Humanoid robot heat dissipation flexible shell structure

Abstract

The invention discloses a radiating flexible shell structure of a humanoid robot, which belongs to the technical field of robot manipulators, and comprises a joint frame, a thermoplastic elastic shell, a support strip and a dynamic self-adjusting assembly, the dynamic self-adjusting assembly comprises a heat dissipation shell, a linkage block, an elastic sleeve strip, a steel rope, a plurality of arc-shaped adjusting plates, a sleeve hole column and a plurality of arc-shaped heat dissipation holes. Through the dynamic self-adjusting assembly, the mechanical arm has the advantages that according to the real-time bending angle of a joint and by means of a joint bending power source, self-adaptive large-area adjustment of gaps of heat dissipation holes is achieved, the heat dissipation efficiency is improved, and dynamic adjustment of the heat dissipation efficiency of the mechanical arm of the robot during execution of complex actions is achieved; therefore, the problems that according to the real-time bending angle of the manipulator joint, it is difficult to use a manipulator joint bending power source, it is difficult to conduct self-adaptive large-area adjustment on gaps of the heat dissipation holes of the flexible shell, and the heat dissipation self-adaptive adjustability is poor are solved.

Description

Technical Field

[0001] This invention relates to the field of robotic manipulator technology, specifically to a flexible and heat-dissipating shell structure for a humanoid robot. Background Technology

[0002] When robotic manipulator joints move, especially during high-intensity tasks, the motors and reducer components inside the joints generate a significant amount of heat. The flexible, heat-dissipating shell structure of the robotic manipulator, through its excellent thermal conductivity, can quickly conduct the heat generated inside the joint and dissipate it to the external environment, thus preventing the joint's internal temperature from becoming excessively high.

[0003] In existing publicly available literature, patent publication number CN216830869U discloses a flexible main shell, a robotic arm, and a robot. This technology involves constructing a fracture extending from one open end to the other on the side wall of the flexible shell. A rigid strip is fixed to each side of the fracture, positioned along the extension direction of the fracture, with its ends close to the two open ends of the flexible shell. The two rigid strips are detachably connected. This utility model solves the problem of easy twisting and deformation on both sides of the fracture in the flexible main shell. However, this device still has the following drawbacks.

[0004] The joints of the humanoid robot's manipulator are driven to bend by internal motors, and the external flexible shell can deform with the joint and dissipate heat through the holes. However, the larger the bending angle of the joint, the longer it takes for the motor to drive to the designated position, and the more heat is generated. In this process, it is difficult to adaptively adjust the gap of the heat dissipation holes of the flexible shell according to the real-time bending angle of the manipulator joint and the bending power source of the manipulator joint. The heat dissipation adaptive adjustability is poor, which limits the dynamic adjustment of the heat dissipation efficiency of the robot's manipulator when performing complex actions. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: a flexible heat dissipation shell structure for a humanoid robot, comprising a joint frame, a thermoplastic elastic shell, and a support strip. The thermoplastic elastic shell is fixed to one side of the joint frame, and the support strip is fixedly connected to one side of the thermoplastic elastic shell. A dynamic self-adjusting component is provided on one side of the support strip. The dynamic self-adjusting component includes a heat dissipation shell fixedly disposed on one side of the support strip. A linkage block is fixedly connected to the top of the outer wall of the joint frame, and a spring sleeve is fixedly connected to one side of the linkage block. A steel cable is slidably installed on the inner wall of the spring sleeve. Multiple arc-shaped adjustment plates are slidably connected to the inner wall of the heat dissipation shell, one of which is fixedly connected to the bottom end of the steel cable. The top end of the steel cable is fixedly connected to the linkage block. Sleeve posts are installed at both ends of the arc-shaped adjustment plates. Multiple arc-shaped heat dissipation holes are opened on the outer wall of the heat dissipation shell.

