. At this time, the volume of the corresponding drive motor will also be reduced synchronously, which is conducive to the miniaturization design of the robot.

[0017] Furthermore, since the pulling force between the driving motor and the effort-saving mechanism is smaller than the pulling force between the piston part and the effort-saving mechanism, the pulling force of the effort-saving mechanism on the piston part can be increased when the work done by the driving motor is constant. That is, the heat dissipation device can use a piston part with a larger diameter, thereby increasing the amount of liquid working fluid that changes phase during each pulling process, thereby enhancing the heat dissipation effect of the heat dissipation device.

[0018] It should be noted that although the driving motor increases the working stroke of the labor-saving mechanism, due to the high rotation speed of the driving motor, it will hardly affect the heat dissipation efficiency of the energy-absorbing linkage structure.

[0019] Furthermore, the elastic force provided by the elastic part cooperates with the pulling force of the driving motor to ensure that the piston part can reciprocate stably. The phase change process of the liquid working medium absorbs a large amount of heat, which improves the heat dissipation efficiency. The entire structure is compact, no additional pump or compressor is required, and the volume and noise are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 A schematic structural diagram of an energy-absorbing linkage structure according to an embodiment of the present application; Figure 2 A schematic structural diagram of an energy-absorbing linkage structure of another embodiment provided in the present application; Figure 3 A schematic structural diagram of an energy-absorbing linkage structure according to another embodiment of the present application; Figure 4 A schematic structural diagram of an energy-absorbing linkage structure according to another embodiment of the present application; Figure 5 A schematic cross-sectional view of a heat dissipation device according to an embodiment of the present application; Figure 6 The local structural state of the heat dissipation device of an embodiment provided in this application Figure 1 ; Figure 7 The local structural state of the heat dissipation device of an embodiment provided in this application Figure 2 .

[0022] Figure numerals: 10, heat dissipation device; 100, rod body; 110, limit part; 111, installation 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 exhaust hole; 600, liquid absorption core; 700, power element; 800, piston part; 900, elastic 20. labor-saving mechanism; 21. labor-saving movable pulley; 22. first traction member; 2210. first traction rope; 2220. first fixed pulley; 2230. third fixed pulley; 2240. sixth traction rope; 2250. third connecting part; 23. second traction member; 2310. first connecting part; 2320. second traction rope; 2330. first split movable pulley; 2340. second fixed pulley; 2350. third traction rope; 2360. second connecting part; 2370. fourth traction rope; 2380. second split movable pulley; 2390. fifth traction rope; 30. driving motor; 40. fixing bracket. DETAILED DESCRIPTION

[0023] 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.

[0024] In the prior art, the cooling module basically realizes the circulation and cooling of the coolant through a pump and a compressor. On the one hand, the volume of the pump and the compressor is large, making it difficult to miniaturize the robot. On the other hand, the operation vibration and noise of the pump and the compressor are large, which is not conducive to the quiet design of the robot.

[0025] In order to solve the problems of existing robots being difficult to miniaturize and having poor quietness, the present application provides an energy-absorbing linkage structure and a robot.

[0026] See also Figure 1-Figure 7 The energy-absorbing linkage structure provided in the present application includes a labor-saving mechanism 20, a driving motor 30 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. The elastic part 900 can apply an elastic force to the piston part 800 to move in the first direction, and when the driving motor 30 is reversed, the elastic part 900 can directly push the piston part 800 to move in the first direction.

[0027] One end of the labor-saving mechanism 20 is connected to the output end of the driving motor 30, and the other end is connected to the piston part 800 of the heat dissipation device 10. When the driving motor 30 rotates forward, the driving motor 30 can apply a pulling force toward the second direction to the piston part 800 through the labor-saving mechanism 20, and the pulling force between the driving motor 30 and the labor-saving mechanism 20 is smaller than the pulling force between the piston part 800 and the labor-saving mechanism 20.

