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 labor-saving mechanism, a driving motor, and a heat dissipation device. The heat dissipation device includes a piston part, a housing, and an elastic part. The piston part is movably and sealingly fitted with the inner wall of the housing, and the elastic part can apply an elastic force to the piston part to move it in a first direction; the driving motor can apply a pulling force to 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 less 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 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. When the piston part moves in the other direction, the gaseous working medium can be discharged from the heat dissipation device. The energy-absorbing linkage structure and the robot provided by the present application solve the problems of difficult miniaturization and poor quietness existing in the robot.

Description

Technical Field

[0001] The present application relates to the technical field of robot heat dissipation, and particularly relates 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 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. Thus, on the one hand, the volumes of both the pump and the compressor are relatively large, so it is difficult for the robot to be miniaturized. On the other hand, the running vibrations and noises of the pump and the compressor are relatively 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 difficulty in miniaturization and poor quietness existing in existing robots.

[0005] The energy-absorbing linkage structure provided by 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 housing, and an elastic part. A liquid working medium is provided in the housing. The piston part is movably and sealingly fitted with the inner wall of the housing. The elastic part can apply an elastic force to the piston part to move it in the 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 apply a pulling force to the piston part in the second direction through the labor-saving mechanism. The pulling force between the driving motor and the labor-saving mechanism is less 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 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 of the housing. When the piston part moves in 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 embodiment, the labor-saving mechanism is a movable pulley assembly. The movable pulley assembly includes a first traction member, a second traction member, and at least one labor-saving movable pulley. The first traction member is movably wound around the pulley groove of the labor-saving movable pulley. One end of the first traction member is connected to the output end of the driving motor, and the other end is connected to a 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 embodiment, the non-rotating part of the energy-absorbing linkage structure is the rotating shaft of the labor-saving movable pulley. The first traction member includes a first traction rope and a first fixed pulley. The first traction rope sequentially winds around the pulley groove of the labor-saving movable pulley and the pulley groove of the first fixed pulley, and is connected to the rotating shaft of the labor-saving movable pulley.

[0008] In one embodiment, the second traction member includes a first connecting portion, a second traction rope, and a first diverting 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 diverting movable pulley. The second traction rope winds around the pulley groove of the first diverting movable pulley, and the two ends of the second traction rope are respectively connected to the piston portions of 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 diverting movable pulley, and the other end is connected to the piston portion of the third heat dissipation device.

[0010] In one embodiment, the non-rotating part of the energy-absorbing linkage structure is a fixed bracket. The first traction member winds around the pulley groove of the labor-saving movable pulley and is 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 diverting 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 diverting movable pulley. The fourth traction rope winds around the pulley groove of the second diverting movable pulley, and the two ends of the fourth traction rope are respectively connected to the piston portions of two heat dissipation devices.

[0012] In one embodiment, the second traction member further includes a fifth traction rope. One end of the fifth traction rope is connected to the rotating shaft of the second diverting movable pulley, and the other end 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. The sixth traction rope sequentially winds around the pulley groove of the third fixed pulley and the pulley groove of the labor-saving movable pulley, and is connected to the rotating shaft of the third fixed pulley.

[0014] In one embodiment, the heat dissipation device further includes a linkage valve. The piston part includes a rod body and a movable sleeve. The housing is provided with a pulling cavity. The movable sleeve is movably arranged in the pulling cavity along a preset axial direction and divides the pulling 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 heating 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 part. One end of the rod body is movably arranged in the inner cavity through the limiting part and is in limit fit with both ends of the inner cavity along the preset axial direction. The end of the rod body away from the limiting part is connected to the force-saving mechanism. The linkage valve is in movable cooperation with the limiting part. When the limiting part abuts against the end of the inner cavity away from the power element, the linkage valve closes the communication hole. When the limiting part drives the movable sleeve to move further 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 communication hole. When the limiting part drives the movable sleeve to move closer 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.

