Negative pressure cooling device, humanoid robot, and aircraft

Abstract

The application relates to a negative pressure cooling device, a humanoid robot and an aircraft. The negative pressure cooling device comprises a cooling chamber, a liquid supply part, a spraying mechanism and a suction part. The cooling chamber is provided with a cooling cavity for mounting a heating element, and a heating surface of the heating element is arranged in the cooling cavity. The liquid supply part can deliver liquid working medium into the cooling cavity through a liquid supply pipe. The spraying mechanism is arranged at a liquid outlet end of the liquid supply part, and the liquid working medium can be sprayed on the corresponding heating surface through the spraying mechanism, and the liquid working medium can be gasified into gaseous working medium by absorbing heat on the heating surface. The suction part is installed at one end of the cooling chamber and is communicated with the cooling cavity, and the suction part can extract the gaseous working medium in the cooling cavity. The negative pressure cooling device, the humanoid robot and the aircraft provided by the application solve the problem that it is difficult to synchronously dissipate heat of multiple heating elements, the liquid level of the cooling liquid is prone to change, the cooling liquid cannot be effectively immersed in the heating surface of the motor, and the motor is overheated and damaged.

Description

Technical Field

[0001] This application relates to the field of motor thermal management technology, and in particular to a negative pressure cooling device, a humanoid robot, and an aircraft. Background Technology

[0002] In low-altitude aircraft technology, the power motor, as the core component driving the propeller rotation, directly affects flight safety and system stability due to its heat dissipation performance. Meanwhile, in the field of humanoid robots, joint motors are widely distributed throughout the body, undertaking crucial motion control functions. Currently, to address the heat dissipation needs of both power motors and joint motors, the industry generally adopts a composite heat dissipation solution combining liquid cooling and air cooling. The liquid cooling system absorbs heat from the motor's heating surface using a single-phase liquid cooling process of the refrigerant, while the air cooling system is responsible for ultimately dissipating the heat to the external atmosphere. However, this dual-system combination results in a complex overall structure. The stacked installation of liquid and air cooling systems not only occupies a significant amount of space but also significantly increases the weight of the equipment, severely restricting the development of humanoid robots and low-altitude aircraft towards miniaturization and lightweighting. This is especially pronounced in applications with limited space, such as compact joint modules in robots or the interior of aircraft power compartments, where the redundancy in volume and weight is even more significant, making it difficult to meet the urgent demands of modern high-end equipment for compact design and high efficiency.

[0003] To overcome the aforementioned limitations, some technical solutions have shifted to immersion cooling, which involves completely covering the motor's heating surface with liquid coolant, hoping to improve heat transfer efficiency through direct liquid contact. However, existing immersion cooling technology still has significant drawbacks: First, this solution cannot effectively achieve synchronous heat dissipation for peripheral components of the motor. For example, power components such as IGBT modules and SiC MOSFET modules are usually located close to the motor, but due to structural layout limitations, they are not fully submerged in the coolant, resulting in these high-heat-generating components being in a state of insufficient heat dissipation for extended periods, which can easily lead to localized overheating failures. Second, the static immersion characteristics of the coolant make it highly susceptible to changes in the device's posture. When a humanoid robot encounters abnormal working conditions (such as accidental falls, rotations, rolls, crawling, or violent movements), or when a low-altitude aircraft performs non-uniform maneuvers (such as tilting turns, dives, or rapid acceleration), the coolant level will fluctuate and shift violently due to gravity, causing localized exposure of the heating surface above the liquid surface, resulting in a sharp drop in heat dissipation capacity and potentially causing motor overheating and damage. Such problems are particularly dangerous in low-altitude aircraft. Motor failure can directly lead to the collapse of the power system and threaten the lives of the people in the cabin. Therefore, there is an urgent need for an innovative solution that can adapt to dynamic operating conditions and ensure heat dissipation reliability. Summary of the Invention

[0004] Therefore, it is necessary to provide a negative pressure cooling device, a humanoid robot, and an aircraft to solve the problems of existing motor heat dissipation solutions, such as difficulty in synchronously dissipating heat from power components distributed around the motor, and the easy change in coolant level, which prevents the coolant from effectively submerging the motor's heating surface, thus leading to motor overheating and damage.

[0005] The negative pressure cooling device provided in this application includes a cooling chamber, a liquid supply section, a spraying mechanism, and a suction section. The cooling chamber has a cooling cavity for installing one or more heating elements. The heating elements have a heating surface for heat dissipation, and the heating surface is located in the cooling cavity. The liquid supply section can deliver liquid working fluid into the cooling cavity through a liquid supply pipe. The spraying mechanism is located at the liquid outlet of the liquid supply section, and the liquid working fluid can be sprayed onto the corresponding heating surface through the spraying mechanism. The liquid working fluid can absorb heat and vaporize into gaseous working fluid on the heating surface. The suction section is installed at one end of the cooling chamber and communicates with the cooling cavity. The suction section can extract the gaseous working fluid in the cooling cavity.

[0006] In one embodiment, multiple heating elements are arranged along the axial direction of the cooling chamber. The negative pressure cooling device also includes multiple partitions, each partition being disposed between adjacent heating elements to divide the cooling chamber into multiple pressure chambers. The heating elements are respectively disposed in the corresponding pressure chambers. The partitions are provided with balance holes connecting adjacent pressure chambers. The suction section is installed at one end of the axial direction of the cooling chamber and directly connected to one of the pressure chambers, so that when the suction section is running, the distance H between the pressure chamber and the suction section and the air pressure value P of the pressure chamber can satisfy that P and H are positively correlated, and the heat output Q of the heating element is negatively correlated with the air pressure value P of the corresponding pressure chamber.

[0007] In one embodiment, multiple heating elements are arranged along the circumference of the cooling cavity.

[0008] In one embodiment, the heating element includes a motor, a power module, and a control module. The suction section is sealed and installed at one end of the cooling chamber along the axial direction, and the suction end of the suction section is connected to the cooling chamber, while the exhaust end of the suction section extends out of the cooling chamber. The motor is installed at the other end of the cooling chamber along the axial direction, and the stator winding of the motor extends into the cooling chamber, while the output shaft of the motor extends out of the cooling chamber. The power module and the control module are disposed between the suction section and the motor, and the connecting wires of the power module and the control module are sealed and pass through the cooling chamber.

[0009] In one embodiment, the liquid supply unit includes a liquid storage tank, a liquid supply pipe, and a liquid pump. The liquid storage tank is used to store liquid working fluid, and one end of the liquid supply pipe is connected to the liquid storage tank through the liquid pump, while the other end is connected to the spraying mechanism.