[0028] It is understandable that, without considering the work loss, the total work done by the drive motor 30 on the labor-saving mechanism 20 and the total work done by the piston part 800 on the labor-saving mechanism 20 must be equal. Therefore, when the pulling force between the drive motor 30 and the labor-saving mechanism 20 is less than the pulling force between the piston part 800 and the labor-saving mechanism 20, it means that the working stroke of the drive motor 30 on the labor-saving mechanism 20 is greater than the working stroke of the piston part 800 on the labor-saving mechanism 20.

[0029] 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 (including but not limited to IGBT module, motor and chip, etc.) corresponding to the housing 300. When the piston part 800 moves toward the other of the first direction and the second direction, the gaseous working medium can be discharged from the heat dissipation device 10.

[0030] 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 .

[0031] The force-saving mechanism 20 refers to a device that uses mechanical principles to reduce the required force, which can be implemented by a movable pulley assembly or a linear lever, and reduces the load requirement of the drive motor 30 by changing the length of the force arm.

[0032] Among them, the heat dissipation device 10 includes a piston part 800, a shell 300 and an elastic part 900. The piston part 800 refers to a moving part that is sealed with the inner wall of the shell 300, and can be specifically implemented by a plunger structure with a sealing ring. The volume of the inner cavity 210 of the shell 300 is changed by reciprocating motion to trigger the phase change of the working fluid; the shell 300 refers to a sealed container for accommodating liquid working fluid, and can be specifically made of metal or other heat-conducting materials, and its inner wall cooperates with the piston part 800 to form a chamber with a variable volume; the elastic part 900 refers to an element that provides a reset elastic force, and can specifically be a coil spring or an elastic gasket, which is used to drive the piston part 800 to reset.

[0033] The phase change of liquid working fluid into gaseous working fluid refers to the gas-liquid phase change of the working fluid when heated, and specifically, a low boiling point liquid such as ethanol or water can be used.

[0034] Specifically, the working principle of the energy absorption linkage structure is as follows: when working, the piston part 800 reciprocates in the first direction and the second direction. For example, when the piston part 800 moves in the first direction, the liquid working medium in the shell 300 changes phase to gaseous state and absorbs the heat generated by the power element 700. When the piston part 800 moves in the second direction, the gaseous working medium is discharged from the heat dissipation device 10. Alternatively, when the piston part 800 moves in the second direction, the liquid working medium in the shell 300 changes phase to gaseous state and absorbs the heat generated by the power element 700. When the piston part 800 moves in the first direction, the gaseous working medium is discharged from the heat dissipation device 10. Through the reciprocating motion of the piston part 800, continuous heat dissipation of the power element 700 is achieved.

[0035] The design of the force-saving mechanism 20 enables the drive motor 30 to drive the piston part 800 to move by applying only a small pulling force. On the one hand, it improves the energy utilization efficiency, and on the other hand, it reduces the power of the drive motor 30 required for the robot. That is, the robot can be driven by a smaller power drive motor 30. At this time, the volume of the corresponding drive motor 30 will also be reduced synchronously, which is conducive to the miniaturization design of the robot.

[0036] Furthermore, since the pulling force between the drive motor 30 and the effort-saving mechanism 20 is smaller than the pulling force between the piston portion 800 and the effort-saving mechanism 20, when the work done by the drive motor 30 is constant, the pulling force of the effort-saving mechanism 20 on the piston portion 800 can also be increased. That is, the heat dissipation device 10 can use a piston portion 800 with a larger diameter, thereby increasing the amount of liquid working fluid that changes phase during each pulling process, thereby enhancing the heat dissipation effect of the heat dissipation device 10.

[0037] It should be noted that, although the driving motor 30 increases the working stroke of the labor-saving mechanism 20 , the driving motor 30 has a relatively fast rotation speed, and therefore, has little influence on the heat dissipation efficiency of the energy-absorbing linkage structure.

[0038] Furthermore, the elastic force provided by the elastic part 900 cooperates with the pulling force of the driving motor 30 to ensure that the piston part 800 can stably reciprocate. The phase change process of the liquid working medium absorbs a large amount of heat, which improves the heat dissipation efficiency. The entire structure is compact, no additional pump or compressor is required, and the volume and noise are reduced.