[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, for the energy-absorbing linkage structure and the robot provided by the present application, the design of the force-saving mechanism enables the driving motor to drive the piston part to move only by applying a relatively small pulling force. On the one hand, the energy utilization efficiency is improved. On the other hand, the power of the driving motor required by the robot is reduced, that is, the robot can be driven by a driving motor with a smaller power. At this time, the volume of the corresponding driving motor will also be reduced synchronously, which is beneficial to the miniaturization design of the robot.

[0017] Furthermore, since the pulling force between the driving motor and the force-saving mechanism is less than the pulling force between the piston part and the force-saving mechanism, when the work done by the driving motor is constant, the pulling force of the force-saving mechanism on the piston part can also be increased, that is, the heat dissipation device can use a piston part with a larger diameter, so that the amount of the liquid working medium undergoing phase change in each pulling process is increased, thereby enhancing the heat dissipation effect of the heat dissipation device.

[0018] It should be noted that although the work stroke of the driving motor on the force-saving mechanism increases, due to the relatively high rotation speed of the driving motor, it hardly affects 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, improving the heat dissipation efficiency. The whole structure is compact, without the need for additional pumps or compressors, reducing the volume and noise. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in 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 drawings in the following description 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.

[0021] Figure 1 Structural schematic diagram of an energy-absorbing linkage structure according to an embodiment provided by the present application;

[0022] Figure 2 Structural schematic diagram of another energy-absorbing linkage structure according to an embodiment provided by the present application;

[0023] Figure 3 Structural schematic diagram of yet another energy-absorbing linkage structure according to an embodiment provided by the present application;

[0024] Figure 4 Structural schematic diagram of still another energy-absorbing linkage structure according to an embodiment provided by the present application;

[0025] Figure 5 Cross-sectional structural schematic diagram of a heat dissipation device according to an embodiment provided by the present application;

[0026] Figure 6 Partial structural state of a heat dissipation device according to an embodiment provided by the present application Figure 1 ;

[0027] Figure 7 Partial structural state of a heat dissipation device according to an embodiment provided by the present application Figure 2 。

[0028] Reference numerals: 10, heat dissipation device; 100, rod body; 110, limiting part; 111, mounting 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, 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 deflecting movable pulley; 2340, second fixed pulley; 2350, third traction rope; 2360, second connecting part; 2370, fourth traction rope; 2380, second deflecting movable pulley; 2390, fifth traction rope; 30, drive motor; 40, fixed bracket. Detailed implementation manners

[0029] 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.

[0030] In the prior art, the cooling module basically realizes the circulation and cooling of the coolant through a pump and a compressor. In this way, on the one hand, the volumes of the pump and the compressor are relatively large, so it is difficult for the robot to be miniaturized. On the other hand, the running vibration and noise of the pump and the compressor are relatively large, which is not conducive to the quiet design of the robot.

[0031] To solve the problems of difficult miniaturization and poor quietness existing in existing robots, the present application provides an energy absorption linkage structure and a robot.

[0032] Please refer to Figures 1-7 , the energy absorption linkage structure provided by the present application includes a labor-saving mechanism 20, a drive motor 30, 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. The piston part 800 is movably arranged in the housing 300 and is movably and sealingly matched with the inner wall of the housing 300. One end of the elastic part 900 is connected to the piston part 800, and the other end is connected to the housing 300. The elastic part 900 can apply an elastic force to the piston part 800 to move it in the first direction. Moreover, when the drive motor 30 rotates reversely, the elastic part 900 can directly push the piston part 800 to move in the first direction.

[0033] 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 portion 800 of the heat dissipation device 10. When the driving motor 30 rotates forward, the driving motor 30 can apply a pulling force in the second direction to the piston portion 800 through the labor-saving mechanism 20, and moreover, the pulling force between the driving motor 30 and the labor-saving mechanism 20 is smaller than the pulling force between the piston portion 800 and the labor-saving mechanism 20.

