A battery module combined heat dissipation device for a robot joint module

Abstract

The application belongs to the technical field of robots, and particularly discloses a battery module combined heat dissipation device for a robot joint module, which comprises a robot shell, a heat dissipation assembly is arranged on the front side of the robot shell, and a battery module is limited on the front side of the heat dissipation assembly through a mounting assembly. The application realizes centralized heat dissipation by three-dimensional conformal vapor chamber driving heat directional and efficient transportation. The foot and wrist design reduces the arrangement complexity of the micro-channel cold plate, the battery module and numerous joint modules in the humanoid robot, reduces the energy consumption of the micro-channel cold plate, greatly improves the flexibility of the micro-channel cold plate in the internal arrangement of the humanoid robot, and the close combination of the robot shell and the heat dissipation plate and the micro-channel cold plate greatly increases the heat dissipation area of the robot shell in the heat dissipation process, and effectively improves the heat dissipation effect.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and specifically relates to a combined heat dissipation device for battery modules in robot joint modules. Background Technology

[0002] Humanoid robots generally prioritize lightweight design and small size. If heat cannot be dissipated in time, it will cause a rapid decline in the performance of motors and batteries, reducing their lifespan and even posing a risk of thermal runaway.

[0003] Liquid cooling is an efficient heat dissipation solution, but in humanoid robots, not only the battery module needs heat dissipation, but also the numerous joint modules distributed throughout the body have strong heat dissipation requirements. When liquid cooling systems are applied to humanoid robots, they face the problems of complex system structure and excessive energy consumption.

[0004] Therefore, it is necessary to invent a battery module combined with a heat dissipation device for robot joint modules to solve the above problems. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a battery module combined heat dissipation device for robot joint modules, thereby solving the issues raised in the background section.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a battery module combined heat dissipation device for robot joint modules, comprising a robot shell, a heat dissipation component disposed on the front side of the robot shell, and a battery module constrained on the front side of the heat dissipation component by a mounting component; the heat dissipation component comprises: a microchannel cold plate, a heat dissipation plate, and multiple joint modules; the front side of the robot shell has a groove corresponding to the microchannel cold plate, the microchannel cold plate is placed inside the groove, and the heat dissipation plate is correspondingly snapped onto the front side of the microchannel cold plate; multiple wristbands and multiple foot rings are disposed at the bottom of the heat dissipation plate, the multiple wristbands and multiple foot rings correspond one-to-one, the foot rings are connected to the bottom of the heat dissipation plate by the wristbands, the multiple foot rings correspond one-to-one with the multiple joint modules, and the foot rings are sleeved on the outside of the joint modules.

[0007] Furthermore, the microchannel cold plate includes an inlet and an outlet, and a mesh channel is provided inside the microchannel cold plate. The inlet is connected to the outlet via the mesh channel, and the inlet and outlet are of equal size.

[0008] Furthermore, the robot's outer shell has grooves on both sides of the front side, with each groove corresponding to one of the two wristbands, and the rear side of the wristbands is placed inside the grooves.

[0009] Furthermore, the mounting assembly includes: a pressure frame, insert rods, a first elastic element, and a nut; the pressure frame is located on the front side of the heat sink, and multiple insert rods are fixed on the front side of the robot shell, with the insert rods corresponding to the corners that pass through the pressure frame, and the first elastic element is sleeved on the surface of the insert rod, with the front end of the first elastic element fitting against the rear side of the pressure frame and the rear end of the first elastic element fitting against the front side of the robot shell, and the nut being screwed onto the front end of the insert rod.

[0010] Furthermore, the pressure frame includes two horizontal plates and two vertical plates, with the ends of the horizontal plates connected to the ends of the vertical plates. The rear side of the vertical plates is attached to the front side of the heat sink. A horizontal groove is provided at the center of the horizontal plates, and a connector is inserted into the groove. The connector uses a pressure strip to make the battery module adhere to the front side of the heat sink.