[0039] In one embodiment, if Figure 1-Figure 4As shown, the labor-saving mechanism 20 is a movable pulley assembly, which includes a first traction member 22, a second traction member 23 and at least one labor-saving movable pulley 21. The first traction member 22 is movably arranged around the wheel groove of the labor-saving movable pulley 21 (it can be one labor-saving movable pulley 21 or multiple labor-saving movable pulleys 21), and one end of the first traction member 22 is connected to the output end of the drive motor 30, and the other end is connected to the non-rotating part of the energy-absorbing linkage structure (the non-rotating part can be the rotating shaft of the fixed pulley, or the non-rotating part can also be the rotating shaft of the movable pulley. Of course, the non-rotating part can also be the shell of the energy-absorbing linkage structure or the fixed bracket 40 and other structures, which are not listed here one by one). One end of the second traction member 23 is connected to the rotating shaft of the labor-saving movable pulley 21, and the other end is connected to the piston part 800.

[0040] It should be noted that “movably wound around” means that the traction member and the outer peripheral wall of the effort-saving movable pulley 21 are in rolling friction fit.

[0041] Furthermore, the number of the first traction member 22 can be one or more, and when the number of the first traction member 22 is more than one, the number of the driving motor 30 can also be one or more. The number of the second traction member 23 can be one or more, and the number of the piston part 800 can also be one or more.

[0042] It should be noted that the first traction member 22 wound around the labor-saving movable pulley 21 can be a belt, a tension rope or a flexible plastic belt, etc., and its main feature is that it has a certain degree of softness. The second traction member 23 connected to the piston part 800 can be a flexible belt structure such as a belt, a tension rope or a flexible plastic belt, or a hard connection structure such as a slat.

[0043] With such arrangement, the movable pulley assembly has a simple structure and small operating friction, which is beneficial to reducing the loss of work exerted by the drive motor 30 on the piston part 800 through the force-saving mechanism 20 and improving the operating efficiency of the energy-absorbing linkage structure.

[0044] Specifically, when the drive motor 30 is started, the output end pulls the first traction member 22 to move along the wheel groove of the labor-saving movable pulley 21. Due to the lever principle of the labor-saving movable pulley 21, the pulling force applied to the second traction member 23 is amplified. The second traction member 23 drives the piston part 800 to move in the second direction. When the drive motor 30 runs in the reverse direction, the piston part 800 is reset by the elastic part 900, and the gaseous working medium is discharged, completing the heat dissipation cycle. This structure achieves a compact layout and low-noise operation by reducing the number of mechanical components and optimizing the force transmission path, thereby meeting the heat dissipation requirements of the robot power element 700.

[0045] But not limited to this, in another embodiment, the force-saving mechanism 20 can also be a straight rod-shaped linear lever, and the lengths of the lever arms at both ends of the fulcrum of the linear lever are different. The length of the lever arm of the linear lever driving the driving motor 30 is greater than the length of the lever arm driving the piston part 800, and, in order to facilitate changing direction, one end of the linear lever is connected to the driving motor 30 through a first flexible belt, and the other end is connected to the piston part 800 through a second flexible belt.

[0046] In one embodiment, if Figure 1 As shown, the first traction member 22 includes a first traction rope 2210 and a first fixed pulley 2220. The first traction rope 2210 is movably wound around the wheel groove of the labor-saving movable pulley 21 and the wheel groove of the first fixed pulley 2220 in sequence (the first traction rope 2210) and connected to the rotating shaft of the labor-saving movable pulley 21, that is, the first fixed pulley 2220 here plays a steering role for the first traction rope 2210. One end of the second traction member 23 is connected to the rotating shaft of the labor-saving movable pulley 21, and the other end is connected to the piston part 800.