[0006] Preferably, the steel rope is slidably connected to the heat dissipation shell, and multiple arc-shaped adjusting plates are arranged equidistantly from right to left, each arc-shaped adjusting plate being fixedly connected to a sleeve post; the sleeve post is slidably connected to the heat dissipation shell. Multiple arc-shaped pull rods are fixedly connected to the inner wall of each arc-shaped adjusting plate, and an inclined arc-shaped strip is fixedly connected to one end of each arc-shaped pull rod. An inclined heat dissipation hole is formed above each inclined arc-shaped strip; both the inclined arc-shaped strip and the arc-shaped pull rod are slidably connected to the heat dissipation shell.

[0007] In operation, this technology causes the joint frame to rotate counterclockwise, driving the thermoplastic elastic shell. Both the thermoplastic elastic shell and the spring sleeve are flexible and elastic, causing the thermoplastic elastic shell to bend counterclockwise. This, in turn, causes the spring sleeve to bend counterclockwise. The heat dissipation shell supports the support bar, which in turn supports the right end of the thermoplastic elastic shell. This allows the joint frame to also rotate counterclockwise, causing the linkage block to bend counterclockwise on the left end of the steel cable. The steel cable slides to the left along the inner wall of the spring sleeve, and also slides to the left along the outer wall of the heat dissipation shell, the inner wall of the vertical sleeve, and the inner wall of the horizontal sleeve. The steel cable also slides along the inner wall of the joint frame. This movement of the steel cable causes an arc-shaped adjusting plate to move to the right on the inner wall of the heat dissipation shell, which in turn causes the sleeve post to move to the right along the inner wall of the heat dissipation shell. At the same time, the sleeve post drives multiple other arc-shaped adjustment plates to move to the right along the inner wall of the heat sink shell. The multiple arc-shaped adjustment plates open the heat dissipation gaps of multiple arc-shaped heat dissipation holes respectively. The arc-shaped adjustment plates drive two arc-shaped pull strips to move to the right along the inner wall of the heat sink shell. In this way, multiple inclined arc-shaped strips can open the heat dissipation gaps of multiple inclined heat dissipation holes respectively, and the heat dissipation gaps of the inclined heat dissipation holes are adjusted to be larger.

[0008] Preferably, the sleeve post is internally provided with a linkage positioning assembly; the linkage positioning assembly includes a guide post, a support block, a spring piece, and a fixing block; the guide post is slidably located on the inner wall of the sleeve post, the support block is fixedly located at one end of the guide post and is fixedly connected to the heat sink, one end of the spring piece is fixedly located at one end of the sleeve post and away from the support block, the fixing block is fixedly located at the other end of the spring piece and is fixedly connected to the heat sink. The guide post has a circular vertical cross-section, and both the outer wall of the guide post and the inner wall of the sleeve post are smooth surfaces; the support block is slidably connected to the heat sink.

[0009] When this technology is in use, as the sleeve column moves to the right along the inner wall of the heat sink shell, the sleeve column will drive the spring sheet to stretch. The fixing block supports the spring sheet, so the inner wall of the sleeve column will stably move to the right along the outer wall of the guide column, ensuring that multiple arc-shaped adjustment plates can move stably with the steel cable.

[0010] Preferably, a joint frame is fixedly connected to one side of the heat dissipation shell; the joint frame is slidably connected to the steel cable, a vertical sleeve is fixedly connected to the top of the outer wall of the joint frame, and a horizontal sleeve is fixedly installed on one side of the joint frame. Both the vertical and horizontal sleeves are slidably connected to the steel cable, and the inner walls of both the vertical and horizontal sleeves are smooth surfaces. Both the vertical and horizontal sleeves are made of carbon fiber, and the outer wall of the steel cable is a smooth surface.

[0011] When using this technology, the steel rope slides to the left on the inner wall of the vertical sleeve, and the steel rope can also slide vertically on the inner wall of the horizontal sleeve.