[0010] In one embodiment, the liquid supply pipe includes a main pipe and branch pipes. One end of the main pipe is connected to a liquid storage tank, and the other end is connected to multiple branch pipes, each of which is arranged around the outer periphery of the cooling chamber. The spraying mechanism includes multiple nozzle groups, which are installed on the side wall of the cooling chamber. Each branch pipe is connected to one or more nozzle groups. The spraying modes of the nozzle groups include a continuous jet mode and a micro-droplet spray mode.

[0011] In one embodiment, the negative pressure cooling device further includes a first temperature sensor and a control module. The control module is electrically connected to the first temperature sensor and the nozzle assembly, respectively. The first temperature sensor is installed on the heating surface to detect the temperature value of the heating surface of the heating element and transmit it to the control module. The control module can control the spray pattern of the nozzle assembly to adjust the rate and flow rate of the liquid working fluid sprayed from the nozzle assembly.

[0012] In one embodiment, the exhaust end of the suction unit is connected to a liquid storage tank via an exhaust pipe. One end of the exhaust pipe connected to the liquid storage tank is immersed in the liquid working fluid, and the side wall of the exhaust pipe and the liquid working fluid are in thermally conductive contact, so that the gaseous working fluid in the exhaust pipe can release heat and liquefy into liquid working fluid and enter the liquid storage tank. Alternatively, a radiator is connected to the side wall of the exhaust pipe, so that the gaseous working fluid is liquefied through heat dissipation from the radiator.

[0013] In one embodiment, the liquid supply pipe passes through the heating end of the suction section and makes thermal contact with the heating end of the suction section, so that the heating end of the suction section can preheat the liquid working fluid in the liquid supply pipe.

[0014] In one embodiment, the negative pressure cooling device further includes a second temperature sensor and a control module. The control module is electrically connected to the second temperature sensor and the liquid pump, respectively. The second temperature sensor is located at one end of the liquid supply pipe near the spray mechanism to detect the temperature value of the liquid working medium and transmit it to the control module. The control module can control the operating power of the liquid pump to adjust the flow rate of the liquid working medium in the liquid supply pipe.

[0015] In one embodiment, the negative pressure cooling device further includes a control module and a pressure sensor. The control module is electrically connected to the pressure sensor and the suction unit respectively. The pressure sensor is installed in the cooling chamber to detect the pressure value in the cooling chamber and transmit it to the control module. The control module can control the output power of the suction unit to keep the pressure value in the cooling chamber within a preset pressure range.

[0016] This application also provides a humanoid robot, which includes the negative pressure cooling device described in any of the above embodiments.

[0017] This application also provides an aircraft that includes the negative pressure cooling device described in any of the above embodiments.

[0018] Compared with existing technologies, the negative pressure cooling device, humanoid robot, and aircraft provided in this application lower the boiling point of the liquid working fluid by creating a negative pressure environment within the cooling chamber and using a spray mechanism to directly spray the liquid working fluid onto the heating surface for phase change cooling. Only one cooling system is needed to effectively cool one or more heating elements, thus effectively solving the problems of large size and weight, and difficulty in simultaneously cooling surrounding power components, inherent in traditional heat dissipation solutions. Furthermore, the spraying scheme used in this application does not affect the continuous spraying of liquid working fluid onto the heating surface regardless of the robot's or aircraft's operating posture; that is, the heating surface is almost never in an environment without liquid working fluid. Therefore, it effectively solves the problem of dry burning and overheating caused by unstable coolant levels in immersion cooling solutions. In summary, the technical solution of this application achieves efficient and stable heat dissipation of heating elements in low-altitude aircraft and humanoid robots, contributing to the miniaturization and weight reduction of equipment, and preventing overheating damage. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A partial structural schematic diagram of a negative pressure cooling device according to an embodiment of this application;

[0021] Figure 2 A partial structural cross-sectional view of a negative pressure cooling device according to an embodiment of this application;

[0022] Figure 3 A partial structural cross-sectional view of a negative pressure cooling device according to another embodiment of this application;

[0023] Figure 4 A partial structural cross-sectional view of a negative pressure cooling device according to another embodiment of this application;

[0024] Figure 5 A schematic diagram of the structure of a liquid storage tank according to an embodiment of this application.

[0025] Reference numerals: 100, Cooling chamber; 110, Cooling cavity; 120, Distribution cavity; 200, Heating element; 210, Motor; 220, Power module; 230, Control module; 300, Liquid supply section; 310, Liquid storage tank; 311, Liquid outlet; 312, Liquid replenishment and exhaust port; 320, Liquid supply pipe; 321, Main pipeline; 322, Branch pipeline; 400, Spraying mechanism; 410, Sprayer assembly; 500, Suction section. Detailed Implementation

[0026] Current motor cooling in low-altitude aircraft and humanoid robots primarily relies on a combination of liquid and air cooling, resulting in large device size and weight, which is detrimental to miniaturization and weight reduction. Immersion cooling solutions, on the other hand, face challenges in simultaneously cooling surrounding power components and instability in coolant levels during changes in device attitude, potentially leading to ineffective immersion of heating surfaces and overheating damage.

[0027] For this, please refer to Figures 1-5 This application proposes a negative pressure cooling device, which includes a cooling chamber 100, a liquid supply section 300, a spraying mechanism 400, and a suction section 500. The cooling chamber 100 has a cooling cavity 110, which is used to install one or more heating elements 200. The heating elements 200 have a heating surface for heat dissipation, which is disposed in the cooling cavity 110. The liquid supply section 300 can supply liquid working fluid into the cooling cavity 110 through a liquid supply pipe 320. The spraying mechanism 400 is disposed at the liquid outlet end of the liquid supply section 300, and the liquid working fluid can be sprayed onto the corresponding heating surface through the spraying mechanism 400. Furthermore, the liquid working fluid can absorb heat and vaporize into a gaseous working fluid on the heating surface. The suction section 500 is installed at one end of the cooling chamber 100 and communicates with the cooling cavity 110. The suction section 500 can extract the gaseous working fluid from the cooling cavity 110.

