Energy-saving heat dissipation mechanism and robot

Abstract

The present application relates to an energy-saving heat dissipation mechanism and a robot. The energy-saving heat dissipation mechanism includes a footrest part, an elastic pressing member, a multi-head linkage assembly, a cooling chamber, and a plurality of heat dissipation devices. The plurality of heat dissipation devices are respectively communicated with the cooling chamber, and a power element is arranged in the cooling chamber. Each heat dissipation device includes a reset member, a piston part, and a housing. When the elastic pressing member elastically deforms in a direction close to the footrest part, the plurality of reset members can drive the corresponding piston parts to synchronously move in a direction close to the cooling chamber, so as to discharge the gaseous working medium in the housing by the piston parts. When the elastic pressing member resets, the elastic pressing member can respectively drive the plurality of piston parts to synchronously move in a direction away from the cooling chamber through the multi-head linkage assembly, so that the liquid working medium in the cooling chamber is phase-changed into a gaseous working medium. The energy-saving heat dissipation mechanism and the robot provided by the present application solve the problems of high overall power consumption, poor quietness, and low heat dissipation efficiency existing in the robot.

Description

Technical Field

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

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

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

[0004] Based on this, it is necessary to provide an energy-saving heat dissipation mechanism and a robot to solve the problems of high overall power consumption, poor quietness and low heat dissipation efficiency of existing robots. The present application provides an energy-saving heat dissipation mechanism and a robot.

[0005] The energy-saving heat dissipation mechanism provided by the present application includes a foot seat, a spring-loaded member, a multi-head linkage assembly, a cooling chamber and a plurality of heat dissipation devices, wherein the plurality of heat dissipation devices are arranged around the cooling chamber and can be connected to the cooling chamber respectively, wherein a liquid working medium and a power element are arranged in the cooling chamber, wherein the heating end of the power element directly contacts the liquid working medium; each heat dissipation device includes a reset member, a piston member and a shell, wherein the piston member is movably sealed with the inner wall of the shell, one end of the reset member is connected to the piston member, and the other end is connected to the shell; the connecting end of the spring-loaded member is connected to the foot seat, the movable end of the spring-loaded member is spring-loaded with the foot seat, and one end of the multi-head linkage assembly is connected to the spring-loaded member. The movable end of the spring-pressing member is connected to each piston part at the other end; when the movable end of the spring-pressing member undergoes elastic deformation in the direction close to the foot seat part, the multiple reset parts can drive the corresponding piston parts to move synchronously in the direction close to the cooling chamber, so that the shell and the cooling chamber are separated, and the piston parts discharge the gaseous working medium in the corresponding shell; when the movable end of the spring-pressing member is reset, the movable end of the spring-pressing member can drive the multiple piston parts to move synchronously in the direction away from the cooling chamber through the multi-head linkage assembly, so that the shell is connected to the cooling chamber, and the liquid working medium in the cooling chamber is phase-changed into a gaseous working medium to absorb the heat generated by the power component.

[0006] In one embodiment, the cooling chamber is provided with a cooling cavity for accommodating power components. The piston portion is movably disposed in the housing and divides the interior of the housing into a non-communicating vaporization cavity and a mating cavity. The heat dissipation device further includes a first one-way valve and a second one-way valve. The first one-way valve is disposed between the housing and the cooling chamber. The cooling cavity can be unidirectionally communicated with the vaporization cavity through the first one-way valve, and the vaporization cavity can be unidirectionally communicated with the atmospheric environment through the second one-way valve. When the plurality of piston portions synchronously move in a direction away from the first one-way valve, the vaporization cavity expands, the second one-way valve closes, and the liquid working medium in the cooling cavity can enter the vaporization cavity through the first one-way valve and phase-change into a gaseous working medium. When the plurality of piston portions synchronously move in a direction close to the first one-way valve, the vaporization cavity is compressed, the first one-way valve closes, and the gaseous working medium in the vaporization cavity can enter the atmospheric environment through the second one-way valve.

[0007] In one embodiment, a communication hole is provided at one end of the housing away from the cooling chamber, so that the mating cavity can be communicated with the atmospheric environment through the communication hole.

[0008] In one embodiment, the heat dissipation device further includes a third one-way valve. The piston portion is provided with a connection channel that communicates the vaporization cavity and the mating cavity. The third one-way valve is disposed in the connection channel, so that the vaporization cavity can be unidirectionally communicated with the mating cavity through the connection channel.

[0009] In one embodiment, the energy-saving heat dissipation mechanism further includes a fixing portion. The multi-head linkage assembly includes a plurality of traction ropes and a plurality of guiding fixed pulleys. The plurality of guiding fixed pulleys are respectively connected to the fixing portion. The traction ropes and the heat dissipation devices are arranged in one-to-one correspondence. One end of each traction rope is connected to the movable end of the elastic member, and the other end is sequentially wound around the plurality of guiding fixed pulleys and connected to the corresponding piston portion.

[0010] In one embodiment, the extending direction of the end of the traction rope connected to the piston portion is parallel and coaxial with the moving direction of the piston portion in the housing.

[0011] In one embodiment, the number M of the heat dissipation devices satisfies 2 ≤ M ≤ 10. The M heat dissipation devices are respectively connected to the outer peripheral side of the cooling chamber, and adjacent heat dissipation devices are arranged at equal intervals.