[0034] It can be understood that, without considering the work loss, the total work done by the driving motor 30 on the labor-saving mechanism 20 and the total work done by the piston portion 800 on the labor-saving mechanism 20 must be equal. Therefore, when the pulling force between the driving motor 30 and the labor-saving mechanism 20 is smaller than the pulling force between the piston portion 800 and the labor-saving mechanism 20, it means that the working stroke of the driving motor 30 on the labor-saving mechanism 20 is greater than the working stroke of the piston portion 800 on the labor-saving mechanism 20.

[0035] The first direction and the second direction are opposite, and moreover, 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 the heat generated by the power element 700 (including but not limited to IGBT modules, motors, chips, etc.) corresponding to the housing 300. 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.

[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] Among them, the labor-saving mechanism 20 refers to a device that uses mechanical principles to reduce the required acting force, and specifically, a movable pulley assembly or a linear lever can be used to achieve this, and the load requirement of the driving motor 30 is reduced by changing the length of the force arm.

[0038] Among them, the heat dissipation device 10 includes a piston portion 800, a housing 300, and an elastic portion 900. The piston portion 800 refers to a moving part that is hermetically fitted with the inner wall of the housing 300, and specifically, a plunger structure with a sealing ring can be used to achieve this, and the volume of the inner cavity 210 of the housing 300 is changed through reciprocating motion to trigger the phase change of the working medium; the housing 300 refers to a sealed container that houses the liquid working medium, and specifically, it can be made of metal or other heat-conducting materials, and its inner wall cooperates with the piston portion 800 to form a variable-volume chamber; the elastic portion 900 refers to an element that provides a reset elastic force, and specifically, a spiral spring or an elastic gasket can be used to drive the piston portion 800 to reset.

[0039] Among them, the phase change of the liquid working medium into a gaseous working medium means that the working medium undergoes a gas-liquid phase change when heated, and specifically, a low-boiling-point liquid such as ethanol or water can be used.

[0040] Specifically, the working principle of the energy-absorbing linkage structure is as follows: During operation, the piston portion 800 reciprocates in the first direction and the second direction. For example, when the piston portion 800 moves in the first direction, the liquid working medium in the housing 300 changes into a gas state and absorbs the heat generated by the power element 700. When the piston portion 800 moves in the second direction, the gaseous working medium is discharged to the heat dissipation device 10. Or, when the piston portion 800 moves in the second direction, the liquid working medium in the housing 300 changes into a gas state and absorbs the heat generated by the power element 700. When the piston portion 800 moves in the first direction, the gaseous working medium is discharged to the heat dissipation device 10. Through the reciprocating movement of the piston portion 800, continuous heat dissipation of the power element 700 is achieved.

[0041] The design of the force-saving mechanism 20 enables the driving motor 30 to drive the movement of the piston portion 800 with a relatively small pulling force. On the one hand, the energy utilization efficiency is improved. On the other hand, the power required for the driving motor 30 of the robot is reduced. That is, the robot can be driven by a driving motor 30 with a smaller power. At this time, the volume of the corresponding driving motor 30 will also be reduced synchronously, which is beneficial to the miniaturized design of the robot.

[0042] Furthermore, since the pulling force between the driving motor 30 and the force-saving mechanism 20 is less than the pulling force between the piston portion 800 and the force-saving mechanism 20, when the work done by the driving motor 30 is constant, the pulling force of the force-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, so that the amount of the liquid working medium that changes phase during each pulling process is increased, thereby enhancing the heat dissipation effect of the heat dissipation device 10.

[0043] It should be noted that although the working stroke of the driving motor 30 on the force-saving mechanism 20 increases, due to the relatively high rotational speed of the driving motor 30, it hardly affects the heat dissipation efficiency of the energy-absorbing linkage structure.

[0044] Even further, the elastic force provided by the elastic portion 900 cooperates with the pulling force of the driving motor 30 to ensure that the piston portion 800 can reciprocate stably. The phase change process of the liquid working medium absorbs a large amount of heat, improving the heat dissipation efficiency. The entire structure is compact, without the need for an additional pump or compressor, reducing the volume and noise.