[0028] It should be noted that the cooling chamber 100 is the external structure of the negative pressure cooling device, and its interior contains a cooling cavity 110. The cooling cavity 110 is designed to house one or more heating elements 200 and provide heat exchange space for the working fluid. The heating element 200 refers to the component that generates heat during operation. Specifically, the heating element 200 includes, but is not limited to, a motor 210, a power module 220 (IGBT module or SiC MOSFET module), and a control module 230. The heating surface is the surface of the heating element 200 that directly contacts the cooling working fluid for heat transfer. The liquid supply section 300 is responsible for storing and transporting the liquid working fluid, delivering it to the cooling cavity 110 via a liquid supply pipe 320. The liquid supply pipe 320 is a channel connecting the liquid supply section 300 and the spray mechanism 400. The spray mechanism 400 is located at the outlet end of the liquid supply section 300, and its function is to spray the liquid working fluid onto the heating surface in a controlled manner to achieve heat absorption and phase change. The suction unit 500 is installed at one end of the cooling chamber 100 and communicates with the cooling cavity 110. Its main function is to continuously extract the gaseous working medium in the cooling cavity 110, thereby forming and maintaining a negative pressure environment in the cooling cavity 110, promoting the reduction of the boiling point of the liquid working medium and its rapid vaporization.

[0029] Furthermore, it should be noted that the liquid working fluid is a fluid medium used to absorb heat. After absorbing heat at the heating surface, it undergoes a phase change, transforming into a gaseous working fluid. The gaseous working fluid is the form in which the liquid working fluid vaporizes after absorbing heat. Heat is carried away by extraction. To better understand the role of heat absorption during vaporization, the concepts of "sensible heat" and "latent heat" are explained below. Sensible heat refers to the heat absorbed or released by an object (such as the working fluid in this application) when its temperature rises or falls. Its magnitude is related to the object's mass, specific heat capacity, and the amount of temperature change. Simply put, sensible heat is the change in heat when the object's temperature changes. Correspondingly, latent heat refers to the heat absorbed or released during a phase change of matter (such as from solid to liquid, or from liquid to gas). In this process, the temperature of the substance remains constant, but the amount of heat absorbed or released is substantial. Moreover, within the same time frame, the heat absorbed and released by latent heat is far greater than that absorbed and released by sensible heat.

[0030] Specifically, the cooling chamber 110 of this application is designed to house one or more heating elements 200. These heating elements 200 generate heat during operation, and their heating surfaces are positioned inside the cooling chamber 110 to facilitate heat exchange with the cooling medium. For example, the cooling chamber 100 can be a well-sealed box, the internal space of which is the cooling chamber 110. The heating elements 200, such as power modules or drivers, are directly fixed inside the cooling chamber 110, and their outer shells or specially designed heat dissipation surfaces constitute the heating surfaces. The liquid supply unit 300 can consist of a working medium storage unit and a set of delivery pipes. For example, the liquid supply unit 300 can be a simple liquid storage container, through which liquid working medium is delivered to the inlet of the cooling chamber 110 via a flexible or rigid pipe. When the liquid working fluid comes into contact with the heating surface, it absorbs the heat generated by the heating element 200 and undergoes a phase change, vaporizing from liquid to gaseous working fluid. For example, the spray mechanism 400 can be composed of one or more simple nozzles that spray the liquid working fluid in a mist or fine stream through small holes of different structures, covering the heating surface. The suction unit 500 can create and maintain a negative pressure environment in the cooling chamber 110 by continuously removing the gaseous working fluid, thereby lowering the boiling point of the liquid working fluid and promoting its rapid vaporization at a lower temperature, thus improving the overall heat dissipation efficiency. For example, the suction unit 500 can be a mechanical device capable of generating negative pressure, connected to the cooling chamber 110 through its suction port to discharge the gaseous working fluid.

[0031] Obviously, the negative pressure cooling device of this application lowers the boiling point of the liquid working fluid by creating a negative pressure environment within the cooling chamber 110 and uses a spray mechanism 400 to directly spray the liquid working fluid onto the heating surface for phase change cooling. Only one cooling system is needed to effectively cool one or more heating elements 200, thus effectively solving the problems of large size and weight and difficulty in simultaneously cooling surrounding power components in traditional heat dissipation solutions. Furthermore, the spraying scheme used in this application does not affect the continuous spraying of liquid working fluid onto the heating surface by the spray mechanism 400 regardless of the robot or aircraft's operating posture; that is, the heating surface is almost never in an environment without liquid working fluid. Therefore, it effectively solves the overheating problem caused by unstable coolant levels in immersion cooling solutions. In summary, the technical solution of this application achieves efficient and stable heat dissipation of the heating elements 200 in low-altitude aircraft and humanoid robots, contributing to the miniaturization and weight reduction of equipment, and preventing overheating damage.

[0032] Specifically, in one embodiment, this application further proposes that the liquid working fluid is deionized water, ethanol, R1233ZD(E), Novec 7500, Novec 7200, HFO-1336mzz(Z) or other environmentally friendly low-pressure phase change working fluid.

[0033] Specifically, deionized water is water that has undergone special treatment to remove ionic impurities. Its advantages include low cost, non-toxicity, non-flammability, and a high latent heat of vaporization, enabling it to effectively absorb large amounts of heat. Under negative pressure, the boiling point of deionized water decreases significantly, allowing it to undergo phase change at lower temperatures, thus achieving efficient cooling. Ethanol is a common organic compound with a low boiling point and good volatility. As a phase change medium, ethanol can rapidly vaporize at lower temperatures, carrying away heat from the heating element. R1233ZD(E), Novec 7500, Novec 7200, and HFO-1336mzz(Z) are all environmentally friendly low-pressure phase change mediums. They typically have low Global Warming Potential (GWP) and Ozone Depletion Potential (ODP), meeting environmental regulations. These mediums share the characteristics of a low boiling point, easier phase change under negative pressure, and generally good insulation and chemical stability, making them suitable for direct cooling of electronic components. Other environmentally friendly low-pressure phase change working fluids refer to any liquid working fluid that meets environmental requirements (such as low GWP, low ODP) and has a suitable boiling point and high latent heat of vaporization under negative pressure conditions, in addition to the working fluids listed above. The selection of such working fluids aims to ensure that the cooling system operates efficiently while minimizing its environmental impact.

[0034] By selecting deionized water, ethanol, R1233ZD(E), Novec7500, Novec7200, HFO-1336mzz(Z), or other environmentally friendly low-pressure phase change refrigerants as the liquid working fluid, this application ensures that the negative pressure cooling device operates efficiently while meeting environmental friendliness and safety requirements. These working fluids generally have low boiling points and can more easily undergo phase change under the negative pressure environment within the cooling chamber 110, thereby efficiently absorbing heat from the heating element 200 at lower temperatures. In particular, the selection of environmentally friendly working fluids avoids the environmental pollution problems that may arise from traditional refrigerants, making the entire cooling system greener and more sustainable. At the same time, the characteristics of these working fluids help reduce the energy consumption required for the suction section 500 to maintain negative pressure, improving the overall energy efficiency of the system.