[0011] Furthermore, the battery module includes multiple battery cells and a retaining strip; the multiple battery cells are arranged side by side inside the pressure frame, and the retaining strip is correspondingly snapped onto the outside of the multiple battery cells, with the end of the retaining strip connected to the pressure strip by a bolt assembly.

[0012] Furthermore, the insertion component includes: a moving rod, a bottom ring, a locking part, and a fastening sleeve; the moving rod passes through the transverse groove, a circular plate is fixed to the rear side of the moving rod, an annular groove is provided on the outer circumference of the circular plate, the bottom ring is rotatably sleeved on the outside of the annular groove, the rear end of the locking part is connected to the front side of the bottom ring, a limiting groove corresponding to the locking part is provided on the rear side of the transverse plate, and the front end of the locking part is inserted into the limiting groove.

[0013] Furthermore, the locking part includes: a support rod, a sleeve, a second elastic element, and a locking head; the rear end of the support rod is fixedly connected to the front side of the bottom ring, the rear end of the sleeve is sleeved on the front end of the support rod, the rear end of the sleeve is connected to the front side of the bottom ring by the second elastic element, and the front end of the sleeve is fixed with a locking head, which is engaged inside the limiting groove.

[0014] The technical effects and advantages of this invention are as follows: 1. This invention utilizes a three-dimensional conformal heat exchange plate to drive the directional and efficient transport of heat, achieving centralized heat dissipation. The wrist design, while ensuring heat dissipation, reduces the complexity of the arrangement of microchannel cold plates, battery modules, and numerous joint modules inside the humanoid robot, thereby reducing the energy consumption of the microchannel cold plates and greatly improving the flexibility of their placement within the humanoid robot. The tight fit between the robot shell and the heat dissipation plate and microchannel cold plate significantly increases the heat dissipation area during the heat dissipation process, effectively enhancing the heat dissipation effect.

[0015] 2. This invention moves the moving rod by pushing it, and the moving rod drives the pressure strip to move synchronously until the pressure strip contacts the battery unit. The clamping strip is connected to the pressure strip by a bolt assembly, which facilitates the connection of battery modules of different widths between the two pressure strips and improves the adaptability of the heat sink to different battery modules.

[0016] 3. By loosening the moving rod, the rotating fastening sleeve drives the moving rod to rotate. The rotating moving rod causes the circular plate to rotate inside the bottom ring, preventing the pressure bar from excessively squeezing the front side of the robot shell. Furthermore, the elastic force of the second elastic element causes the fastening sleeve to squeeze the end of the pressure bar, preventing the end of the pressure bar from moving arbitrarily on the surface of the horizontal plate, thereby improving the stability of the battery module inside the pressure frame. Attached Figure Description