[0045] In one embodiment, as Figures 1-4As shown, the labor-saving mechanism 20 is a movable pulley assembly. The movable pulley assembly 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 wound around the groove of the labor-saving movable pulley 21 (which 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 driving motor 30, and the other end is connected to a non-rotating part of the energy-absorbing linkage structure (this non-rotating part can be the rotating shaft of a fixed pulley, or this non-rotating part can also be the rotating shaft of a movable pulley. Of course, this non-rotating part can also be the housing of the energy-absorbing linkage structure or a fixed bracket 40, etc., which will not be listed one by one here). 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.

[0046] It should be noted that "movably wound around" means that the traction member and the outer peripheral wall of the labor-saving movable pulley 21 are in rolling friction cooperation.

[0047] Furthermore, the number of the first traction members 22 can be one or multiple. When the number of the first traction members 22 is multiple, the number of the driving motors 30 can also be one or multiple. The number of the second traction members 23 can be one or multiple, and the number of the piston parts 800 can also be one or multiple.

[0048] It should be noted that the first traction member 22 wound around the labor-saving movable pulley 21 can be a structure such as a belt, a tension rope, or a flexible plastic belt, and its main feature is having a certain softness. The second traction member 23 connecting 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.

[0049] With such a setting, the structure of the movable pulley assembly is simple and the running friction is small, which is beneficial to reducing the loss of the work done by the driving motor 30 acting on the piston part 800 through the labor-saving mechanism 20 and improving the running efficiency of the energy-absorbing linkage structure.

[0050] Specifically, when the driving motor 30 is started, the output end pulls the first traction member 22 to move along the 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 driving motor 30 runs in the reverse direction, the piston part 800 is reset under the action of the elastic part 900, and the gaseous working medium is discharged to complete the heat dissipation cycle. This structure realizes a compact layout and low-noise operation by reducing the number of mechanical components and optimizing the force transmission path, meeting the heat dissipation requirements of the power element 700 of the robot.

[0051] However, without being limited thereto, in another embodiment, the labor-saving mechanism 20 may also be a linear lever in the shape of a straight rod. The arm lengths of the linear lever at both ends of the fulcrum are different. The arm length of the linear lever for driving the driving motor 30 is greater than the arm length of the driving piston portion 800. And, for the convenience of changing the 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 portion 800 through a second flexible belt.

[0052] In one embodiment, as Figure 1 shown, the first traction member 22 includes a first traction rope 2210 and a first fixed pulley 2220. The first traction rope 2210 sequentially passes around the pulley groove of the labor-saving movable pulley 21 and the pulley groove of the first fixed pulley 2220, and (the first traction rope 2210) is connected to the rotating shaft of the labor-saving movable pulley 21. That is, the first fixed pulley 2220 here plays a role in changing the direction of 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 portion 800.

[0053] With such a setting, the labor-saving movable pulley 21, the first fixed pulley 2220 and the first traction rope 2210 form a basic movable pulley assembly. And, since the first traction rope 2210 is finally connected to the rotating shaft of the labor-saving movable pulley 21, therefore, according to the mechanical analysis, the pulling force received by the second traction member 23 is three times the pulling force of the driving motor 30. That is, the pulling force of the driving motor 30 is effectively amplified.

[0054] Further, in one embodiment, as Figure 1 shown, the second traction member 23 includes a first connecting portion 2310, a second traction rope 2320 and a first direction-changing 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 direction-changing movable pulley 2330. The second traction rope 2320 passes around the pulley groove of the first direction-changing 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.

[0055] It should be noted that, in order to better realize the movement of the piston portion 800 along its own axis, in some embodiments, the second traction member 23 further includes a plurality of second fixed pulleys 2340. 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 portions 800.

[0056] With such a setting, the second traction member 23 can simultaneously pull the two piston portions 800 to move along the second direction. That is, each driving motor 30 can drive the two piston portions 800 to move, greatly improving the heat dissipation efficiency of the energy absorption linkage structure.