[0012] Preferably, two mounting sleeves are fixedly installed on the inner wall of the joint frame, and the two mounting sleeves are symmetrically arranged about the steel cable. Two docking sleeves are fixedly installed on the inner wall of the joint frame, and the docking sleeves have through holes with a circular cross-sectional shape inside.

[0013] The present invention has the following advantages: 1. This invention, by setting up a dynamic self-adjusting component, allows the thermoplastic elastic shell to drive the elastic sleeve to bend counterclockwise when the humanoid robot's manipulator arm bends counterclockwise. The steel cable can also slide to the left along the outer wall of the heat dissipation shell. This steel cable then drives an arc-shaped adjustment plate to move to the right on the inner wall of the heat dissipation shell. This arc-shaped adjustment plate, in turn, drives the sleeve post and several other arc-shaped adjustment plates to move to the right simultaneously, opening the heat dissipation gaps of multiple arc-shaped heat dissipation holes. Simultaneously, the arc-shaped adjustment plate also drives the arc-shaped pull strip and the inclined arc-shaped strip to move to the right, opening the heat dissipation gaps of multiple inclined heat dissipation holes. The greater the bending amplitude of the joint arm, the larger the heat dissipation gap adjustment, allowing the heat from the robot's electrical equipment inside the heat dissipation shell to be dissipated more quickly. This achieves adaptive large-area adjustment of the heat dissipation hole gaps based on the real-time bending angle of the joint and the power source of the joint bending, improving heat dissipation efficiency and realizing dynamic adjustment of the robot's manipulator's heat dissipation efficiency during complex movements.

[0014] 2. By setting up a linkage positioning component, the sleeve column moves to the right, which drives the spring sheet to stretch. The fixed block supports the spring sheet, so that the sleeve column can stably move to the right along the outer wall of the guide column. This design increases the stability of the guide column and ensures that multiple arc-shaped adjustment plates can move stably with the steel cable, stably adjusting the heat dissipation gap of the arc-shaped heat dissipation hole. Even during the execution of complex movements with frequent bending and deformation of the robot hand joint, the accuracy of the heat dissipation hole gap adjustment can be guaranteed, improving the stability and reliability of the heat dissipation adjustment of the humanoid robot hand joint.

[0015] 3. In terms of energy saving, the gap adjustment of multiple arc-shaped heat dissipation holes and inclined heat dissipation holes does not require an additional power source. Instead, it ingeniously utilizes the power generated by the bending of the robotic arm itself. When the joint undergoes bending deformation, the steel cable will cause the arc-shaped adjustment plate to operate in conjunction, thereby achieving adaptive adjustment of the heat dissipation gap. Compared with the solution that relies on external power to adjust heat dissipation, it can not only save electricity but also save drive costs. Attached Figure Description

[0016] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0017] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0018] Figure 1 This is a schematic diagram of the main structure of the flexible heat dissipation shell for the humanoid robot of the present invention. Figure 2 This is a schematic diagram of a partial cut at the connection between the steel rope and the spring bar in this invention. Figure 3 This is a schematic diagram of a partial section of the structure at the connection between the steel rope and the heat sink shell in this invention. Figure 4 This is a bottom view schematic diagram of the heat dissipation and flexible outer shell structure of the humanoid robot of the present invention. Figure 5 This is a partial structural diagram of the connection between the arc-shaped adjusting plate and the arc-shaped tie rod of the present invention; Figure 6 This is a schematic diagram of a partial section of the structure at the connection between the support block and the heat sink shell of the present invention. Figure 7 This is a schematic diagram of a partial cut-off structure at the connection between the sleeve post and the spring piece in this invention; Figure 8 For the present invention Figure 3 Enlarged structural diagram at point A in the middle; In the diagram: 1. Joint frame; 2. Thermoplastic elastic shell; 3. Support strip; 4. Heat dissipation shell; 5. Linkage block; 6. Spring sleeve strip; 7. Steel cable; 8. Arc-shaped adjustment plate; 9. Sleeve post; 10. Arc-shaped tie rod; 11. Inclined arc strip; 12. Inclined heat dissipation hole; 13. Guide post; 14. Support block; 15. Spring piece; 16. Fixing block; 17. Joint frame; 18. Vertical sleeve; 19. Horizontal sleeve; 20. Mounting sleeve; 21. Connecting sleeve; 22. Arc-shaped heat dissipation hole. Detailed Implementation