[0012] In one embodiment, the number of the heat dissipation devices is two. The two heat dissipation devices are respectively connected to the outer peripheral side of the cooling chamber. The included angle B between the two heat dissipation devices satisfies 10° ≤ B ≤ 60°.

[0013] In one embodiment, the cooling chamber and the plurality of housings are integrally formed; and / or, the plurality of housings are respectively bonded or welded to the outer peripheral side of the cooling chamber.

[0014] The present application also provides a robot, which includes the energy-saving heat dissipation mechanism described in any one of the above embodiments.

[0015] Compared with the prior art, the energy-saving heat dissipation mechanism and the robot provided by the present application directly convert the impact energy during the robot's walking into the heat dissipation power of the heat dissipation device through the mechanical linkage of the elastic pressing member, the multi-head linkage assembly and the piston portion, without additional power consumption. At the same time, the buffering effect of the elastic pressing member reduces the structural vibration generated by the movement impact, and combined with the silent characteristics of the phase change heat dissipation, the overall system operation noise is significantly reduced. Moreover, the synchronous operation of multiple heat dissipation devices can not only greatly improve the heat dissipation efficiency of the power components in the cooling chamber, but also avoid the problem of easy overload of a single heat dissipation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 The operating state of the energy-saving heat dissipation mechanism according to an embodiment provided by the present application Figure 1 ;

[0018] Figure 2 The operating state of the energy-saving heat dissipation mechanism according to an embodiment provided by the present application Figure 2 ;

[0019] Figure 3 The structural schematic diagram of the energy-saving heat dissipation mechanism according to another embodiment provided by the present application.

[0020] Reference numerals: 100, foot seat portion; 110, receiving groove; 120, mounting inclined surface; 200, elastic pressing member; 210, pressing plate; 220, compression spring; 300, multi-head linkage assembly; 310, traction rope; 320, guiding fixed pulley; 400, heat dissipation device; 410, piston portion; 420, housing; 421, vaporization chamber; 422, mating chamber; 423, communication hole; 430, first one-way valve; 440, second one-way valve; 450, third one-way valve; 460, connection channel; 470, reset member; 500, cooling chamber; 510, cooling cavity; 600, power component. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Please refer to Figures 1 - 3, in one embodiment, the energy-saving heat dissipation mechanism includes a footrest portion 100, an elastic pressing member 200, a multi-head linkage assembly 300, a cooling chamber 500, and a plurality of heat dissipation devices 400. The plurality of heat dissipation devices 400 are disposed around the periphery of the cooling chamber 500 and can be respectively communicated with the cooling chamber 500. A liquid working medium and one or more power components 600 (including but not limited to IGBT modules, motors, chips, etc.) are provided in the cooling chamber 500. At least a part of the liquid working medium is immersed in the heat-generating end of the power component 600, or the liquid working medium is sprayed onto the surface of the heat-generating end of the power component 600 through a nozzle. That is to say, the liquid working medium is arranged in the cooling cavity 510, and at least it is necessary to ensure that the heat-generating end of the power component 600 is in direct contact with the liquid working medium, so that the heat-generating end of the power component 600 can dissipate heat in time. Of course, a liquid-absorbing core (a structure similar to a sponge) saturated with the liquid working medium can also be arranged at the heat-generating end of the power component 600. In this case, it can also be considered that the heat-generating end of the power component 600 is directly immersed in the liquid working medium.

[0022] Each heat dissipation device 400 includes a reset member 470, a piston portion 410, and a housing 420. The piston portion 410 is movably arranged in the housing 420 and is movably and sealingly fitted with the inner wall of the housing 420. One end of the reset member 470 is connected to the piston portion 410, and the other end is connected to the housing 420.

[0023] It should be noted that the footrest portion 100 is the walking part of the robot, similar to the human foot. And, in order to facilitate the deformation of the elastic pressing member 200, the elastic pressing member 200 is arranged at the bottom of the footrest portion 100 to facilitate the compression and expansion of the elastic pressing member 200.

[0024] The connecting end of the elastic pressing member 200 is connected to the footrest portion 100, the movable end of the elastic pressing member 200 is elastically cooperated with the footrest portion 100, one end of the multi-head linkage assembly 300 is connected to the movable end of the elastic pressing member 200, and the other end is respectively connected to the piston portions 410 of the respective heat dissipation devices 400.

[0025] When the robot is walking, the weight of the robot itself applies a pressure on the movable end of the elastic pressing member 200, so that the footrest portion 100 of the robot is pressed down and contacts the ground. Furthermore, when the movable end of the elastic pressing member 200 undergoes elastic deformation, that is, when the movable end of the elastic pressing member 200 undergoes elastic deformation in the direction close to the footrest portion 100 under the action of an external pressure (mainly the pressure during the robot's walking), a plurality of reset members 470 can drive the corresponding piston portions 410 to move synchronously in the direction close to the cooling chamber 500, and the housing 420 is separated from the cooling chamber 500, so that the piston portion 410 discharges the gaseous working medium in the corresponding housing 420.

[0026] When the movable end of the spring-pressing member 200 is not affected by external pressure, that is, when the robot lifts its legs to drive the foot seat 100 to lift up, the movable end of the spring-pressing member 200 can drive the multiple piston parts 410 to move synchronously in a direction away from the cooling chamber 500 through the multi-head linkage assembly 300, and the shell 420 is connected to the cooling chamber 500, and the air pressure in the shell 420 and the cooling chamber 500 is reduced, so that the liquid working medium in the cooling chamber 500 is transformed into a gaseous working medium, and the heat generated by the power element 600 in the cooling chamber 500 is absorbed until the spring-pressing member 200 is completely reset.