[0057] Still further, in one embodiment, asFigure 1 As shown in Figure 1 , 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 diverting movable pulley 2330, and the other end is connected to the piston portion 800 of the third heat dissipation device 10.

[0058] With such a setting, the second traction member 23 can simultaneously pull the three piston portions 800 to move along the second direction, that is, each driving motor 30 can drive the three piston portions 800 to move, further improving the heat dissipation efficiency of the energy absorption linkage structure.

[0059] In another embodiment, as Figure 2 and Figure 3 shown, the energy absorption linkage structure includes a fixed bracket 40. The first traction member 22 is movably wound around the groove of the labor-saving movable pulley 21, and one end of the first traction member 22 away from the driving motor 30 is connected to the fixed bracket 40.

[0060] With such a setting, when the driving motor 30 drives the labor-saving movable pulley 21 through the first traction member 22, the groove of the labor-saving movable pulley 21 restricts the moving direction of the first traction member 22, and the fixed bracket 40 absorbs the reaction force during the traction process, preventing the rotating shaft of the labor-saving movable pulley 21 from being displaced due to the force. During this process, the friction between the first traction member 22 and the labor-saving movable pulley 21 is reduced, the transmission efficiency of the traction force is improved, and the rotating shaft of the labor-saving movable pulley 21 does not need to bear the dynamic load of the traction member additionally, thereby reducing structural vibration and noise, and at the same time simplifying the overall layout, which is beneficial to realizing the miniaturized design of the robot joint.

[0061] Furthermore, in one embodiment, as Figure 2 shown, the second traction member 23 includes a second connecting portion 2360, a fourth traction rope 2370, and a second diverting 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 diverting movable pulley 2380. The fourth traction rope 2370 is movably wound around the groove of the second diverting movable pulley 2380, and the two ends of the fourth traction rope 2370 are respectively connected to the piston portions 800 of the two heat dissipation devices 10.

[0062] It should be noted that, as Figure 3 shown, the two heat dissipation devices 10 can also share a housing 300. At this time, the liquid working medium is arranged between the two piston portions 800, and the two piston portions 800 are pulled synchronously to cause the phase change of the liquid working medium.

[0063] With such a setting, the second traction member 23 can simultaneously pull the two piston portions 800 to move along the second direction, that is, each driving motor 30 can drive the two piston portions 800 to move, greatly improving the heat dissipation efficiency of the energy absorption linkage structure.

[0064] Furthermore, in one embodiment, as Figure 2 and Figure 3 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 diverting movable pulley 2380, and the other end is connected to the piston portion 800 of the third heat dissipation device 10.

[0065] 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.

[0066] With such a setting, the second traction member 23 can simultaneously traction the three piston portions 800 to move along the second direction, that is, each driving motor 30 can drive the three piston portions 800 to move, further improving the heat dissipation efficiency of the energy absorption linkage structure.

[0067] In one embodiment, as Figure 4 shown, the first traction member 22 includes a third fixed pulley 2230 and a sixth traction rope 2240. The sixth traction rope 2240 sequentially passes around the groove of the third fixed pulley 2230 and the groove of the labor-saving movable pulley 21, and (the sixth traction rope 2240) 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 portion 800.

[0068] It should be noted that, in this embodiment, the number of the third fixed pulleys 2230 and the number of the labor-saving movable pulleys 21 can be multiple to further reduce the magnitude of the pulling force required by the driving motor 30.

[0069] With such a setting, the labor-saving movable pulley 21, the third fixed pulley 2230 and the sixth traction rope 2240 form a basic movable pulley assembly. And, since the sixth traction rope 2240 is finally connected to the rotating shaft of the third fixed pulley 2230, therefore, according to the mechanical analysis, the pulling force received by the second traction member 23 is twice the pulling force of the driving motor 30, that is, the pulling force of the driving motor 30 is effectively amplified.

[0070] Furthermore, in one embodiment, the first traction member 22 further includes a third connecting portion 2250. One end of the third connecting 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.