[0035] In one embodiment, such as Figure 1 and Figure 2As shown, this application further proposes that multiple heating elements 200 are arranged along the axial direction of the cooling cavity 110. This arrangement means that the heating elements 200 are arranged sequentially along the length of the cooling cavity 110, which is a common compact layout suitable for scenarios where multiple heating elements 200 need to be integrated within a limited space. To achieve differentiated cooling, the negative pressure cooling device also includes multiple partitions (not shown), each partition being disposed between adjacent heating elements 200 to divide the cooling cavity 110 into multiple pressure chambers. These partitions can be sheet-like structures made of thermally conductive or non-thermally conductive materials, such as metals, ceramics, or polymers. Their main function is to form a physical barrier inside the cooling cavity 110, dividing the originally single cooling cavity 110 into multiple independent or semi-independent sub-regions. The heating elements 200 are respectively disposed in their corresponding pressure chambers, meaning that each heating element 200 or a group of heating elements 200 is placed in its own dedicated pressure chamber, ensuring that its heat dissipation surface is directly exposed to the liquid working fluid in the corresponding pressure chamber and is affected by the specific gas pressure environment of the pressure chamber. To maintain overall pressure balance and allow limited gas flow, the baffle is equipped with balancing holes that connect adjacent pressure chambers. The size and number of these balancing holes can be designed according to actual needs to maintain a certain pressure gradient while avoiding excessively high or low local pressures.

[0036] Furthermore, the suction unit 500 is installed at one axial end of the cooling chamber 110 and directly connected to one of the pressure chambers. The suction unit 500 is strategically placed at the axial end of the cooling chamber 110 and directly connected to the pressure chamber closest to it. This direct connection ensures that the suction unit 500 can efficiently extract gaseous working fluid from the pressure chamber, thereby establishing a minimum negative pressure environment within the pressure chamber and serving as the starting point for the negative pressure gradient of the entire cooling chamber 110. With this configuration, when the suction unit 500 is operating, the distance H between the pressure chamber and the suction unit 500, and the gas pressure P of the pressure chamber, satisfy a positive correlation between P and H; that is, the closer the pressure chamber is to the suction unit 500, the lower the gas pressure. This positive correlation is due to the flow resistance generated when the gas flows through the balance hole and inside the cooling chamber 110. According to the principles of physics, the boiling point of a liquid is closely related to the pressure of its environment; the lower the pressure, the lower the boiling point of the liquid. Therefore, the lower the gas pressure in the pressure chamber closer to the suction section 500, the more conducive it is to lowering the boiling point of the liquid working fluid and making it easier to vaporize, thus absorbing heat more effectively.

[0037] Based on this, this application also considers the negative correlation between the heat output Q of the heating element 200 and the corresponding pressure P of the pressure chamber; that is, the greater the heat output Q of the heating element 200, the smaller the pressure P in the corresponding pressure chamber. This is an active control strategy designed to dynamically adjust the cooling environment of the heating element 200 according to its actual heat load. By reducing the pressure in the pressure chamber where the high-heat-output element is located, the boiling point of the liquid working fluid in the region can be further reduced, making it easier to vaporize and absorb heat, thereby providing stronger cooling capacity. Therefore, the greater the heat output Q of the heating element 200, the smaller the pressure P in the corresponding pressure chamber, which is more conducive to the vaporization and heat absorption of the liquid working fluid in the corresponding pressure chamber.

[0038] Through the above technical solution, multiple heating elements 200 are arranged along the axial direction of the cooling chamber 110, and the cooling chamber 110 is divided into multiple pressure chambers by a partition. Simultaneously, balancing holes are provided on the partition, enabling the realization of a pressure gradient distribution within the cooling chamber 110. A suction section 500 is installed at one end of the cooling chamber 110 along its axial direction and directly connects to one of the pressure chambers, resulting in a lower gas pressure in the pressure chamber closer to the suction section 500. This pressure gradient causes the boiling point of the liquid working fluid to differ in different pressure chambers; the closer the pressure chamber is to the suction section 500, the lower the boiling point of the liquid working fluid, and the stronger its vaporization heat absorption capacity. Furthermore, by arranging the heating elements 200 with higher heat generation in the pressure chamber closer to the suction section 500 and with lower gas pressure, it can be ensured that these high-heat-load elements can obtain more efficient cooling, because lower gas pressure is conducive to lowering the boiling point of the liquid working fluid and making it easier to vaporize and absorb heat. Conversely, components with lower heat generation can be placed in a pressure chamber further away from the suction section 500 and with relatively higher air pressure to avoid over-cooling. This design enables differentiated and on-demand cooling of different heat-generating components 200, effectively solving the problem of low cooling efficiency caused by uneven heat load on multiple heat-generating components 200, and improving the overall energy efficiency and stability of the cooling system.

[0039] In other embodiments, the relative positions of the heating elements 200 are not necessarily arranged in order of heat generation. In this case, the suction section 500 can be directly connected to the pressure chamber where the heating element 200 with the largest heat generation is located.

[0040] In one embodiment, such as Figure 2As shown, this application proposes a negative pressure cooling device, wherein the heating element 200 includes, but is not limited to, a motor 210, a power module 220 (IGBT module or SiC MOSFET module), and a control module 230. A suction section 500 is sealed and mounted at one axial end of the cooling chamber 110, with its suction end connected to the cooling chamber 110 and its exhaust end extending outwards from the cooling chamber 110. The motor 210 is mounted at the other axial end of the cooling chamber 110, with its stator winding extending into the cooling chamber 110. A liquid working fluid can be directly sprayed onto the surface of the stator winding, and the output shaft of the motor 210 extends outwards from the cooling chamber 110. The power module 220 and the control module 230 are disposed between the suction section 500 and the motor 210, and their connecting wires are sealed and pass through the cooling chamber 110.