[0027] It should be noted that the above process is repeated to achieve continuous heat dissipation of the power element 600 by the energy-saving heat dissipation mechanism, and the liquid working medium in the cooling chamber 500 is replenished irregularly. Of course, a liquid storage chamber can also be set up, which is used to store the liquid working medium, and the liquid storage chamber is connected to the cooling chamber 500 so that the liquid working medium in the cooling chamber 500 can be replenished frequently.

[0028] Among them, the foot seat 100 refers to the base part of the supporting structure, which can be specifically implemented by a metal frame or a high-strength plastic part, and is used to fix the spring-pressed part 200 and bear the reaction force generated by the action of the mechanism. The spring-pressed part 200 refers to a connecting component with elastic recovery ability, which can be specifically implemented by a spring steel plate or an elastic alloy sheet, and its elastic deformation provides the driving force for the reciprocating motion of the mechanism. The multi-head linkage assembly 300 refers to a transmission mechanism that synchronously controls the movement of multiple pistons, which can be specifically implemented by a multi-link structure or a traction rope 310 in conjunction with a pulley to ensure the consistency of the movements of each heat dissipation device 400. The reset member 470 refers to an elastic element that causes the piston part 410 to reset, which can be specifically implemented by a coil spring or an elastic rubber part, and the initial position of the piston part 410 is maintained by a preload. The movable sealing cooperation between the piston part 410 and the shell 420 refers to a structure in which a sealing ring is set on the edge of the piston part 410, which can be specifically implemented by a rubber sealing ring in conjunction with a metal plug body to form a movable airtight partition.

[0029] Compared with the prior art, this solution directly converts the impact energy of the robot when walking into the heat dissipation power of the heat dissipation device 400 through the mechanical linkage of the spring-pressed part 200, the multi-head linkage assembly 300 and the piston part 410, without the need for additional power consumption. At the same time, the buffering effect of the spring-pressed part 200 reduces the structural vibration caused by the impact of movement, and with the silent characteristics of phase change heat dissipation, the overall system operation noise is significantly reduced. In addition, the synchronous operation of multiple heat dissipation devices 400 can not only greatly improve the heat dissipation efficiency of the power element 600 in the cooling chamber 500, but also avoid the problem of overload of a single heat dissipation device 400.

[0030] Specifically, in one embodiment, if Figures 1 - 3As shown, the cooling chamber 500 is provided with a cooling cavity 510 for accommodating the power element 600. It should be noted that the cooling cavity 510 refers to the space for accommodating the power element 600 and providing liquid working medium storage, and specifically, a sealed chamber can be formed by the corrosion-resistant metal shell 420.

[0031] The piston part 410 is movably arranged in the shell 420 and divides the interior of the shell 420 into a non-communicating vaporization cavity 421 and a mating cavity 422. The heat dissipation device 400 further includes a first one-way valve 430 and a second one-way valve 440. The first one-way valve 430 is arranged between the shell 420 and the cooling chamber 500, and the cooling cavity 510 can be unidirectionally communicated with the vaporization cavity 421 through the first one-way valve 430. Since the working medium can only flow unidirectionally from the cooling cavity 510 to the vaporization cavity 421, the cooling cavity 510 and the vaporization cavity 421 are in a unidirectionally communicating state when the first one-way valve 430 is opened, and are in a separated state under other conditions. Obviously, the total volume inside the shell 420 remains unchanged. Therefore, the sum of the volumes of the vaporization cavity 421 and the mating cavity 422 remains unchanged, that is, the vaporization cavity 421 and the mating cavity 422 are in a relationship of one increasing while the other decreasing. When the piston part 410 moves away from the first one-way valve 430, the volume of the vaporization cavity 421 increases and the volume of the mating cavity 422 decreases. On the contrary, when the piston part 410 moves towards the first one-way valve 430, the volume of the vaporization cavity 421 decreases and the volume of the mating cavity 422 increases.

[0032] The second one-way valve 440 is connected to the side wall of the shell 420. The vaporization cavity 421 of the shell 420 can be unidirectionally communicated with the atmospheric environment through the second one-way valve 440. The second one-way valve 440 is a pressure relief device that only allows the gaseous working medium in the vaporization cavity 421 to be unidirectionally discharged into the external environment, and specifically, a diaphragm-type one-way valve can be used to achieve it, and it automatically opens and closes through the air pressure difference. It should be noted that regardless of how the volume of the vaporization cavity 421 changes, the second one-way valve 440 can only communicate with the vaporization cavity 421 and will not communicate with the mating cavity 422.

[0033] When the pressing member 200 drives the plurality of piston parts 410 to synchronously move away from the first one-way valve 430 through the multi-head linkage assembly 300, a negative pressure is generated in the vaporization chamber 421 due to the increase in volume. At this time, the second one-way valve 440 remains closed under the action of the external atmospheric pressure. Since the liquid working medium in the cooling chamber 510 has absorbed the heat generated by the power element 600, therefore, after the liquid working medium enters the vaporization chamber 421 through the first one-way valve 430, it can quickly phase-change into a gaseous working medium. It should be noted that since the vaporization chamber 421 expands, the air pressure in the vaporization chamber 421 decreases. Also, because the cooling chamber 510 can be unidirectionally connected to the vaporization chamber 421 through the first one-way valve 430, under the action of the pressure difference, the liquid working medium in the cooling chamber 510 enters the vaporization chamber 421. Also, since the air pressure in the vaporization chamber 421 after expansion is significantly lower than the atmospheric pressure, the boiling point of the working medium in the vaporization chamber 421 decreases. When the air pressure in the vaporization chamber 421 drops to the threshold value, both the liquid working medium entering the vaporization chamber 421 and the liquid working medium in the cooling chamber 510 will undergo a phase change. During the phase change, heat absorption is required. Therefore, a large amount of heat will be carried away during this process, so that the heat generated by the power element 600 is carried away.