[0017] Figure 1 This is an overall schematic diagram of the battery module combined heat dissipation device for robot joint modules according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall three-dimensional conformal heat exchanger according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the mounting components in an embodiment of the present invention, showing the correspondence between the battery module and the microchannel cold plate. Figure 4 This is a three-dimensional cross-sectional schematic diagram of the microchannel cold plate according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the overall pressing frame according to an embodiment of the present invention; Figure 6 This is a schematic diagram of some components of the installation assembly according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the rear side of the horizontal plate according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the bottom ring being sleeved on the outside of the circular plate according to an embodiment of the present invention; In the diagram: 1. Robot shell; 101. Insert groove; 102. Strip groove; 2. Microchannel cold plate; 201. Liquid inlet; 202. Liquid outlet; 203. Mesh channel; 3. Heat sink; 301. Wristband; 302. Foot ring; 4. Joint module; 5. Pressure frame; 501. Horizontal plate; 502. Vertical plate; 503. Limiting groove; 6. Insert rod; 7. First elastic element; 8. Nut; 9. Pressure strip; 10. Battery unit; 11. Locking strip; 12. Moving rod; 121. Circular plate; 122. Ring groove; 13. Bottom ring; 14. Fastening sleeve; 15. Support rod; 16. Sleeve; 17. Second elastic element; 18. Locking head. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0019] This invention provides a combined heat dissipation device for battery modules in robot joint modules, such as... Figures 1 to 3As shown, the robot includes a robot shell 1. A heat dissipation component is provided on the front side of the robot shell 1, and the battery module is limited to the front side of the heat dissipation component by a mounting component. The heat dissipation component includes a microchannel cold plate 2, a heat dissipation plate 3, and multiple joint modules 4. The front side of the robot shell 1 has a groove 101 corresponding to the microchannel cold plate 2. The microchannel cold plate 2 is placed inside the groove 101, and the heat dissipation plate 3 is correspondingly snapped onto the front side of the microchannel cold plate 2. Multiple wristbands 301 and multiple foot rings 302 are provided at the bottom of the heat dissipation plate 3. The length of the wristbands 301 can be adjusted according to the arrangement of the microchannel cold plate 2. The heat dissipation plate 3, wristbands 301, and foot rings 302 cooperate to form a three-dimensional conformal heat dissipation plate. Multiple wristbands 301 correspond one-to-one with multiple foot rings 302. The bottom of the heat dissipation plate 3 is connected to the foot rings 302 by the wristbands 301. Multiple foot rings 302 correspond one-to-one with multiple joint modules 4. The foot rings 302 are sleeved on the outside of the joint modules 4. The robot shell 1 has grooves 102 on both sides of its front side, with each groove 102 corresponding to one of the two wristbands 301. The rear side of the wristbands 301 is placed inside the grooves 102. The foot rings 302 and wristbands 301 work together to form the ankles. The number of ankles on the three-dimensional heat dissipation plate can be determined according to the heat dissipation requirements of the joint modules 4 inside the robot. Each joint module 4 can correspond to a single ankle. The battery module is directly attached to the front side of the heat dissipation plate 3. The embedding depth of the wristbands 301 in the robot shell 1 is consistent with the thickness of the wristbands 301, that is, the thickness of the wristbands 301 is the same as the depth of the grooves 102.

[0020] The three-dimensional conformal heat spreader is shaped like an octopus with multiple legs. Leg rings 302 cover the entire radial outer surface of the joint module 4. The leg rings 302 are connected to the heat sink 3 via a long, strip-shaped wristband 301. The wristband 301 extends from the leg rings 302 to the robot shell 1, then embeds itself into the inner layer of the robot shell 1 until it reaches the heat sink 3. Specifically, the wristband 301 connects to the bottom surface of the heat sink 3 via a groove 102. The heat sink 3 covers the entire front side of the microchannel cold plate 2, which is embedded or partially embedded in the groove 101 of the robot shell 1. Both the three-dimensional conformal heat spreader and the microchannel cold plate 2 are located on the inner side of the robot shell 1. The outer surface of the battery module can directly contact the front side of the heat sink 3. All contact points are tightly bonded using a thermally conductive adhesive layer.

[0021] For example, the dimensional ratio of the lateral width of the wristband 301 to the lateral width of the ankle ring 302 is maintained between 0.2 and 0.5 to achieve a balance between system lightweighting and heat dissipation. The thickness of the three-dimensional conformal heat sink is between 1 mm and 3 mm to achieve a balance between heat dissipation performance and system lightweighting.

[0022] Centralized heat dissipation is achieved through the directional and efficient transport of heat via a three-dimensional conformal heat exchanger. The wrist-like design, while ensuring effective heat dissipation, reduces the complexity of the internal layout of the microchannel cooling plate 2, battery module, and numerous joint modules 4, thereby lowering the energy consumption of the microchannel cooling plate 2 and significantly improving its flexibility in placement within the robot. Simultaneously, the embedded design of the microchannel cooling plate 2 within the robot's shell 1 further enhances the system's lightweight design. The tight fit between the robot shell 1 and the heat exchanger 3 and microchannel cooling plate 2 greatly increases the heat dissipation area during the heat dissipation process, effectively improving the heat dissipation effect.