[0019] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] like Figure 1 - Figure 8 The diagram shows a flexible heat dissipation shell structure for a humanoid robot. This flexible heat dissipation shell structure for the humanoid robot is equipped with dynamic self-adjusting components and linkage positioning components. The configuration of each component can adaptively adjust the heat dissipation gap of multiple arc-shaped heat dissipation holes 22 and multiple inclined heat dissipation holes 12 over a large area according to the real-time bending angle of the joints and by utilizing the joint bending power source, thereby improving heat dissipation efficiency and realizing dynamic adjustment of heat dissipation efficiency of the robot's manipulator when performing complex actions. The specific structural configuration of each component is as follows.

[0021] In this embodiment, as Figure 1 - Figure 6 As shown, a thermoplastic elastic shell 2 is fixed to one side of the joint frame 1, and a support strip 3 is fixedly connected to one side of the thermoplastic elastic shell 2. A dynamic self-adjusting component is provided on one side of the support strip 3. The dynamic self-adjusting component includes a heat dissipation shell 4 fixedly mounted on one side of the support strip 3. A linkage block 5 is fixedly connected to the top of the outer wall of the joint frame 1. A spring sleeve 6 is fixedly connected to one side of the linkage block 5, and a steel cable 7 is slidably installed on the inner wall of the spring sleeve 6. Multiple arc-shaped adjustment plates 8 are slidably connected to the inner wall of the heat dissipation shell 4. One of the arc-shaped adjustment plates 8 is fixedly connected to the bottom end of the steel cable 7. The top end of the steel cable 7 is fixedly connected to the linkage block 5. Sleeve posts 9 are installed at both ends of the arc-shaped adjustment plates 8. Multiple arc-shaped heat dissipation holes 22 are opened on the outer wall of the heat dissipation shell 4. The steel cable 7 is slidably connected to the heat dissipation shell 4. Multiple arc-shaped adjustment plates 8 are arranged equidistantly from right to left, and each arc-shaped adjustment plate 8 is fixedly connected to the sleeve post 9. The sleeve post 9 is slidably connected to the heat dissipation shell 4.

[0022] In this embodiment, as Figure 5- Figure 6 As shown, multiple arc-shaped pull strips 10 are fixedly connected to the inner wall of each arc-shaped adjustment plate 8, and an inclined arc-shaped strip 11 is fixedly connected to one end of each arc-shaped pull strip 10. An inclined heat dissipation hole 12 is opened above each inclined arc-shaped strip 11. The inclined arc-shaped strip 11 and the arc-shaped pull strip 10 are slidably connected to the heat dissipation shell 4 so that the two arc-shaped pull strips 10 can move to the right along the inner wall of the heat dissipation shell 4. The arc-shaped pull strip 10 drives the inclined arc-shaped strip 11 to move to the right along the inner wall of the heat dissipation shell 4. The multiple inclined arc-shaped strips 11 can open the heat dissipation gaps of the multiple inclined heat dissipation holes 12 respectively.