[0034] When the reset member 470 drives the plurality of piston parts 410 to synchronously move towards the direction close to the first one-way valve 430, the volume of the vaporization chamber 421 shrinks, resulting in an increase in internal pressure. At this time, the first one-way valve 430 closes under the action of the reverse pressure, and the second one-way valve 440 opens when the internal pressure exceeds the external atmospheric pressure. The gaseous working medium in the vaporization chamber 421 can enter the atmospheric environment through the second one-way valve 440 to complete the heat dissipation cycle. It should be noted that since the second one-way valve 440 is opened, the gaseous working medium in the vaporization chamber 421 will be quickly discharged from the vaporization chamber 421.

[0035] Of course, to meet the environmental protection requirements, the working medium is a harmless coolant such as water or ethanol.

[0036] During this process, the one-way valve group (including the first one-way valve 430 and the second one-way valve 440) automatically controls the flow direction of the working medium without an additional power source.

[0037] Compared with the prior art, since the traditional heat dissipation structure does not have a one-way valve assembly (including the first one-way valve 430 and the second one-way valve 440) and a cavity separation structure, the working medium circulation needs to rely on external power and is prone to backflow. However, in this solution, through the separation of the vaporization chamber 421 and the matching chamber 422 and the control of the one-way valve, the one-way flow and self-driven circulation of the working medium are realized, and the phase change heat dissipation process can be completed without additional energy consumption.

[0038] Through the above technical solution, the present application effectively solves the power consumption problem caused by the existing heat dissipation device 400 relying on external power. By utilizing the cooperation of the movement of the piston portion 410 with the first one-way valve 430 and the second one-way valve 440, it ensures that the liquid working medium is only discharged directionally after absorbing heat and evaporating in the vaporization chamber 421, avoiding energy loss caused by the backflow of the working medium. At the same time, the heat transfer efficiency is improved by isolating the gas-liquid two-phase working medium through the cavity separation structure.

[0039] However, not limited thereto, in other embodiments, the first one-way valve 430 and the second one-way valve 440 can also be replaced with solenoid valves controlled by electricity.

[0040] In one embodiment, as Figures 1 - 3 shown, the number M of the heat dissipation devices 400 satisfies 2 ≤ M ≤ 10. That is to say, the number of the heat dissipation devices 400 can be any one of 2, 3, 4, 5, 6, 7, 8, 9, or 10. M heat dissipation devices 400 are respectively connected to the outer peripheral side of the cooling chamber 500, and adjacent heat dissipation devices 400 are arranged at equal intervals.

[0041] Among them, the number M satisfying 2 ≤ M ≤ 10 means that the total number of the heat dissipation devices 400 can be adjusted within the range of 2 to 10. Specifically, it can be achieved by adopting a modular design. For example, the number of the heat dissipation devices 400 can be flexibly increased or decreased according to the size of the cooling chamber 500 or the heat dissipation requirement.

[0042] Among them, the outer peripheral side refers to the peripheral surface area of the cooling chamber 500. Specifically, it can be achieved by adopting an annular array layout. For example, the heat dissipation devices 400 are fixed on the outer peripheral surface of the cooling chamber 500 through welding or bonding processes.

[0043] Among them, being arranged at equal intervals means that the angle or distance between adjacent heat dissipation devices 400 is the same. Specifically, it can be achieved by equally dividing the circumference. For example, M heat dissipation devices 400 are evenly distributed along the outer periphery of the cooling chamber 500.

[0044] Specifically, when the number of the heat dissipation devices 400 is controlled within the range of 2 to 10, it can not only avoid insufficient heat dissipation efficiency caused by too few devices, but also prevent structural complexity caused by too many devices. By arranging the heat dissipation devices 400 on the outer peripheral side of the cooling chamber 500, the path for the liquid working medium to transfer heat to the heat dissipation devices 400 can be directly shortened. The design of adjacent heat dissipation devices 400 being equally spaced can ensure that heat is evenly conducted to each heat dissipation device 400, avoiding temperature differences in local areas caused by the density or sparsity of the heat dissipation devices 400.

[0045] In another embodiment, the number of the heat dissipation devices 400 is two. The two heat dissipation devices 400 are respectively connected to the outer peripheral side of the cooling chamber 500, and the included angle B between the two heat dissipation devices 400 satisfies 10° ≤ B ≤ 60°.

[0046] The included angle between the two heat dissipation devices 400 is designed to be between 10 degrees and 60 degrees. For example, 10 degrees, 30 degrees, 45 degrees, or 60 degrees can be selected, so that the coverage range of the heat dissipation devices 400 on the outer peripheral side of the cooling chamber 500 will neither be too concentrated resulting in local heat dissipation redundancy nor be too dispersed resulting in reduced heat dissipation efficiency. At the same time, compared with the design of four to six heat dissipation devices 400, the symmetrical arrangement of the two heat dissipation units reduces the complexity of the energy-saving heat dissipation mechanism and improves the synchronization of actions.