[0023] exist Figure 3 and Figure 4 In this system, the microchannel cold plate 2 includes an inlet 201 and an outlet 202, and a mesh channel 203 is provided inside the microchannel cold plate 2. The inlet 201 is connected to the outlet 202 via the mesh channel 203, and the inlet 201 and outlet 202 are of equal size. For example, the thickness of the microchannel cold plate 2 is between 1cm and 1.5cm to achieve a balance between heat dissipation performance, mechanical performance, and system lightweighting. The microchannel cold plate 2 is configured with a square structure, and both the inlet 201 and outlet 202 are positively oriented openings. The ratio of the width of the inlet 201 to the thickness of the microchannel cold plate 2 is maintained between 0.4 and 0.7 to achieve a balance between heat dissipation effect and mechanical performance.

[0024] The inlet 201 is located on the right side of the microchannel cold plate 2, and the outlet 202 is located on the left side of the microchannel cold plate 2. External coolant is introduced into the mesh channel 203 through the inlet 201. The mesh channel 203 makes the coolant spread throughout the entire microchannel cold plate 2, ensuring that the temperature of the entire microchannel cold plate 2 is reduced, which facilitates the absorption of heat from the three-dimensional conformal heat exchange plate by the entire microchannel cold plate 2. The coolant passing through the mesh channel 203 is discharged through the outlet 202, and the coolant discharged from the outlet 202 is received.

[0025] exist Figure 1 , Figure 3 , Figure 5 and Figure 6The mounting assembly includes: a pressure frame 5, insert rods 6, a first elastic element 7, and a nut 8. The pressure frame 5 is located on the front side of the heat sink 3. Multiple insert rods 6 are fixed on the front side of the robot shell 1. The insert rods 6 pass through the corners of the pressure frame 5. The surface of the insert rods 6 is fitted with a first elastic element 7, which is a spring. The front end of the first elastic element 7 is in contact with the rear side of the pressure frame 5, and the rear end of the first elastic element 7 is in contact with the front side of the robot shell 1. The nut 8 is screwed onto the front end of the insert rod 6. The pressure frame 5 includes two horizontal plates 501 and two vertical plates 502. The ends of the horizontal plates 501 are connected to the ends of the vertical plates 502. The rear side of the vertical plates 502 is in contact with the front side of the heat sink 3. A horizontal groove is provided at the center of the horizontal plate 501, and a connecting component is inserted into the horizontal groove. The connecting component uses a pressure strip 9 to make the battery module fit against the front side of the heat sink 3. The microchannel cold plate 2 is placed inside the groove 101, and the heat sink 3 of the three-dimensional conformal heat sink is snapped onto the outside of the microchannel cold plate 2. The pressure frame 5 corresponds to the heat sink 3. At this time, the four corners of the pressure frame 5 correspond one-to-one with the multiple insertion rods 6. Push the pressure frame 5 closer to the robot shell 1. The corners of the pressure frame 5 gradually fit onto the surface of the insertion rod 6. The pressure frame 5 squeezes the first elastic element 7 on the surface of the insertion rod 6, and screws the nut 8 onto the front end of the insertion rod 6. The rotating nut 8 and the screw of the insertion rod 6 cooperate, thereby making the pressure frame 5 closer to the robot shell 1.

[0026] The rearward-moving pressure frame 5 drives the vertical plate 502 closer to the heat sink 3 until the rear side of the vertical plate 502 is in contact with the front side of the heat sink 3. The screw engagement of the nut 8 and the plug rod 6 improves the stability of the heat sink 3 and the microchannel cold plate 2 on the front side of the robot shell 1.

[0027] The battery module includes multiple battery units 10 and retaining strips 11. The multiple battery units 10 are arranged side by side inside the pressure frame 5, and the retaining strips 11 are correspondingly snapped onto the outside of the multiple battery units 10. The end of the retaining strips 11 is connected to the pressure strips 9 using a bolt assembly. When the heat sink 3 is constrained, the multiple battery units 10 are arranged side by side inside the pressure frame 5, with the rear side of the battery units 10 abutting against the front side of the heat sink 3. The pressure strips 9 are installed on the front side of the plug-in component. At this time, the multiple battery units 10 are located between two pressure strips 9. The retaining strips 11 are snapped onto the front side of the multiple battery units 10, and the end of the retaining strips 11 is connected to the pressure strips 9 using a bolt assembly in the prior art.