[0041] Specifically, the heat-generating element 200 is a core component in the negative pressure cooling device that requires heat dissipation. The motor 210, as a common power output or actuator, generates a large amount of heat during operation, requiring efficient cooling to ensure performance and lifespan. The power module 220, such as an IGBT module or SiC MOSFET module, is a key component in power electronic equipment, typically operating under high voltage and high current, generating significant heat with high heat flux density, thus requiring extremely high heat dissipation capabilities. The control module 230 is responsible for the logic control and signal processing of the entire system; its internal integrated circuits also generate heat, although typically less than that of the power module 220, but still requiring effective heat dissipation to ensure stable operation. These different types of heat-generating elements 200 often need to be integrated together in practical applications to form a single functional unit.

[0042] As one of the heat-generating elements 200, the motor 210's heat generation is mainly concentrated in its stator winding. To achieve direct and efficient cooling of the stator winding, this embodiment designs the stator winding of the motor 210 to extend into the cooling chamber 110, allowing it to directly contact the liquid working fluid sprayed by the spray mechanism 400 and dissipate heat through phase change absorption. Simultaneously, the output shaft of the motor 210, as a mechanical power transmission component, needs to be connected to an external load; therefore, it is designed to extend outside the cooling chamber 110. A reliable sealing structure, such as a mechanical seal or magnetohydrodynamic seal, is required where the output shaft passes through the wall of the cooling chamber 100 to ensure the airtightness of the cooling chamber 110 and prevent working fluid leakage or the entry of external air. The power module 220 and control module 230, as two other important heat-generating elements 200, are strategically arranged between the suction section 500 and the motor 210. This axially intermediate layout helps optimize space utilization within the cooling chamber 110 and may take into account the coverage area of ​​these elements by the spray mechanism 400. Since the power module 220 and control module 230 require external power supply and signal connection, their connecting wires (such as power lines and signal lines) must pass through the wall of the cooling chamber 100. In order to maintain the negative pressure environment of the cooling chamber 110, these connecting wires must be strictly sealed at the points where they exit the cooling chamber 110, for example, by using sealing joints, potting compound or O-rings, to ensure the airtightness between the connecting wires and the wall of the cooling chamber 100.

[0043] The suction unit 500 is a key component for maintaining the negative pressure environment within the cooling chamber 110. Its function is to continuously extract the gaseous working fluid formed by the vaporization of the liquid working fluid within the cooling chamber 110. To ensure a stable negative pressure state within the cooling chamber 110, the suction unit 500 must be installed in a sealed manner at one axial end of the cooling chamber 100 to prevent external air from entering. The suction end of the suction unit 500 is directly connected to the interior of the cooling chamber 110 to efficiently extract the gaseous working fluid. Its exhaust end extends outside the cooling chamber 110, allowing the extracted gaseous working fluid to be discharged to the external environment or guided to a recycling and recondensation system for reuse. This sealed installation method is fundamental to maintaining the efficiency of negative pressure cooling.

[0044] Through the above technical solution, various heat-generating elements 200, such as the motor 210, power module 220, and control module 230, as well as the suction unit 500, are integrated in a compact and sealed axial manner, solving the problem of efficiently integrating different types of heat-generating elements 200 and their external interfaces in a negative pressure cooling device. This layout allows the main heat-generating components, such as the stator winding of the motor 210, the power module 220, and the control module 230, to be directly placed inside the cooling chamber 110, fully utilizing the phase change heat absorption characteristics of the liquid working fluid for efficient cooling. Simultaneously, by sealing and exposing the connection lines of the suction unit 500, the output shaft of the motor 210, and the power module 220 and control module 230, the overall airtightness of the cooling chamber 110 is ensured, thereby stably maintaining a negative pressure environment. A stable negative pressure environment helps lower the boiling point of the liquid working fluid, allowing it to vaporize and absorb heat at lower temperatures, significantly improving cooling efficiency. This integrated design not only optimizes the structural compactness of the device but also ensures effective heat dissipation for the key heat-generating elements 200, improving the reliability and performance of the entire negative pressure cooling device.

[0045] In one embodiment, this application proposes a scheme for arranging multiple heating elements 200 along the circumferential direction of a cooling cavity 110. Specifically, "arranging along the circumferential direction of the cooling cavity 110" means that multiple heating elements 200 are arranged in a ring around the central axis of the cooling cavity 110 at certain angular or uniform intervals. This arrangement causes the heating elements 200 to form one or more concentric rings on the cross-section of the cooling cavity 110. The main function of this arrangement is to optimize the internal space utilization of the cooling cavity 110, which is particularly suitable for cooling cavities 110 with circular or near-circular cross-sections, helping to achieve a compact structural design, and may promote the uniform distribution of liquid working fluid on the heating surface and the effective suction of gaseous working fluid. In practical implementation, these heating elements 200 can be arranged uniformly at equal angular intervals along the circumferential direction. For example, four heating elements 200 can be located at 0°, 90°, 180°, and 270° respectively. In addition, non-uniform arrangement is also possible depending on the size of the heating elements 200, the heat output, or the cooling requirements. In some cases, if the axial space of the cooling cavity 110 allows, a multi-layer circumferential arrangement can also be achieved. That is, at different axial positions, each layer of heating elements 200 is also arranged in a circumferential direction, forming a three-dimensional ring array. The heating elements 200 can be fixed to the inner wall of the cooling cavity 110 by brackets, slots, or directly to ensure their stable position and that their heating surfaces face the spray mechanism 400 or the center of the cooling cavity 110.

[0046] In one embodiment, such as Figures 1-5As shown, this application further proposes a liquid supply unit 300 including a liquid storage tank 310, a liquid supply pipe 320, and a liquid pump (not shown). The liquid storage tank 310 is used to store liquid working fluid. One end of the liquid supply pipe 320 is connected to the liquid outlet 311 of the liquid storage tank 310 through the liquid pump, and the other end is connected to the spraying mechanism 400. In addition, the liquid storage tank 310 is provided with a liquid replenishment and exhaust port 312 for replenishing liquid working fluid and discharging excess gas (including gaseous working fluid and non-condensable gases such as air).