[0023] In this embodiment, as Figure 6 - Figure 7 As shown, the sleeve post 9 has a linkage positioning assembly inside; the linkage positioning assembly includes a guide post 13, a support block 14, a spring piece 15, and a fixing block 16; the guide post 13 is slidably located on the inner wall of the sleeve post 9, the support block 14 is fixedly located at one end of the guide post 13, and the support block 14 is fixedly connected to the heat sink 4, one end of the spring piece 15 is fixedly located at one end of the sleeve post 9 and away from the support block 14, and the fixing block 16 is fixedly located at the other end of the spring piece 15, and the fixing block 16 is fixedly connected to the heat sink 4. The guide post 13 has a circular vertical cross-section, and both the outer wall of the guide post 13 and the inner wall of the sleeve post 9 are smooth surfaces; the support block 14 is slidably connected to the heat sink 4.

[0024] In this embodiment, as Figure 8 As shown, a joint frame 17 is fixedly connected to one side of the heat dissipation shell 4; the joint frame 17 is slidably connected to the steel cable 7, a vertical sleeve 18 is fixedly connected to the top of the outer wall of the joint frame 17, and a horizontal sleeve 19 is fixedly installed on one side of the joint frame 17. Both the vertical sleeve 18 and the horizontal sleeve 19 are slidably connected to the steel cable 7, and the inner walls of both the vertical sleeve 18 and the horizontal sleeve 19 are smooth surfaces. Both the vertical sleeve 18 and the horizontal sleeve 19 are made of carbon fiber, and the outer wall of the steel cable 7 is a smooth surface.

[0025] In this embodiment, as Figure 4 As shown, two mounting sleeves 20 are fixedly installed on the inner wall of the joint frame 17. The two mounting sleeves 20 are symmetrically arranged about the steel cable 7, so as to allow the two mounting sleeves 20 inside the joint frame 17 to be inserted into the convex shaft of another joint arm of the humanoid robot manipulator. The joint frame 1 is fixedly located at the joint arm position of the humanoid robot manipulator. Two docking sleeves 21 are fixedly installed on the inner wall of the joint frame 1. The docking sleeves 21 have through holes with a circular cross-section inside, so as to allow the two docking sleeves 21 to be inserted into the convex shaft of the joint arm of the humanoid robot manipulator through the through holes with colloid. The joint frame 1 is fixedly located at the joint arm position of the humanoid robot manipulator.

[0026] The process of using the heat-dissipating flexible outer shell structure for the humanoid robot of this invention is as follows: Step 1: During the docking and installation of the humanoid robot, insert two docking sleeves 21 into the protruding shaft of the joint arm of the humanoid robot manipulator through the through holes of the adhesive coating. Since the docking sleeves 21 are firmly connected to the joint frame 1, the joint frame 1 is fixed at the joint arm position of the humanoid robot manipulator. At the same time, insert two mounting sleeves 20 inside the joint frame 17 into the protruding shaft of the other joint arm of the humanoid robot manipulator through the adhesive coating. The joint frame 17 is fixed at the other joint arm of the humanoid robot manipulator, thus completing the installation operation.

[0027] Step 2, during dynamic self-adjustment, when the joint arm of the humanoid robot manipulator bends counterclockwise via its own drive motor, the joint arm of the humanoid robot manipulator will drive the two docking sleeves 21 to rotate counterclockwise. The docking sleeves 21 drive the joint frame 1 to rotate counterclockwise, and the joint frame 1 drives the thermoplastic elastic shell 2 to rotate counterclockwise. Since both the thermoplastic elastic shell 2 and the elastic sleeve 6 are flexible and elastic, the thermoplastic elastic shell 2 bends counterclockwise, and the thermoplastic elastic shell 2 drives the elastic sleeve 6 to bend counterclockwise. Meanwhile, the other joint arm of the humanoid robot manipulator supports the mounting sleeve 20. The mounting sleeve 20 supports the joint frame 17, which in turn supports the heat dissipation shell 4. The heat dissipation shell 4 provides support to the support bar 3, which in turn supports the right end of the thermoplastic elastic shell 2. As a result, the joint frame 1 can also drive the linkage block 5 to rotate counterclockwise. The linkage block 5 drives the left end of the steel rope 7 to bend counterclockwise, thereby causing the steel rope 7 to slide to the left along the inner wall of the elastic sleeve 6. The steel rope 7 can also slide to the left along the outer wall of the heat dissipation shell 4. The steel rope 7 slides to the left along the inner wall of the vertical sleeve 18. The steel rope 7 can also slide vertically along the inner wall of the horizontal sleeve 19. The steel rope 7 slides along the inner wall of the joint frame 17.