[0028] exist Figure 3 , Figures 6 to 8The insertion component includes: a moving rod 12, a bottom ring 13, a locking part, and a fastening sleeve 14. The moving rod 12 passes through the transverse groove, and a circular plate 121 is fixed to the rear side of the moving rod 12. An annular groove 122 is provided on the outer circumference of the circular plate 121. The bottom ring 13 is rotatably sleeved on the outside of the annular groove 122. The rear end of the locking part is connected to the front side of the bottom ring 13. A limiting groove 503 corresponding to the locking part is provided on the rear side of the transverse plate 501, and the front end of the locking part is inserted into the limiting groove 503. Pushing the moving rod 12 causes it to move horizontally within the transverse groove of the transverse plate 501. The moving rod 12 drives the bottom ring 13 to move synchronously using the circular plate 121. The bottom ring 13 causes the front part of the locking part to move within the limiting groove 503. The limiting groove 503 uses the locking part to limit the bottom ring 13, preventing the bottom ring 13 from rotating outside the annular groove 122 and preventing the moving rod 12 from tilting within the transverse groove.

[0029] Since the end of the pressure strip 9 is sleeved on the front end of the moving rod 12, the fastening sleeve 14 and the moving rod 12 are screwed together to limit the pressure strip 9. The moving rod 12 is moved by pushing, and the moving rod 12 drives the pressure strip 9 to move synchronously until the pressure strip 9 contacts the battery unit 10. Then, the clamping strip 11 is connected to the pressure strip 9 by the bolt assembly, which makes it convenient to connect battery modules of different widths between the two pressure strips 9, and improves the adaptability of the heat sink 3 to different battery modules.

[0030] The locking part includes: a support rod 15, a sleeve 16, a second elastic element 17, and a locking head 18. The second elastic element 17 is configured as a spring piece. The rear end of the support rod 15 is fixedly connected to the front side of the bottom ring 13. The rear end of the sleeve 16 is sleeved on the front end of the support rod 15. The rear end of the sleeve 16 is connected to the front side of the bottom ring 13 by the second elastic element 17. The front end of the sleeve 16 is fixed with a locking head 18, and the locking head 18 is engaged inside the limiting groove 503. When the moving rod 12 moves, the bottom ring 13 causes the locking head 18 to move inside the limiting groove 503 until the moving rod 12 moves to a suitable position. Then the moving rod 12 is limited and the fastening sleeve 14 is rotated. The rotating fastening sleeve 14 and the moving rod 12 are screwed together, which causes the bottom ring 13 to approach the horizontal plate 501. The forward-moving bottom ring 13 causes the front end of the support rod 15 to gradually enter the sleeve 16. The forward-moving bottom ring 13 and the sleeve 16 cooperate to squeeze the second elastic element 17 until the rear side of the pressure strip 9 is in contact with the front side of the heat sink 3, which further improves the tightness of the fit between the heat sink 3 and the robot shell 1.

[0031] When the rear side of the pressure strip 9 is in contact with the front side of the heat sink 3 through the spiral engagement of the fastening sleeve 14 and the moving rod 12, the moving rod 12 is released. The rotating fastening sleeve 14 drives the moving rod 12 to rotate. The rotating moving rod 12 causes the circular plate 121 to rotate inside the bottom ring 13, preventing the pressure strip 9 from excessively squeezing the front side of the robot shell 1. In addition, the elastic force of the second elastic element 17 causes the fastening sleeve 14 to squeeze the end of the pressure strip 9, preventing the end of the pressure strip 9 from moving arbitrarily on the surface of the horizontal plate 501, thereby improving the stability of the battery module inside the pressure frame 5.