[0071] In one embodiment, as Figures 5-7As 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 disposed 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 communicates with the atmospheric environment.

[0072] Wherein, the rod body 100 refers to a component for driving the movable sleeve 200 to move, and specifically, it can be implemented by using a metal rod or a plastic rod.

[0073] Wherein, the movable sleeve 200 refers to a sleeve structure that can move along a preset axial direction in the pulling cavity, and specifically, it can be implemented by using a hollow cylinder made of metal or plastic materials.

[0074] Wherein, the housing 300 refers to an external structure for accommodating the movable sleeve 200 and forming the pulling cavity, and specifically, it can be implemented by using a housing made of metal or plastic materials.

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

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

[0077] A liquid working medium is provided 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.

[0078] In one embodiment, the bottom wall of the movable sleeve 200 close to the power element 700, the side wall of the housing 300, and the heating surface of the power element 700 enclose to form the heat dissipation cavity 311.

[0079] With such a setting, these three parts jointly enclose to form a closed heat dissipation cavity 311, enabling the liquid working medium to directly contact the heating surface of the power element 700, greatly improving the heat dissipation efficiency of the power element 700.

[0080] In another embodiment, the bottom wall of the heat dissipation cavity 311 at the end far from the exhaust cavity 312 contacts the heating surface of the power element 700.

[0081] 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 heating 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.

[0082] 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 thermal paste, to further enhance the thermal contact with the heat generating surface of the power element 700.

[0083] However, it is not limited to this. 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.

[0084] 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 disposed in the inner cavity 210 through the limiting portion 110 and is limited and matched with both ends of the inner cavity 210 along a preset axis.

[0085] 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 protruding structure on the outer periphery of the rod body 100, and the limiting portion 110 and the rod body 100 are integrally formed. The limiting portion 110 can also be welded to the outer periphery of the rod body 100.

[0086] 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 force-saving mechanism 20, and the linkage valve 400 is movably matched with the limiting portion 110.

[0087] 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.

[0088] Moreover, the number of the communication holes 220 can be multiple, and the multiple communication holes 220 are arranged in an array around the axis 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.

[0089] 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;

[0090] 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.

[0091] 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 .

[0092] 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.

[0093] 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.

[0094] 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.

[0095] In another embodiment, the piston portion 800 of the heat dissipation device 10 may also be a solid structure.

[0096] Thus, the structure of the heat dissipation device 10 is simpler, which is beneficial to the processing and manufacturing of the energy absorption linkage structure.

[0097] In one embodiment, the communication hole 220 includes a first hole 221 and a second hole 222. The first hole 221 is provided at one end of the movable sleeve 200 close to the power element 700, and the first hole 221 communicates with the inner cavity 210 and the heat dissipation cavity 311. The second hole 222 is provided at the end of the movable sleeve 200 away from the power element 700, and the second hole 222 communicates with the inner cavity 210 and the exhaust cavity 312. The limiting portion 110 can open or close one or both of the first hole 221 and the second hole 222.

[0098] 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 in the inner cavity 210.

[0099] With such a setting, by respectively providing 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 more precisely controlled.

[0100] 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 change into a gaseous state. 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 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.

[0101] 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.

[0102] As a preferred embodiment, the first hole 221 can be designed as a plurality of small holes, which are 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, which is located at the center of the end face of the movable sleeve 200 away from the power element 700, so as to facilitate the rapid discharge of gas.

[0103] Specifically, when the limiting portion 110 abuts against one 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;

[0104] 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 sequentially pass through the first hole 221, the inner cavity 210, the second hole 222 and the exhaust cavity 312 and enter the atmospheric environment.

[0105] However, it is not limited thereto. In other embodiments, the communication hole 220 can also be a through hole that does not communicate with the inner cavity 210 and is separately penetrated through the movable sleeve 200.

[0106] 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 portion 110. When the rod body 100 drives the limiting portion 110 to move along the preset axial direction, the limiting portion 110 can make the lever mechanism rotate and drive the valve plug 410 to open or close the communication hole 220.