[0047] However, it is not limited to this. In other embodiments, the included angle between the two heat dissipation devices 400 can also be other angle values between 0 and 180 degrees, which will not be listed one by one here.

[0048] In one embodiment, the cooling chamber 500 and the plurality of housings 420 are integrally formed.

[0049] Among them, integrally formed means that the cooling chamber 500 and the housing 420 form a continuous integral structure through the same mold or processing technology, and can be realized by injection molding, casting, or 3D printing technology, ensuring that there is no seam between the cooling chamber 500 and the housing 420 and avoiding leakage of the liquid working medium.

[0050] Specifically, when the cooling chamber 500 and the plurality of housings 420 are integrally formed, a complete sealing structure is directly formed during the manufacturing process without additional assembly steps, reducing the connection gaps between components, thereby avoiding leakage of the working medium at the seams.

[0051] In another embodiment, the plurality of housings 420 are respectively bonded or welded to the outer peripheral side of the cooling chamber 500.

[0052] Among them, bonding means using adhesives such as epoxy resin, silicone, or acrylic glue to fix the housing 420 on the outer surface of the cooling chamber 500, and welding means connecting the housing 420 and the cooling chamber 500 through hot melting, ultrasonic, or laser welding technology. Specifically, laser welding can be used to ensure the airtightness and strength of the connection part.

[0053] When using the bonding or welding method, the housing 420 is firmly fixed on the outer peripheral side of the cooling chamber 500. During the reciprocating movement of the piston part 410, the housing 420 and the cooling chamber 500 will not loosen or displace due to vibration, maintaining the stable connection between the vaporization chamber 421 and the cooling chamber 510.

[0054] In summary, this solution greatly improves the connection reliability between the cooling chamber 500 and the housing 420 through the integrally formed or high-strength bonding / welding process, eliminating the leakage hidden danger caused by loose connection.

[0055] In one embodiment, as Figure 1 and Figure 2As shown in the figure, a communication hole 423 is provided at one end of the housing 420 away from the cooling chamber 500, so that the fitting cavity 422 of the housing 420 can communicate with the atmospheric environment through the communication hole 423. The communication hole 423 refers to a through hole opened at one end of the housing 420 away from the cooling chamber 500, and can specifically be implemented by a circular hole, an oval hole or a rectangular hole. Its function is to directly connect the fitting cavity 422 with the external environment. The fitting cavity 422 refers to the cavity formed in the housing 420 and separated by the piston portion 410.

[0056] Specifically, when the piston portion 410 moves within the housing 420, the volume of the fitting cavity 422 will change accordingly. If the fitting cavity 422 is in a closed state, the change in gas pressure inside the cavity may cause the movement of the piston portion 410 to be blocked or the restoring member 470 to be abnormally stressed. By providing the communication hole 423, the gas inside the fitting cavity 422 can freely exchange with the external atmospheric environment, thereby maintaining the air pressure balance inside and outside the cavity. For example, when the piston portion 410 moves in the direction away from the cooling chamber 500, the volume of the fitting cavity 422 decreases, and the excess gas inside the cavity is discharged through the communication hole 423; when the piston portion 410 moves in the direction close to the cooling chamber 500, the volume of the fitting cavity 422 increases, and external air enters the cavity through the communication hole 423. This process does not rely on an additional air pressure regulating device, simplifying the structure of the heat dissipation device 400.

[0057] Through the above technical solution, the present application solves the problem of action stability caused by pressure imbalance in the fitting cavity 422 during the operation of the heat dissipation device 400, ensuring that the coordinated movement of the piston portion 410 and the restoring member 470 is not disturbed, thereby improving the working reliability and heat dissipation efficiency of the heat dissipation device 400, and at the same time reducing the additional energy consumption caused by pressure fluctuations.

[0058] In one embodiment, as Figure 1 and Figure 2 shown, the heat dissipation device 400 further includes a third one-way valve 450. The piston portion 410 is provided with a connection channel 460. The connection channel 460 communicates the vaporization cavity 421 and the fitting cavity 422. The third one-way valve 450 is disposed in the connection channel 460 so that the vaporization cavity 421 can communicate with the fitting cavity 422 unidirectionally through the connection channel 460. The connection channel 460 is used to establish a communication path between the vaporization cavity 421 and the fitting cavity 422. The third one-way valve 450 refers to a control element that only allows fluid to flow in a single direction, and can specifically be implemented by a spring-type or gravity-type valve core structure, and is used to prevent the working medium from flowing in the reverse direction.

[0059] Specifically, when the piston portion 410 moves away from the cooling chamber 500, the volume of the vaporization chamber 421 expands to form a negative pressure. At this time, the third one-way valve 450 closes, and the gaseous working medium in the cooperation chamber 422 cannot flow back to the vaporization chamber 421 through the connection channel 460. When the piston portion 410 moves towards the cooling chamber 500 and compresses the vaporization chamber 421, the pressure of the gaseous working medium increases. At this time, the third one-way valve 450 opens, allowing some of the high-pressure gaseous working medium to enter the cooperation chamber 422 through the connection channel 460. The gaseous working medium accumulated in the cooperation chamber 422 can assist the piston portion 410 to reset.