[0028] The steel cable 7 can drive an arc-shaped adjusting plate 8 to move to the right along the inner wall of the heat dissipation shell 4. The arc-shaped adjusting plate 8 drives the sleeve post 9 to move to the right along the inner wall of the heat dissipation shell 4. At the same time, the sleeve post 9 drives multiple other arc-shaped adjusting plates 8 to move to the right along the inner wall of the heat dissipation shell 4. The multiple arc-shaped adjusting plates 8 open the heat dissipation gaps of multiple arc-shaped heat dissipation holes 22, and the heat dissipation gaps of the arc-shaped heat dissipation holes 22 begin to increase. At the same time, the arc-shaped adjusting plates 8 drive two arc-shaped pull bars 10 to move to the right along the inner wall of the heat dissipation shell 4. The arc-shaped pull bars 10 drive the inclined arc-shaped bars 11 to move to the right along the inner wall of the heat dissipation shell 4. In this way, the multiple inclined arc-shaped bars 11 can open the heat dissipation gaps of multiple inclined heat dissipation holes 12 respectively, and the heat dissipation gaps of the inclined heat dissipation holes 12 are adjusted to increase. The greater the bending radius of the joint arm of the humanoid robot, the greater the heat dissipation gap between the multiple arc-shaped heat dissipation holes 22 and the multiple inclined heat dissipation holes 12. As the heat dissipation gap increases, the electrical equipment in the joint area inside the heat dissipation shell 4 can quickly dissipate heat through the multiple arc-shaped heat dissipation holes 22 and the multiple inclined heat dissipation holes 12.

[0029] Step 3: During the linkage positioning component operation, as the sleeve post 9 moves to the right along the inner wall of the heat dissipation shell 4, the sleeve post 9 will cause the spring piece 15 to stretch. Simultaneously, the heat dissipation shell 4 supports the fixing block 16, which in turn supports the spring piece 15. This allows the inner wall of the sleeve post 9 to stably move to the right along the outer wall of the guide post 13. At the same time, the heat dissipation shell 4 supports the support block 14, which in turn supports the guide post 13, increasing the stability of the guide post 13. This ensures that multiple arc-shaped adjustment plates 8 can move stably with the steel cable 7, thereby allowing the multiple arc-shaped adjustment plates 8 to stably adjust the heat dissipation gap of the arc-shaped heat dissipation holes 22. Based on the automatic bending angle of the humanoid robot's manipulator arm, the heat dissipation gap of the multiple arc-shaped heat dissipation holes 22 and the multiple inclined heat dissipation holes 12 can be automatically adjusted, achieving adaptive and flexible adjustment of the heat dissipation gap. The heat dissipation efficiency of the robot's manipulator can be dynamically adjusted during complex movements.

[0030] The present invention has been described in detail above with general descriptions and specific embodiments. However, modifications or improvements can be made to the present invention, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A flexible heat-dissipating shell structure for a humanoid robot, comprising a joint frame (1), a thermoplastic elastic shell (2), and support bars (3), characterized in that: The thermoplastic elastic shell (2) is fixed to one side of the joint frame (1), and the support strip (3) is fixedly connected to one side of the thermoplastic elastic shell (2). A dynamic self-adjusting component is provided on one side of the support strip (3). The dynamic self-adjusting component includes a heat dissipation shell (4) fixedly installed on one side of the support bar (3), a linkage block (5) fixedly connected to the top of the outer wall of the joint frame (1), a spring sleeve (6) fixedly connected to one side of the linkage block (5), and a steel rope (7) slidably installed on the inner wall of the spring sleeve (6). Multiple arc-shaped adjustment plates (8) are slidably connected to the inner wall of the heat dissipation shell (4), and one of the arc-shaped adjustment plates (8) is fixedly connected to the bottom end of the steel rope (7). The top end of the steel rope (7) is fixedly connected to the linkage block (5), and both ends of the arc-shaped adjustment plate (8) are equipped with sleeve posts (9). The outer wall of the heat dissipation shell (4) is provided with multiple arc-shaped heat dissipation holes (22).