[0107] 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.

[0108] Specifically, one end of the lever mechanism is connected to the valve plug 410, and the other end is connected to the limiting portion 110. When the rod body 100 moves, the limiting portion 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 is not only simple in structure but also reliable in operation, and can effectively avoid the faults or delays that may occur in the electronic control system.

[0109] Furthermore, the design of the lever mechanism can be adjusted according to actual requirements. For example, the force transmission and displacement amplification effect can be adjusted by changing the length ratio of the lever arms, so as to achieve 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.

[0110] Thus, by adopting the lever mechanism to control the opening and closing of the linkage valve 400, the present application not only simplifies the structure but also improves the control accuracy. Compared with the electronic control system, this mechanical control method has higher reliability and lower failure rate. Especially in harsh environments or during long-term use, the mechanical control can maintain stable performance and is not easily affected by external factors.

[0111] However, it is not limited to this. In other embodiments, the limiting portion 110 can also directly drive the valve plug 410 to move along the preset axial direction.

[0112] 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 the 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.

[0113] 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.

[0114] 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.

[0115] With this design, the heat dissipation device 10 of the present application can automatically control the opening and closing of the communication holes 220, without the need for an additional control mechanism, featuring a simple structure and high reliability. At the same time, this design can also ensure that the working fluid in the heat dissipation cavity 311 undergoes phase change and is discharged at an appropriate time, thereby improving the heat dissipation efficiency.

[0116] 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 disposed in the installation groove 111.

[0117] Such a setting is conducive to reducing the assembly volume of the entire lever mechanism.

[0118] Furthermore, in one embodiment, the elastic member 423 is a compression spring.

[0119] However, it is not limited thereto. In other embodiments, the elastic member 423 can also be a metal shrapnel structure.

[0120] In one embodiment, the heat dissipation device 10 further includes a liquid storage portion 500, which contains a liquid working fluid and is connected to the heat dissipation cavity 311.

[0121] Such a setting solves the problem of insufficient liquid working fluid by adding the liquid storage portion 500, thereby improving the heat dissipation efficiency. The liquid storage portion 500 serves as an additional storage space for the liquid working fluid and can replenish the heat dissipation cavity 311 in a timely manner when the liquid working fluid in the heat dissipation cavity 311 is insufficient, ensuring the continuous progress of the heat dissipation process.

[0122] Specifically, the liquid storage portion 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 portion 500 and the heat dissipation cavity 311 to enable the free flow of the liquid working fluid. When the liquid working fluid in the heat dissipation cavity 311 decreases due to evaporation, the liquid working fluid in the liquid storage portion 500 can automatically replenish the heat dissipation cavity 311 through the communication channel, keeping the liquid working fluid in the heat dissipation cavity 311 sufficient.

[0123] Specifically, in one embodiment, a water replenishment and exhaust hole 510 is provided at the top of the liquid storage portion 500 to facilitate the replenishment of the liquid working fluid to the liquid storage portion 500 and the discharge of the internal gas.

[0124] Further, in one embodiment, the heat dissipation device 10 further includes a liquid absorption core 600. One end of the liquid absorption core 600 is disposed in the liquid storage portion 500, and the other end is disposed on the inner wall of the heat dissipation cavity 311, so that the liquid working fluid can enter the heat dissipation cavity 311 from the liquid storage portion 500 through the liquid absorption core 600, and the liquid working fluid in the heat dissipation cavity 311 is adsorbed on the liquid absorption core 600.

[0125] By providing a wick 600 between the liquid storage part 500 and the heat dissipation cavity 311, the capillary action is utilized to transport the liquid working medium from the liquid storage part 500 to the heat dissipation cavity 311, and the liquid working medium in the heat dissipation cavity 311 is adsorbed on the 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.

[0126] Specifically, the wick 600 can adopt various materials and structural forms. For example, the wick 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 wick 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.

[0127] However, it is not limited to this. 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.