[0047] Specifically, the liquid supply unit 300 can employ different structures and materials depending on the system scale and working fluid characteristics. For example, it can be integrated externally or internally into the cooling chamber 100. Its piping design must consider factors such as fluid resistance, sealing performance, and corrosion resistance. The liquid storage tank 310 is a container used to store the liquid working fluid. Its design should consider the volume, temperature, pressure, and compatibility with the working fluid. The liquid storage tank 310 is typically made of corrosion-resistant materials and may be equipped with level sensors, temperature sensors, and pressure sensors to monitor the working fluid status in real time. To prevent working fluid leakage and external contamination, the liquid storage tank 310 needs to have good sealing performance. The material of the liquid supply pipe 320 should be compatible with the liquid working fluid and able to withstand the system operating pressure. Its inner diameter and length should be designed according to the required flow rate and pressure drop to ensure smooth delivery of the liquid working fluid. The liquid supply pipe 320 can be made of flexible or rigid materials and can be connected and laid out using components such as elbows and joints. A liquid pump is a device that provides power to drive the flow of a liquid working fluid in the supply line 320. The selection of a liquid pump depends on the required flow rate, head, and the properties of the liquid working fluid. Common types of liquid pumps include centrifugal pumps, gear pumps, diaphragm pumps, or peristaltic pumps. The operating power and speed of a liquid pump are adjustable to precisely control the delivery rate and pressure of the liquid working fluid, thereby meeting the supply of working fluid for different cooling requirements.

[0048] By specifying the liquid supply unit 300 as a storage tank 310, a liquid pump, and a supply pipe 320, this application provides a liquid working fluid supply system with a clear structure and well-defined functions. The storage tank 310 can stably store a large amount of liquid working fluid, ensuring a sufficient reserve of working fluid for long-term operation of the cooling system. The liquid pump, as a power source, can precisely control the flow rate and pressure of the liquid working fluid, enabling it to be efficiently delivered to the spray mechanism 400 through the supply pipe 320. This configuration ensures that the liquid working fluid can be continuously, stably, and controllably sprayed onto the heating surface, thereby maintaining effective cooling of the heating element 200, avoiding a decrease in cooling efficiency due to insufficient or unstable working fluid supply, and significantly improving the operational reliability and cooling performance of the negative pressure cooling device.

[0049] In one embodiment, such as Figure 1 and Figure 2As shown, this application further proposes that the liquid supply pipe 320 includes a main pipe 321 and branch pipes 322. One end of the main pipe 321 is connected to the liquid storage tank 310, and the other end is connected to multiple branch pipes 322 respectively. Each branch pipe 322 is respectively arranged around the outer periphery of the cooling chamber 100. The spraying mechanism 400 includes multiple nozzle groups 410. The nozzle groups 410 are installed on the side wall of the cooling chamber 100. Each branch pipe 322 is connected to one or more nozzle groups 410.

[0050] Specifically, the liquid supply pipe 320 is designed to consist of a main pipe 321 and multiple branch pipes 322. The main pipe 321 serves as the primary liquid supply channel, receiving the liquid working medium from the storage tank 310 and, driven by a liquid pump, delivering it to each branch pipe 322. The main pipe 321 typically has a large inner diameter to ensure sufficient flow rate and low flow resistance. Multiple branch pipes 322 branch off from the main pipe 321, each responsible for delivering the liquid working medium to a specific nozzle assembly 410 or cooling area. This hierarchical piping design allows for precise distribution and control of the liquid working medium to meet the cooling needs of different areas within the cooling chamber 110. For example, the main pipe 321 can be connected to each branch pipe 322 via a distributor or multiple tee fittings. Each branch pipe 322 is arranged around the outer periphery of the cooling chamber 100. This layout allows the branch pipes 322 to be laid out along the outer contour of the cooling chamber 100, saving valuable space inside the cooling cavity 110 and facilitating the guidance of the liquid working fluid to different sidewall positions of the cooling chamber 100. The design of wrapping around the outer perimeter also facilitates pipe installation, maintenance, and repair, and effectively avoids interference with airflow or spraying effects inside the cooling chamber 110. The branch pipes 322 can be made of flexible or rigid materials and can be fixed to the outer wall of the cooling chamber 100 using clamps, brackets, or other methods. The spraying mechanism 400 includes multiple nozzle groups 410. Each nozzle group 410 is an independent spraying unit responsible for spraying the liquid working fluid onto the corresponding heating surface. By setting multiple nozzle groups 410, independent or grouped spraying of different heating elements 200 or different areas can be achieved, thereby improving the targeting and efficiency of cooling. Each nozzle group 410 can contain one or more nozzles, whose spray angle, flow rate, and atomization effect can be optimized according to actual cooling requirements. Mounting the nozzle assembly 410 on the side wall of the cooling chamber 100 allows its nozzles to effectively point towards the heating surface inside the cooling chamber 110, ensuring that the liquid working fluid is accurately sprayed onto the target area. This installation method also facilitates the layout and adjustment of the nozzle assembly 410 to accommodate the arrangement of different heating elements 200. The nozzle assembly 410 can be fixed to the pre-drilled mounting holes on the side wall of the cooling chamber 100 via threaded connections, flange connections, or welding, ensuring the sealing of the connection. Each branch pipe 322 corresponds to one or more nozzle assemblies 410. This connection relationship provides great flexibility. For example, a branch pipe 322 can be dedicated to supplying liquid to a single nozzle assembly 410, achieving one-to-one precise control; or a branch pipe 322 can be connected to multiple nozzle assemblies 410, forming a regional spray unit that collectively handles the cooling of a specific area. This configuration allows for flexible adjustment of the liquid working fluid distribution and spray pattern based on the distribution of the heating elements 200, the heat load, and the cooling strategy.

[0051] In one embodiment, this application further proposes that the negative pressure cooling device also includes a first temperature sensor and a control module 230. The control module 230 is electrically connected to both the first temperature sensor and the nozzle assembly 410. The first temperature sensor is mounted on the heating surface and is used to detect the temperature value of the heating surface of the heating element 200 in real time and transmit it to the control module 230. Based on the received temperature data, the control module 230 can control the spray pattern of the nozzle assembly 410 to adjust the rate and flow rate of the liquid working fluid ejected from the nozzle assembly 410. To realize the installation and function of the nozzle assembly 410, a distribution chamber 120 is provided on the side wall of the cooling chamber 100. The distribution chamber 120 is used to distribute the liquid working fluid and can also be used to install the nozzle assembly 410. Each nozzle assembly 410 has one or more nozzles.