2. The flexible heat dissipation shell structure for humanoid robots as described in claim 1, characterized in that: The steel rope (7) is slidably connected to the heat dissipation shell (4), and the multiple arc-shaped adjustment plates (8) are arranged equidistantly from right to left. The multiple arc-shaped adjustment plates (8) are fixedly connected to the sleeve post (9). The sleeve post (9) is slidably connected to the heat sink shell (4).

3. The flexible heat dissipation shell structure for humanoid robots as described in claim 1, characterized in that: Each of the arc-shaped adjustment plates (8) has multiple arc-shaped pull strips (10) fixedly connected to its inner wall. Each of the arc-shaped pull strips (10) has an inclined arc-shaped strip (11) fixedly connected to one end. Each of the inclined arc-shaped strips (11) has an inclined heat dissipation hole (12) on its upper side. The inclined arc strip (11) and the arc pull strip (10) are both slidably connected to the heat dissipation shell (4).

4. The flexible heat dissipation shell structure for humanoid robots as described in claim 1, characterized in that: The sleeve post (9) is equipped with a linkage positioning component inside; The linkage positioning component includes a guide post (13), a support block (14), a spring piece (15), and a fixing block (16). The guide post (13) slides on the inner wall of the sleeve post (9), the support block (14) is fixed at one end of the guide post (13), the support block (14) is fixedly connected to the heat sink (4), one end of the spring piece (15) is fixedly located at one end of the sleeve post (9) and away from the support block (14), the fixing block (16) is fixedly located at the other end of the spring piece (15), and the fixing block (16) is fixedly connected to the heat sink (4).

5. The flexible heat dissipation shell structure for humanoid robots as described in claim 4, characterized in that: The guide post (13) has a circular vertical cross-section, and the outer wall of the guide post (13) and the inner wall of the sleeve post (9) are both smooth surfaces. The support block (14) is slidably connected to the heat sink (4).

6. The flexible heat dissipation shell structure for humanoid robots as described in claim 1, characterized in that: A joint frame (17) is fixedly connected to one side of the heat sink (4). The joint frame (17) is slidably connected to the steel rope (7), and a vertical sleeve (18) is fixedly connected to the top of the outer wall of the joint frame (17), and a horizontal sleeve (19) is fixedly installed on one side of the joint frame (17).

7. The flexible heat dissipation shell structure for humanoid robots as described in claim 6, characterized in that: Both the vertical sleeve (18) and the horizontal sleeve (19) are slidably connected to the steel rope (7), and the inner walls of both the vertical sleeve (18) and the horizontal sleeve (19) are smooth surfaces.

8. The flexible heat dissipation shell structure for humanoid robots as described in claim 6, characterized in that: Both the vertical sleeve (18) and the horizontal sleeve (19) are made of carbon fiber, and the outer wall of the steel rope (7) is smooth.

9. The flexible heat dissipation shell structure for humanoid robots as described in claim 6, characterized in that: Two mounting sleeves (20) are fixedly installed on the inner wall of the joint frame (17), and the two mounting sleeves (20) are symmetrically arranged about the steel cable (7).

10. The flexible heat dissipation shell structure for humanoid robots as described in claim 1, characterized in that: Two docking sleeves (21) are fixedly installed on the inner wall of the joint frame (1), and the docking sleeves (21) have through holes with a circular cross-section inside.

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