[0032] Working principle of this invention: Reference Figures 1 to 8 As shown, the microchannel cold plate 2 is placed inside the groove 101, and the heat dissipation plate 3 of the three-dimensional conformal heat exchange plate is snapped onto the outside of the microchannel cold plate 2. The pressure frame 5 corresponds to the heat dissipation plate 3. At this time, the four corners of the pressure frame 5 correspond one-to-one with the multiple insertion rods 6. Push the pressure frame 5 closer to the robot shell 1. The corners of the pressure frame 5 gradually fit onto the surface of the insertion rod 6. The pressure frame 5 squeezes the first elastic element 7 on the surface of the insertion rod 6, and screws the nut 8 onto the front end of the insertion rod 6. The rotating nut 8 and the screw of the insertion rod 6 cooperate, thereby making the pressure frame 5 closer to the robot shell 1.

[0033] The rearward-moving pressure frame 5 drives the vertical plate 502 closer to the heat sink 3 until the rear side of the vertical plate 502 is in contact with the front side of the heat sink 3. The screw engagement of the nut 8 and the plug rod 6 improves the stability of the heat sink 3 and the microchannel cold plate 2 on the front side of the robot shell 1.

[0034] The microchannel cold plate 2 is embedded or partially embedded in the groove 101 of the robot shell 1. The heat sink 3 covers the entire front side of the microchannel cold plate 2. The foot ring 302 covers the entire radial outer surface of the joint module 4. The foot ring 302 is connected to the heat sink 3 by a long strip wristband 301. The wristband 301 extends from the foot ring 302 to the robot shell 1, and then is embedded in the inner layer of the robot shell 1 until it reaches the heat sink 3. That is, the wristband 301 is connected to the bottom surface of the heat sink 3 through the groove 102.

[0035] The moving rod 12 is pushed to move, and the moving rod 12 moves horizontally inside the horizontal groove of the horizontal plate 501. The moving rod 12 drives the bottom ring 13 to move synchronously by means of the circular plate 121. The bottom ring 13 causes the front part of the locking part to move inside the limiting groove 503. The limiting groove 503 uses the locking part to limit the bottom ring 13, preventing the bottom ring 13 from rotating outside the ring groove 122, and at the same time preventing the moving rod 12 from tilting inside the horizontal groove.

[0036] When the moving rod 12 moves, the bottom ring 13 causes the locking head 18 to move inside the limiting groove 503 until the moving rod 12 moves to a suitable position. Then the moving rod 12 is limited and the fastening sleeve 14 is rotated. The rotating fastening sleeve 14 and the moving rod 12 are screwed together, which causes the bottom ring 13 to approach the horizontal plate 501. The forward-moving bottom ring 13 causes the front end of the support rod 15 to gradually enter the sleeve 16. The forward-moving bottom ring 13 and the sleeve 16 cooperate to squeeze the second elastic element 17 until the rear side of the pressure strip 9 is in contact with the front side of the heat sink 3, which further improves the tightness of the fit between the heat sink 3 and the robot shell 1.

[0037] Since the end of the pressure strip 9 is sleeved on the front end of the moving rod 12, the fastening sleeve 14 and the moving rod 12 are screwed together to limit the pressure strip 9. The moving rod 12 is moved by pushing, and the moving rod 12 drives the pressure strip 9 to move synchronously until the pressure strip 9 contacts the battery unit 10. Then, the clamping strip 11 is connected to the pressure strip 9 by the bolt assembly, which makes it convenient to connect battery modules of different widths between the two pressure strips 9, and improves the adaptability of the heat sink 3 to different battery modules.

[0038] External coolant is introduced into the mesh channel 203 through the inlet 201. The mesh channel 203 ensures that the coolant is distributed throughout the entire microchannel cold plate 2, thereby reducing the temperature of the entire microchannel cold plate 2 and facilitating the absorption of heat from the three-dimensional conformal heat exchange plate. The coolant that has passed through the mesh channel 203 is discharged through the outlet 202, and the coolant discharged from the outlet 202 is received.

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it.