[0047] In this arrangement, the labor-saving movable pulley 21, the first fixed pulley 2220 and the first traction rope 2210 constitute a basic movable pulley assembly, and since the first traction rope 2210 is ultimately connected to the rotating shaft of the labor-saving movable pulley 21, it can be seen from mechanical analysis that the tension exerted on the second traction member 23 is three times the tension of the drive motor 30, that is, the tension of the drive motor 30 is effectively amplified.

[0048] Further, in one embodiment, if Figure 1 As shown, the second traction member 23 includes a first connecting portion 2310, a second traction rope 2320 and a first split movable pulley 2330. One end of the first connecting portion 2310 is connected to the rotating shaft of the labor-saving movable pulley 21, and the other end is connected to the rotating shaft of the first split movable pulley 2330. The second traction rope 2320 is movably arranged around the wheel groove of the first split movable pulley 2330, and both ends of the second traction rope 2320 are respectively connected to the piston parts 800 of the two heat dissipation devices 10.

[0049] It should be noted that in order to better realize the movement of the piston part 800 along its own axis, in some embodiments, the second traction member 23 also includes a plurality of second fixed pulleys 2340, and the second traction rope 2320 changes the traction direction through the plurality of second fixed pulleys 2340 and is respectively connected to the two piston parts 800.

[0050] Such arrangement enables the second traction member 23 to simultaneously pull the two piston parts 800 to move along the second direction, that is, enables each drive motor 30 to drive the two piston parts 800 to move, thereby greatly improving the heat dissipation efficiency of the energy-absorbing linkage structure.

[0051] Furthermore, in one embodiment, if Figure 1 As shown, the second traction member 23 further includes a third traction rope 2350 , one end of the third traction rope 2350 is connected to the rotating shaft of the first split movable pulley 2330 , and the other end is connected to the piston portion 800 of the third heat dissipation device 10 .

[0052] Such arrangement enables the second traction member 23 to simultaneously pull the three piston parts 800 to move along the second direction, that is, enables each drive motor 30 to drive the three piston parts 800 to move, further improving the heat dissipation efficiency of the energy absorption linkage structure.

[0053] In another embodiment, if Figure 2 and Figure 3 As shown, the energy absorption linkage structure includes a fixed bracket 40 , the first traction member 22 is movably arranged around the wheel groove of the labor-saving fixed pulley, and one end of the first traction member 22 away from the driving motor 30 is connected to the fixed bracket 40 .

[0054] With such arrangement, when the driving motor 30 drives the labor-saving movable pulley 21 through the first traction member 22, the wheel groove of the labor-saving fixed pulley constrains the moving direction of the first traction member 22, and the fixed bracket 40 absorbs the reaction force during the traction process, thereby preventing the rotation shaft of the labor-saving movable pulley 21 from being displaced due to the force. In this process, the friction between the first traction member 22 and the labor-saving fixed pulley is reduced, the transmission efficiency of the traction force is improved, and the rotation shaft of the labor-saving movable pulley 21 does not need to bear the additional dynamic load of the traction member, thereby reducing structural vibration and noise, while simplifying the overall layout, which is conducive to realizing the miniaturization design of the robot joint.

[0055] Further, in one embodiment, if Figure 2 As shown, the second traction member 23 includes a second connecting portion 2360, a fourth traction rope 2370 and a second split movable pulley 2380, one end of the second connecting portion 2360 is connected to the rotating shaft of the labor-saving movable pulley 21, and the other end is connected to the rotating shaft of the second split movable pulley 2380, the fourth traction rope 2370 is movably arranged around the wheel groove of the second split movable pulley 2380, and both ends of the fourth traction rope 2370 are respectively connected to the piston parts 800 of the two heat dissipation devices 10.

[0056] It should be noted that if Figure 3 As shown, the two heat dissipation devices 10 may also share a housing 300. In this case, the liquid working medium is disposed between the two piston parts 800, and the two piston parts 800 are pulled synchronously to change the phase of the liquid working medium.

[0057] Such arrangement enables the second traction member 23 to simultaneously pull the two piston parts 800 to move along the second direction, that is, enables each drive motor 30 to drive the two piston parts 800 to move, thereby greatly improving the heat dissipation efficiency of the energy-absorbing linkage structure.