[0060] Compared with the prior art, in this solution, a communication circuit between the vaporization chamber 421 and the cooperation chamber 422 is established through the connection channel 460, and a directional flow channel is formed in cooperation with the third one-way valve 450, so that part of the potential energy of the gaseous working medium can be stored and reused, and the energy utilization rate of the heat dissipation device 400 can be improved without additionally setting an energy recovery device.

[0061] In one embodiment, the elastic pressing member 200 is in the form of a spring piece. One end of the spring piece is connected to the bottom of the foot seat portion 100, and the other end protrudes from the bottom of the foot seat portion 100. The end of the spring piece protruding from the bottom of the foot seat portion 100 is defined as the movable end of the spring piece. When the foot seat portion 100 of the robot contacts the ground, the movable end of the spring piece elastically bends towards the bottom of the foot seat portion 100 under the action of pressure. When the foot seat portion 100 of the robot leaves the ground, the movable end of the spring piece can reset, that is, the movable end of the spring piece can elastically deform towards or away from the foot seat portion 100.

[0062] It should be noted that the multi-head linkage assembly 300 is connected to the movable end of the spring piece.

[0063] Specifically, the spring piece can be made of metal or hard plastic, and the spring piece can be welded to the foot seat portion 100, or adhered or clamped to the foot seat portion 100.

[0064] In another embodiment, as Figure 1 and Figure 2As shown, the resilient member 200 includes a pressing plate 210 and a compression spring 220. The connecting end of the pressing plate 210 is hinged to the bottom of the foot base portion 100. One end of the compression spring 220 is connected to the bottom of the foot base portion 100, and the other end is connected to the movable end of the pressing plate 210. When the foot base portion 100 of the robot contacts the ground, the compression spring 220 undergoes elastic compression deformation towards the bottom of the foot base portion 100 under the action of pressure. At this time, the movable end of the pressing plate 210 moves synchronously with the compression spring 220. When the foot base portion 100 of the robot leaves the ground, the compression spring 220 resets, enabling the movable end of the pressing plate 210 to reset synchronously. That is, the movable end of the pressing plate 210 can rotate towards the direction close to the foot base portion 100, causing the compression spring 220 to be compressed, or the compression spring 220 can push the movable end of the pressing plate 210 to move away from the foot base portion 100 and reset itself (the compression spring 220).

[0065] It should be noted that the multi - head linkage assembly 300 is connected to the movable end of the pressing plate 210.

[0066] Among them, the pressing plate 210 refers to a rigid plate - like component with a connecting end and a movable end, which can be specifically made of metal or high - strength composite materials. Its hinge design allows rotation around an axis to change the position of the movable end, thereby realizing mechanical transmission linked with external pressure.

[0067] Among them, the compression spring 220 refers to a helical spring that provides linear elastic force. Specifically, stainless steel or carbon steel materials can be selected. By compressing and storing energy and releasing deformation energy, it provides a driving force for the reset of the movable end of the pressing plate 210.

[0068] Among them, being hinged to the bottom of the foot base portion 100 means forming a rotatable connection between the pressing plate 210 and the foot base portion 100 through a rotating shaft or a pin. Specifically, a hinge structure with a self - lubricating bearing can be adopted to achieve low - friction rotation.

[0069] Compared with the prior art, the combined design of the pressing plate 210 and the compression spring 220 disperses the load to the hinge point and the spring, improving the structural reliability.

[0070] Through the above technical solutions, the present application utilizes the lever effect of the pressing plate 210 to amplify the action of external pressure on the compression spring 220, realizing more precise control of elastic deformation. At the same time, the linear elastic characteristics of the spring ensure a smooth and impact - free reset process. This structure converts the ground reaction force during the robot's walking into the driving force of the piston portion 410 of the heat dissipation device 400, enabling the cooling cycle to be achieved without additional power, reducing system power consumption and mechanical vibration noise.

[0071] Furthermore, in one embodiment, as Figure 1 and Figure 2As shown, a receiving groove 110 with an opening facing the ground is provided at the bottom of the pedestal portion 100. The receiving groove 110 can be formed by cutting at the bottom of the pedestal portion 100, or multiple pads can be provided at the bottom of the pedestal portion 100, and the receiving groove 110 is formed between adjacent pads. The pressing plate 210 is hinged to the side wall of the receiving groove 110. One end of the compression spring 220 is connected to the top wall of the receiving groove 110 away from the ground, and the other end is connected to the pressing plate 210.

[0072] Among them, the top wall and the side wall of the receiving groove 110 refer to the groove structure formed at the bottom of the pedestal portion 100, and can be specifically designed as a rectangular or arc-shaped inner cavity for accommodating the spatial displacement of the pressing plate 210 during rotation and avoiding interference with external structures.

[0073] With such a setting, it is beneficial to increase the maximum stroke of the compression spring 220, and thus beneficial to the energy storage of the elastic pressing member 200. Moreover, the compression spring 220 is arranged in the receiving groove 110, so that when the compression spring 220 is in a compressed state, it can be completely accommodated in the receiving groove 110, and further the pressing plate 210 does not protrude from the bottom plane of the pedestal portion 100, avoiding the elastic pressing member 200 from affecting the walking stability of the pedestal portion 100. In addition, the closed design of the receiving groove 110 prevents dust or foreign objects from entering the hinged part and reduces the wear risk of the kinematic pair.

[0074] Furthermore, in one embodiment, as Figure 1 and Figure 2 shown, the top wall of the receiving groove 110 is provided with an installation inclined surface 120, and the compression spring 220 is connected to the installation inclined surface 120. When the compression spring 220 is reset, the installation inclined surface 120 and the pressing plate 210 are arranged in parallel.