[0128] Furthermore, in one embodiment, the liquid level height of the liquid working medium in the liquid storage part 500 is lower than the setting 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.

[0129] The liquid level height of the liquid working medium in the liquid storage part 500 is lower than the setting 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, so as to ensure 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.

[0130] This application also provides a robot, which includes the energy absorption linkage structure described in any one of the above embodiments.

[0131] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of 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 to be within the scope described in this specification.

[0132] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to 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 modifications 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 shall be subject to the appended claims.

[0133] In the description of the present application, it should be understood that the orientation or positional relationship 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. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0134] 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, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0135] In the present application, unless otherwise clearly specified and limited, the terms such as "install", "connect", "connection", "fix", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; 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 communication inside 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.

[0136] 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" 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 is at a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" 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 is at a lower horizontal height than the second feature.

[0137] 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 the purpose of illustration and do not represent the only implementation.

[0138] 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 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 housing (300) and an elastic part (900). A liquid working medium is provided in the housing (300). The piston part (800) is movably and sealingly fitted with the inner wall of the housing (300). The elastic part (900) can apply an elastic force to the piston part (800) to move it in the first direction. 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). The driving motor (30) can apply a pulling force to the piston part (800) in the second direction through the labor-saving mechanism (20). The pulling force between the driving 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). 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 changed into a gaseous working medium to absorb the heat generated by the corresponding power element (700) of the housing (300). When the piston part (800) moves in the other of the first direction and the second direction, the gaseous working medium can be discharged from the heat dissipation device (10). 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 provided 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 limited and matched with both 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 labor-saving mechanism (20). The linkage valve (400) is movably matched with the limiting part (110). When the limiting portion (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 portion (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 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). When the limiting portion (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.

2. The energy-absorbing linkage structure according to claim 1, characterized in that, The labor-saving mechanism (20) is a movable pulley assembly. The movable pulley assembly 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 wound around the pulley groove of the labor-saving movable pulley (21). One end of the first traction member (22) is connected to the output end of the driving motor (30), and the other end is connected to the non-rotating part of the energy-absorbing linkage structure. 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 portion (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) includes a first traction rope (2210) and a first fixed pulley (2220). The first traction rope (2210) is movably wound around the pulley groove of the labor-saving movable pulley (21) and the pulley 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, characterized in that The second traction member (23) includes a first connecting portion (2310), a second traction rope (2320), and a first diverting 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 diverting movable pulley (2330). The second traction rope (2320) is movably wound around the pulley groove of the first diverting movable pulley (2330). 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, wherein, 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 diverting movable pulley (2330), and the other end is connected to the piston portion (800) of the third heat dissipation device (10).

6. The energy-absorbing linkage structure according to claim 2, characterized in that, The non-rotating part of the energy-absorbing linkage structure is the fixed bracket (40). The first traction member (22) is movably wound around the pulley groove of the labor-saving movable pulley (21) 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) includes a second connecting portion (2360), a fourth traction rope (2370), and a second deflecting movable pulley (2380). One end of the second connecting portion (2360) is connected to the rotating shaft of the force-saving movable pulley (21), and the other end is connected to the rotating shaft of the second deflecting movable pulley (2380). The fourth traction rope (2370) is movably wound around the groove of the second deflecting movable pulley (2380), and both ends of the fourth traction rope (2370) are respectively connected to the piston portions (800) of the two heat dissipation devices (10).

8. The energy-absorbing linkage structure according to claim 7, wherein, 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 deflecting movable pulley (2380), and the other end is connected to the piston portion (800) of the third heat dissipation device (10).

9. The energy-absorbing linkage structure according to claim 2, wherein The first traction member (22) includes a third fixed pulley (2230) and a sixth traction rope (2240). The non-rotating part of the energy-absorbing linkage structure is the rotating shaft of the third fixed pulley (2230). The sixth traction rope (2240) is sequentially and movably wound around the groove of the third fixed pulley (2230) and the groove of the force-saving movable pulley (21), and is connected to the rotating shaft of the third fixed pulley (2230).

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

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