[0058] Furthermore, in one embodiment, if Figure 2 and Figure 3 As shown, the second traction member 23 further includes a fifth traction rope 2390 , one end of the fifth traction rope 2390 is connected to the rotating shaft of the second split movable pulley 2380 , and the other end is connected to the piston portion 800 of the third heat dissipation device 10 .

[0059] It should be noted that, in this embodiment, the second traction member 23 may also include a plurality of fixed pulley structures for changing the traction direction of the fourth traction rope 2370 or the traction direction of the fifth traction rope 2390 .

[0060] Such arrangement enables the second traction member 23 to simultaneously pull the three piston parts 800 to move along the second direction, that is, enables each drive motor 30 to drive the three piston parts 800 to move, further improving the heat dissipation efficiency of the energy absorption linkage structure.

[0061] In one embodiment, if Figure 4 As shown, the first traction member 22 includes a third fixed pulley 2230 and a sixth traction rope 2240. The sixth traction rope 2240 is movably arranged around the wheel groove of the third fixed pulley 2230 and the wheel groove of the labor-saving movable pulley 21 in sequence, (the sixth traction rope 2240) and is connected to the rotating shaft of the third fixed pulley 2230. One end of the second traction member 23 is connected to the rotating shaft of the labor-saving movable pulley 21, and the other end is connected to the piston part 800.

[0062] It should be noted that, in the present embodiment, the number of the third fixed pulleys 2230 and the number of the force-saving movable pulleys 21 can be multiple, so as to further reduce the pulling force required by the driving motor 30 .

[0063] In this arrangement, the labor-saving movable pulley 21, the third fixed pulley 2230 and the sixth traction rope 2240 constitute a basic movable pulley assembly, and since the sixth traction rope 2240 is ultimately connected to the rotating shaft of the third fixed pulley 2230, it can be seen from mechanical analysis that the tension exerted on the second traction member 23 is twice the tension exerted by the drive motor 30, that is, the tension of the drive motor 30 is effectively amplified.

[0064] Furthermore, in one embodiment, the first traction member 22 further includes a third connection portion 2250 , one end of the third connection portion 2250 is connected to the rotating shaft of the third fixed pulley 2230 , and the other end is connected to the fixed bracket 40 .

[0065] In one embodiment, if Figure 5-Figure 7As 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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 .

[0071] 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 .

[0072] 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 .

[0073] 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 .

[0074] 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 .

[0075] 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 .

[0076] 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.

[0077] 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 .

[0078] 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.

[0079] 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.

[0080] 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 labor-saving mechanism 20, and the linkage valve 400 and the limiting portion 110 are movably matched.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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 .

[0085] 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.

[0086] 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.

[0087] 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.

[0088] In another embodiment, the piston portion 800 of the heat dissipation device 10 may also be a solid structure.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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 .

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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 .

[0109] Such an arrangement is helpful to reduce the assembly volume of the entire lever mechanism.

[0110] Furthermore, in one embodiment, the elastic member 423 is a compression spring.

[0111] But not limited thereto, in other embodiments, the elastic member 423 may also be a metal spring structure.

[0112] In one embodiment, the heat dissipation device 10 further includes a liquid storage portion 500 , in which a liquid medium is disposed and the liquid storage portion 500 is connected to the heat dissipation cavity 311 .

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] The present application also provides a robot, which includes the energy-absorbing linkage structure described in any one of the above embodiments.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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 invention comprises a labor-saving mechanism (20), a driving motor (30) and a heat dissipation device (10); the heat dissipation device (10) comprises 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 sealed with the inner wall of the shell (300); and the elastic part (900) can exert an elastic force on the piston part (800) to move in a first direction; One end of the labor-saving mechanism (20) is connected to the output end of the drive motor (30), and the other end is connected to the piston part (800); the drive motor (30) can exert a pulling force in a second direction on the piston part (800) through the labor-saving mechanism (20); the pulling force between the drive motor (30) and the labor-saving mechanism (20) is smaller than the pulling force between the piston part (800) and the labor-saving mechanism (20); 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), and when the piston portion (800) moves toward the other of the first direction and the second direction, the gaseous working medium can be discharged from the heat dissipation device (10).