[0075] In this way, it is beneficial to increase the pressure effect of the pressing plate 210 on the compression spring 220.

[0076] In one embodiment, as Figure 1 and Figure 2 shown, the energy-saving and heat-dissipating mechanism further includes a fixing part (not shown in the figure). Among them, the fixing part can be a fixing bracket or the housing of the robot. The multi-head linkage assembly 300 includes multiple traction ropes 310 and multiple guiding fixed pulleys 320. The guiding fixed pulleys 320 mainly play a role in guiding and supporting the traction ropes 310. The traction ropes 310 change their own extending directions through the guiding fixed pulleys 320. The multiple guiding fixed pulleys 320 are distributed between the elastic pressing member 200 and the piston parts 410 of the multiple heat-dissipating devices 400 and are respectively connected to the fixing part. The traction ropes 310 and the heat-dissipating devices 400 are arranged in one-to-one correspondence. One end of each traction rope 310 is connected to the movable end of the elastic pressing member 200, and the other end is sequentially wound around the multiple guiding fixed pulleys 320 and connected to the corresponding piston part 410.

[0077] Among them, the fixed part refers to the rigid support structure that bears the guiding fixed pulley 320, which can be specifically implemented by a metal frame or an injection-molded housing 420, and is used to define the movement trajectory of the towing rope 310; the towing rope 310 refers to a flexible transmission component with tensile resistance, which can be specifically implemented by a steel wire rope or a high-molecular fiber rope, and is used to convert the elastic deformation of the elastic member 200 into the linear displacement of the piston part 410; the guiding fixed pulley 320 refers to a wheel-shaped guiding mechanism with a groove, which can be specifically implemented by a nylon pulley supported by a bearing, and is used to change the transmission direction of the towing rope 310 and reduce the frictional resistance.

[0078] Specifically, when the movable end of the elastic member 200 undergoes elastic deformation, the towing rope 310 transmits the tensile force to the corresponding piston part 410 through the path guidance of the guiding fixed pulley 320. The towing rope 310 is wound around the path formed by multiple guiding fixed pulleys 320, so that the single movement direction of the movable end of the elastic member 200 is decomposed into the synchronous linear movement of multiple piston parts 410. Since each towing rope 310 is independently wound and the path is optimized by the guiding fixed pulley 320, the displacement amounts of each piston part 410 are kept consistent, so as to ensure that the gaseous working medium discharge actions or the liquid working medium suction actions of multiple heat dissipation devices 400 can be completed synchronously.

[0079] In this solution, through the combination of the towing rope 310 and the guiding fixed pulley 320, the elastic deformation of the elastic member 200 is directly converted into the linear movement of multiple piston parts 410, which not only avoids the assembly complexity of the rigid transmission structure, but also reduces the frictional loss during the movement through flexible towing.

[0080] Through the above technical solution, the present application realizes the precise synchronous control of the piston parts 410 of multiple heat dissipation devices 400, ensures the coordinated operation of the liquid working medium phase change heat absorption and the gaseous working medium discharge process, thereby improving the heat dissipation efficiency. The combined structure of the towing rope 310 and the guiding fixed pulley 320 simplifies the transmission path and reduces the movement noise, which is beneficial to meeting the low-power consumption and quietness requirements of the robot.

[0081] However, it is not limited thereto. In other embodiments, the guiding fixed pulley 320 can also be replaced by a smooth optical rod. Or, in other embodiments, the multi-head linkage assembly 300 can also be a multi-link structure or a gear transmission structure.

[0082] Further, in one embodiment, the extending direction of the towing rope 310 connected to one end of the piston part 410 is parallel and coaxially arranged with the moving direction of the piston part 410 in the housing 420.

[0083] Compared with the prior art, in this solution, by making the direction of the towing rope 310 consistent with the moving direction of the piston, the influence of the lateral component force on the transmission efficiency is eliminated, the frictional loss is reduced, and at the same time, the contact stress between the towing rope 310 and the guiding fixed pulley 320 is reduced, thus prolonging the service life.

[0084] In one embodiment, the included angle Q between the extending direction of one end of the towing rope 310 connected to the elastic pressing member 200 and the pressing plate 210 satisfies 60° ≤ Q ≤ 90°.

[0085] With such a setting, by making the direction of the towing rope 310 consistent with the deformation direction of the elastic pressing member 200, the influence of the lateral component force on the transmission efficiency is reduced, the frictional loss is reduced, and at the same time, the contact stress between the towing rope 310 and the guiding fixed pulley 320 is reduced, thus prolonging the service life.

[0086] This application also provides a robot, which includes the energy-saving and heat-dissipating mechanism described in any one of the above embodiments.

[0087] 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 as the scope described in this specification.

[0088] The above-described embodiments only represent several implementation manners of this application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting 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 this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the patent protection scope of this application should be subject to the appended claims.

[0089] In the description of this 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 this 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 therefore should not be construed as limiting this application.

[0090] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0091] In this application, unless otherwise clearly defined and limited, terms such as "installed", "connected", "joined", "fixed", 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 this application can be understood according to specific circumstances.