[0052] Specifically, the first temperature sensor is used to monitor the temperature of the heating surface of the heating element 200 in real time. It can take various forms, such as a thermocouple, thermistor, resistance temperature detector (RTD), or infrared temperature sensor. During installation, it is typically in direct contact with or close to the heating surface to ensure the accuracy and real-time nature of temperature detection. Continuous monitoring of the heating surface temperature provides crucial feedback data for subsequent cooling strategy adjustments. The control module 230 is the intelligent control core of the entire cooling system. It is responsible for receiving the temperature data transmitted by the first temperature sensor and issuing control commands to the nozzle assembly 410 according to preset control logic or algorithms. The control module 230 can be a microcontroller (MCU), programmable logic controller (PLC), or dedicated digital signal processor (DSP), integrating processing units, memory, and input / output interfaces to achieve complex control functions. The control module 230 is connected to the first temperature sensor via electrical signal cables or wireless communication to receive temperature data. Meanwhile, the control module 230 is also connected to the nozzle assembly 410 via an electrical signal cable or wireless communication to send control commands, such as controlling the opening / closing of the nozzle assembly 410, switching of the spray mode, and adjustment of the spray rate and flow rate. The control module 230 dynamically adjusts the spray mode of the nozzle assembly 410 according to the temperature changes of the heating surface. For example, when the heating surface temperature is high, the control module 230 can instruct the nozzle assembly 410 to switch to a high-efficiency cooling mode and increase the spray rate and flow rate of the liquid working fluid; when the heating surface temperature is low, it can reduce the spray rate and flow rate, or even switch to a low-power maintenance mode. This adjustment capability allows the cooling system to be precisely controlled according to actual needs, avoiding energy waste. To ensure that the nozzle assembly 410 can stably and accurately spray the heating surface, the side wall of the cooling chamber 100 is designed with a dedicated distribution cavity 120. The distribution chamber 120 can be a pre-reserved groove, hole, or support structure used to fix the nozzle assembly 410, maintaining it in a predetermined position and orientation within the cooling chamber 110, thereby optimizing the spraying effect and coverage of the liquid working fluid. The nozzle assembly 410 is the component that performs the liquid working fluid spraying, and it integrates at least one nozzle internally or externally. These nozzles are the final outlet for the liquid working fluid to be transported from the liquid supply section 300 to the heating surface, and their design directly affects the spray morphology, particle size, and coverage. The nozzles can be miniature solenoid valve driven nozzles, piezoelectric effect driven nozzles, or microfluidic nozzles, etc.

[0053] To adapt to different cooling requirements, the nozzles are designed to provide at least two different spray modes. In Mode 1, the liquid working fluid is atomized into extremely fine droplets, with droplet sizes ranging from 20 to 70 micrometers. These droplets have a large specific surface area, enabling them to absorb heat from the heating surface more efficiently and vaporize rapidly. This micrometer-sized droplet spray can be achieved through technologies such as high-pressure atomization, ultrasonic atomization, or micro-orifice spraying, and is particularly suitable for rapid cooling of areas with high heat flux density. In Mode 2, the liquid working fluid is sprayed onto the heating surface in a continuous flow, providing a larger liquid working fluid flow rate. This mode is suitable for cooling areas requiring large-area coverage or areas with lower heat flux density. This mode is typically achieved by controlling the nozzle valve opening or pump pressure, and its spray orifice diameter is usually larger than that of the micrometer-sized droplet spray mode. The physical implementation of the two spray modes is usually reflected in the differences in the internal structure of the nozzle or the driving method. The larger spray orifice diameter of Mode 2 is conducive to forming a continuous liquid flow and providing a higher flow rate; while Mode 1 generates micrometer-sized droplets through a smaller orifice diameter or a special atomization structure. This design difference ensures a significant distinction in the injection characteristics of the two modes, thereby meeting different cooling requirements.

[0054] In one embodiment, this application further proposes that the minimum distance M between the nozzle and the heating surface of the heating element 200 satisfies 1mm≤M≤50mm, preferably 2mm≤M≤5mm.

[0055] The minimum spacing M refers to the shortest distance between the nozzle of the spray mechanism 400 and the heating surface of the cooled heating element 200 when spraying the liquid working fluid. The spacing is a key parameter affecting the spray pattern, coverage area, impact force, and liquid film thickness on the heating surface. Limiting the minimum spacing M to between 1mm and 50mm aims to ensure the liquid working fluid is sprayed onto the heating surface in a suitable state. When the spacing is less than 1mm, the nozzle may be too close to the heating surface, resulting in excessive impact force of the sprayed fluid, causing liquid working fluid splashing, or forming an excessively thick local liquid film on the heating surface, which is detrimental to vaporization and heat transfer. When the spacing is greater than 50mm, the liquid working fluid may be excessively dispersed during spraying due to air resistance or gravity, resulting in insufficient spray coverage area or excessive droplet kinetic energy loss, failing to effectively wet the heating surface, thus reducing cooling efficiency. The preferred spacing of 2mm to 5mm is derived after comprehensively considering factors such as the spray characteristics of the liquid working fluid, the wettability of the heating surface, liquid film thickness control, and vaporization efficiency. With this optimal spacing, whether it is a micron-level droplet spray mode or a continuous liquid flow jet mode, the liquid working fluid can reach the heating surface in a relatively ideal state, forming a uniform liquid film of suitable thickness, thereby maximizing heat exchange efficiency and effectively avoiding problems such as splashing or insufficient coverage.

[0056] Specifically, in one embodiment, this application further proposes a variety of spray configuration methods, including: each nozzle group 410 sprays onto one heating surface, or each nozzle group 410 sprays onto multiple heating surfaces, or multiple nozzle groups 410 spray onto one heating surface, or adjacent nozzle groups 410 and adjacent heating surfaces are configured for cross-spraying.

[0057] It should be noted that in the configuration where "adjacent nozzle groups 410 and adjacent heating surfaces are cross-sprayed," the spray areas of the nozzle groups 410 and the heating surfaces are intersecting or overlapping. For example, one nozzle group 410 may primarily spray the heating surface it faces, but its spray range also partially covers adjacent heating surfaces; simultaneously, adjacent nozzle groups 410 cover in a similar manner. This cross-spraying improves the redundancy and uniformity of the spray, allowing adjacent nozzle groups 410 to provide supplementary cooling even if one nozzle group 410 malfunctions or sprays unevenly. Furthermore, this configuration helps to create a more uniform liquid working fluid distribution among the heating elements 200, avoiding cooling dead zones, and is particularly suitable for scenarios where the heating elements 200 are closely arranged.

[0058] Through the above technical solutions, this application can flexibly select the most suitable spraying strategy based on the number, arrangement, heat generation, and cooling requirements of the heating elements 200. Whether it's a single nozzle group 410 precisely cooling a single heating surface, a nozzle group 410 covering multiple heating surfaces to simplify the structure, multiple nozzle groups 410 coordinating to cool a high-heat-load heating surface, or achieving more uniform and reliable cooling through cross-spraying, these configurations greatly enhance the adaptability and cooling efficiency of the negative pressure cooling device. This flexibility ensures that the liquid working fluid can be efficiently sprayed onto the heating surface, promoting phase change and heat absorption, thereby effectively removing heat, avoiding localized overheating of the heating elements 200, and improving the performance and reliability of the entire cooling system.