2. The energy absorbing linkage structure according to claim 1, characterized in that: The labor-saving mechanism (20) is a movable pulley assembly, comprising a first traction member (22), a second traction member (23) and at least one labor-saving movable pulley (21); the first traction member (22) is movably arranged around a wheel groove of the labor-saving movable pulley (21); one end of the first traction member (22) is connected to an output end of the drive motor (30), and the other end is connected to a non-rotating portion of the energy-absorbing linkage structure; one end of the second traction member (23) is connected to a rotating shaft of the labor-saving movable pulley (21), and the other end is connected to the piston part (800).

3. The energy absorbing linkage structure according to claim 2, characterized in that: The non-rotating part of the energy-absorbing linkage structure is the rotating shaft of the labor-saving movable pulley (21); the first traction member (22) comprises a first traction rope (2210) and a first fixed pulley (2220); the first traction rope (2210) is movably wound around the wheel groove of the labor-saving movable pulley (21) and the wheel groove of the first fixed pulley (2220) in sequence, and is connected to the rotating shaft of the labor-saving movable pulley (21).

4. The energy absorbing linkage structure according to claim 3 is characterized in that: The second traction member (23) comprises a first connection portion (2310), a second traction rope (2320) and a first split movable pulley (2330); one end of the first connection portion (2310) is connected to the rotating shaft of the labor-saving movable pulley (21), and the other end is connected to the rotating shaft of the first split movable pulley (2330); the second traction rope (2320) is movably wound around the wheel groove of the first split movable pulley (2330); and the two ends of the second traction rope (2320) are respectively connected to the piston portions (800) of the two heat dissipation devices (10).

5. The energy absorbing linkage structure according to claim 4, characterized in that: The second traction member (23) further comprises a third traction rope (2350), one end of the third traction rope (2350) being connected to the rotating shaft of the first split movable pulley (2330), and the other end being connected to the piston part (800) of the third heat dissipation device (10).

6. The energy absorbing linkage structure according to claim 2, characterized in that: The non-rotating portion of the energy-absorbing linkage structure is a fixed bracket (40), and the first traction member (22) is movably arranged around the wheel groove of the labor-saving fixed pulley and is connected to the fixed bracket (40).

7. The energy absorbing linkage structure according to claim 6, characterized in that: The second traction member (23) comprises a second connecting portion (2360), a fourth traction rope (2370) and a second split movable pulley (2380); one end of the second connecting portion (2360) is connected to the rotating shaft of the labor-saving movable pulley (21), and the other end is connected to the rotating shaft of the second split movable pulley (2380); the fourth traction rope (2370) is movably wound around the wheel groove of the second split movable pulley (2380); and the two ends of the fourth traction rope (2370) are respectively connected to the piston parts (800) of the two heat dissipation devices (10).

8. The energy absorbing linkage structure according to claim 7, characterized in that: The second traction member (23) further comprises a fifth traction rope (2390), one end of the fifth traction rope (2390) being connected to the rotating shaft of the second split movable pulley (2380), and the other end being connected to the piston part (800) of the third heat dissipation device (10).

9. The energy absorbing linkage structure according to claim 2, characterized in that: The first traction member (22) comprises a third fixed pulley (2230) and a sixth traction rope (2240); the non-rotating portion of the energy-absorbing linkage structure is the rotating shaft of the third fixed pulley (2230); the sixth traction rope (2240) is movably arranged around the wheel groove of the third fixed pulley (2230) and the wheel groove of the labor-saving movable pulley (21) in sequence, and is connected to the rotating shaft of the third fixed pulley (2230).

10. 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 both 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 labor-saving mechanism (20); and the linkage valve (400) is movably matched with the limiting portion (110); 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.

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

Images