[0092] In this application, unless otherwise clearly defined 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 in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0093] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it may be directly on the other element or there may also be a middle 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 middle element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0094] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application 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-saving heat dissipation mechanism, characterized in that, The invention comprises a foot seat (100), a spring-pressing member (200), a multi-head linkage assembly (300), a cooling chamber (500), and a plurality of heat dissipation devices (400), wherein the plurality of heat dissipation devices (400) are arranged around the cooling chamber (500) and can be respectively connected to the cooling chamber (500), and a liquid working medium and a power element (600) are arranged in the cooling chamber (500), and a heating end of the power element (600) is in direct contact with the liquid working medium; Each of the heat dissipation devices (400) comprises a reset member (470), a piston portion (410) and a shell (420); the piston portion (410) is movably sealed with the inner wall of the shell (420); one end of the reset member (470) is connected to the piston portion (410) and the other end is connected to the shell (420); The connection end of the spring-pressing member (200) is connected to the foot seat (100), the movable end of the spring-pressing member (200) and the foot seat (100) are spring-pressed to fit, one end of the multi-head linkage assembly (300) is connected to the movable end of the spring-pressing member (200), and the other end is respectively connected to each of the piston parts (410); When the movable end of the spring-pressing member (200) undergoes elastic deformation in a direction close to the foot seat (100), the plurality of reset members (470) can drive the corresponding piston members (410) to move synchronously in a direction close to the cooling chamber (500), so as to separate the shell (420) from the cooling chamber (500), and enable the piston members (410) to discharge the gaseous working medium in the corresponding shell (420); When the movable end of the spring-pressing member (200) is reset, the movable end of the spring-pressing member (200) can drive the plurality of piston parts (410) to move synchronously in a direction away from the cooling chamber (500) through the multi-head linkage assembly (300), so that the housing (420) is connected to the cooling chamber (500) and the liquid working medium in the cooling chamber (500) is phase-changed into a gaseous working medium to absorb heat generated by the power element (600).

2. The energy-saving heat dissipation mechanism according to claim 1, characterized in that The cooling chamber (500) is provided with a cooling cavity (510) for accommodating a power element (600); the piston portion (410) is movably arranged on the shell (420) and divides the interior of the shell (420) into a non-connected gasification cavity (421) and a matching cavity (422); the heat dissipation device (400) further comprises a first one-way valve (430) and a second one-way valve (440); the first one-way valve (430) is arranged between the shell (420) and the cooling chamber (500); the cooling cavity (510) can be unidirectionally connected to the gasification cavity (421) through the first one-way valve (430); and the gasification cavity (421) can be unidirectionally connected to the atmosphere through the second one-way valve (440); When multiple said piston parts (410) move synchronously away from the first one-way valve (430), the vaporization chamber (421) expands, the second one-way valve (440) closes, and the liquid working medium in the cooling chamber (510) can enter the vaporization chamber (421) through the first one-way valve (430) and change into gaseous working medium; When multiple said piston parts (410) move synchronously towards the first one-way valve (430), the vaporization chamber (421) is compressed, the first one-way valve (430) closes, and the gaseous working medium in the vaporization chamber (421) can enter the atmospheric environment through the second one-way valve (440).

3. The energy-saving heat dissipation mechanism according to claim 2, wherein One end of the housing (420) away from the cooling chamber (500) is provided with a communication hole (423) so that the fitting chamber (422) can communicate with the atmospheric environment through the communication hole (423).

4. The energy-saving heat dissipation mechanism according to claim 2, characterized in that The heat dissipation device (400) further includes a third one-way valve (450). The piston part (410) is provided with a connection channel (460). The connection channel (460) communicates the vaporization chamber (421) and the fitting chamber (422). The third one-way valve (450) is arranged in the connection channel (460) so that the vaporization chamber (421) can communicate with the fitting chamber (422) unidirectionally through the connection channel (460).

5. The energy-saving heat dissipation mechanism according to claim 1, characterized in that, It further includes a fixing part. The multi-head linkage assembly (300) includes multiple traction ropes (310) and multiple guiding fixed pulleys (320). The multiple guiding fixed pulleys (320) are respectively connected to the fixing part. The traction ropes (310) and the heat dissipation devices (400) are arranged in one-to-one correspondence. One end of each traction rope (310) is connected to the movable end of the elastic member (200), and the other end is sequentially wound around the multiple guiding fixed pulleys (320) and connected to the corresponding piston part (410).

6. The energy-saving heat dissipation mechanism according to claim 5, characterized in that, The extending direction of the end of the traction rope (310) connected to the piston part (410) is parallel and coaxially arranged with the moving direction of the piston part (410) in the housing (420).

7. The energy-saving heat dissipation mechanism according to claim 1, wherein The number M of the heat dissipation devices (400) satisfies 2 ≤ M ≤ 10. The M heat dissipation devices (400) are respectively connected to the outer peripheral side of the cooling chamber (500), and adjacent heat dissipation devices (400) are arranged at equal intervals.

8. The energy-saving heat dissipation mechanism according to claim 1, characterized in that The number of the heat dissipation devices (400) is two. The two heat dissipation devices (400) are respectively connected to the outer peripheral side of the cooling chamber (500). The included angle B between the two heat dissipation devices (400) satisfies 10° ≤ B ≤ 60°.

9. The energy-saving heat dissipation mechanism according to claim 1, characterized in that, The cooling chamber (500) and the multiple housings (420) are integrally formed; and / or, the multiple housings (420) are respectively bonded or welded to the outer peripheral side of the cooling chamber (500).

10. A robot, characterized in that, It includes the energy-saving heat dissipation mechanism according to any one of claims 1 - 9.

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