Claims

1. A battery module combined heat dissipation device for a robot joint module, comprising a robot housing (1), characterized in that: The robot shell (1) has a heat dissipation component on its front side, and the battery module is limited to the front side of the heat dissipation component by the mounting component. The heat dissipation assembly includes: a microchannel cold plate (2), a heat dissipation plate (3), and multiple joint modules (4). The robot shell (1) has a groove (101) on the front side corresponding to the microchannel cold plate (2). The microchannel cold plate (2) is placed inside the groove (101), and the heat sink (3) is correspondingly snapped onto the front side of the microchannel cold plate (2). The bottom of the heat sink (3) is provided with multiple wristbands (301) and multiple foot rings (302). The multiple wristbands (301) correspond one-to-one with the multiple foot rings (302). The bottom of the heat sink (3) is connected to the foot rings (302) by the wristbands (301). The multiple foot rings (302) correspond one-to-one with the multiple joint modules (4). The heat sink (3), wristbands (301) and foot rings (302) cooperate to form a three-dimensional conformal heat dissipation plate. The foot rings (302) are sleeved on the outside of the joint module (4). The mounting components include: a pressure frame (5), a plug rod (6), a first elastic element (7), and a nut (8); The pressure frame (5) is located in front of the heat sink (3). Multiple rods (6) are fixed on the front side of the robot shell (1). The rods (6) are connected to the corners of the pressure frame (5). The surface of the rods (6) is fitted with a first elastic element (7). The front end of the first elastic element (7) is in contact with the rear side of the pressure frame (5). The rear end of the first elastic element (7) is in contact with the front side of the robot shell (1). The nut (8) is screwed onto the front end of the rod (6). The pressure frame (5) includes two horizontal plates (501) and two vertical plates (502). The ends of the horizontal plates (501) are connected to the ends of the vertical plates (502). The rear side of the vertical plates (502) is attached to the front side of the heat sink (3). A horizontal groove is provided at the center of the horizontal plates (501), and a plug-in component is inserted inside the horizontal groove. The plug-in component uses the pressure strip (9) to make the battery module attach to the front side of the heat sink (3). The plug-in component includes: a moving rod (12), a bottom ring (13), a locking part, and a fastening sleeve (14). The moving rod (12) passes through the transverse groove. A circular plate (121) is fixed on the rear side of the moving rod (12). An annular groove (122) is provided on the outer circumference of the circular plate (121). The bottom ring (13) is rotatably sleeved on the outside of the annular groove (122). The rear end of the locking part is connected to the front side of the bottom ring (13). A limiting groove (503) corresponding to the locking part is provided on the rear side of the transverse plate (501). The front end of the locking part is inserted into the limiting groove (503).

2. The battery module combined heat dissipation device for robot joint modules according to claim 1, characterized in that: The microchannel cold plate (2) includes an inlet (201) and an outlet (202), and the microchannel cold plate (2) is provided with a mesh channel (203). The inlet (201) is connected to the outlet (202) through the mesh channel (203), and the inlet (201) and the outlet (202) are of equal size.

3. The battery module combined heat dissipation device for robot joint modules according to claim 1, characterized in that: The robot shell (1) has grooves (102) on both sides of the front side. The two grooves (102) correspond one-to-one with the two wristbands (301). The rear side of the wristbands (301) is placed inside the grooves (102).

4. The battery module combined heat dissipation device for robot joint modules according to claim 1, characterized in that: The battery module includes multiple battery cells (10) and a card strip (11). Multiple battery cells (10) are arranged side by side inside the pressure frame (5), and the clips (11) are correspondingly snapped on the outside of the multiple battery cells (10), and the end of the clips (11) is connected to the pressure strip (9) by a bolt assembly.

5. The battery module combined heat dissipation device for robot joint modules according to claim 1, characterized in that: The locking part includes: a support rod (15), a sleeve (16), a second elastic element (17), and a locking head (18). The rear end of the support rod (15) is fixedly connected to the front side of the bottom ring (13), and the rear end of the sleeve (16) is sleeved on the front end of the support rod (15). The rear end of the sleeve (16) is connected to the front side of the bottom ring (13) by the second elastic element (17). The front end of the sleeve (16) is fixed with a clip (18), and the clip (18) is engaged in the limiting groove (503).

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