[0059] In one embodiment, this application further proposes that the liquid supply unit 300 also includes an enhancement pump (not shown), which is disposed in the corresponding branch line 322 or nozzle group 410.

[0060] Specifically, an enhancement pump is a pump used to increase the pressure or flow rate of a fluid. It is typically installed downstream of the main pump to provide additional pressure or flow gain at a specific pipeline section or equipment inlet. For example, an enhancement pump can be a miniature DC brushless water pump with high reliability and precise flow control capabilities, changing the output pressure and flow rate by adjusting the speed of its motor 210. The enhancement pump has flexible installation locations; it can be integrated into a branch line 322 or directly installed at the inlet of the nozzle assembly 410. Its working principle involves using mechanical components such as impellers or pistons to perform work on the liquid working fluid, giving it higher kinetic or potential energy, thereby overcoming pipeline resistance and ensuring that the liquid working fluid reaches the injection point at the required pressure and flow rate.

[0061] By adding an enhancement pump to the liquid supply section 300 and installing it in the corresponding branch pipeline 322 or nozzle group 410, a targeted secondary pressurization or flow boosting of the liquid working fluid in specific areas can be achieved. When the pressure or flow provided by the main liquid pump is insufficient to meet the needs of all nozzle groups 410, the enhancement pump can locally increase the pressure and flow rate of the liquid working fluid, ensuring that the liquid working fluid is sprayed onto the heating surface in optimal condition. This effectively solves the problem of insufficient local liquid supply and poor spraying effect caused by differences in pipeline resistance, distance, or cooling requirements of different heating elements 200. Thus, it ensures that each heating element 200 receives sufficient and uniform liquid working fluid spray, significantly improving the cooling efficiency and uniformity of the entire negative pressure cooling device. Even in complex layouts or high heat flux density applications, the heating element 200 can be maintained at its optimal operating temperature, extending its service life and improving system stability. Simultaneously, by precisely controlling the enhancement pump, dynamic adjustment of the cooling intensity in different areas can be achieved to adapt to the changing load requirements of the heating element 200.

[0062] In one embodiment, this application further proposes a partition wall arrangement between the liquid storage tank 310 and the cooling chamber 100. A partition wall arrangement refers to a physical connection or close proximity between the liquid storage tank 310 and the cooling chamber 100 via one or more shared walls. Specifically, the liquid storage tank 310 can serve as the outer shell or part of the outer shell of the cooling chamber 100, or the cooling chamber 100 can be partially or completely surrounded by the liquid storage tank 310. For example, the liquid storage tank 310 can be designed as a sandwich structure surrounding the cooling chamber 100, or one side wall of the liquid storage tank 310 can directly contact and form a shared wall with one side wall of the cooling chamber 100. This structure aims to facilitate heat transfer between the two while achieving a compact structure.

[0063] In one embodiment, this application further proposes that the exhaust end of the suction section 500 is connected to the liquid storage tank 310 through an exhaust pipe. One end of the exhaust pipe connected to the liquid storage tank 310 is immersed in the liquid working medium. Furthermore, the side wall of the exhaust pipe and the liquid working medium are in thermally conductive contact, so that the gaseous working medium in the exhaust pipe can release heat and liquefy into the liquid working medium and enter the liquid storage tank 310, and can heat the liquid working medium in the liquid storage tank 310.

[0064] Specifically, the suction unit 500 extracts the gaseous working fluid from the cooling chamber 110 during operation, and its exhaust end is the outlet for the gaseous working fluid leaving the suction unit 500. The exhaust pipe, acting as a connecting channel, guides the gaseous working fluid discharged from the suction unit 500 to the storage tank 310. This connection method creates a closed-loop path, ensuring that the gaseous working fluid is not directly discharged into the environment but is recycled. The exhaust pipe is typically made of corrosion-resistant and pressure-resistant materials to accommodate the characteristics of the working fluid and the system pressure. The portion of the exhaust pipe that enters the storage tank 310 is designed to be completely submerged in the liquid working fluid stored within the storage tank 310. This submersion design allows the high-temperature gaseous working fluid discharged from the exhaust pipe to directly contact the relatively cool liquid working fluid in the storage tank 310, thereby facilitating rapid and efficient heat exchange and promoting the rapid condensation of the gaseous working fluid. In addition to the end submersion, the exhaust pipe also maintains thermally conductive contact with the liquid working fluid on the inner side wall of the storage tank 310. This means that the exhaust pipe material should have good thermal conductivity, such as a metallic material. Through the thermally conductive contact of the pipe wall, the heat of the high-temperature gaseous working fluid flowing through the exhaust pipe can be transferred to the liquid working fluid in the storage tank 310, further promoting the cooling and liquefaction of the gaseous working fluid, and simultaneously preheating the liquid working fluid in the storage tank 310. When the high-temperature gaseous working fluid enters the storage tank 310 through the exhaust pipe and exchanges heat with the relatively low-temperature liquid working fluid inside the tank, the gaseous working fluid releases its latent heat and sensible heat. This heat is absorbed by the liquid working fluid, causing the temperature of the gaseous working fluid to decrease and undergo a phase change, transforming from a gaseous state to a liquid state. The liquefied working fluid flows directly into the storage tank 310, realizing the recovery of the working fluid. The heat released during the liquefaction process of the gaseous working fluid is absorbed by the liquid working fluid in the storage tank 310. This causes the temperature of the liquid working fluid in the storage tank 310 to rise, thus achieving the preheating of the liquid working fluid. When the preheated liquid working fluid is subsequently transported by the liquid supply unit 300 to the spraying mechanism 400 and sprayed onto the heating surface, the time required for it to reach its boiling point and vaporize will be reduced, thereby improving the efficiency of the entire cooling cycle.

[0065] By guiding the high-temperature gaseous working fluid discharged from the suction unit 500 to the liquid storage tank 310 through the exhaust pipe, and immersing the end of the exhaust pipe in the liquid working fluid within the tank 310 while maintaining thermally conductive contact between the side wall of the exhaust pipe and the liquid working fluid, a highly efficient working fluid recovery and heat reuse cycle is constructed. This design allows the high-temperature gaseous working fluid to rapidly release heat and condense into liquid after sufficient heat exchange with the relatively low-temperature liquid working fluid within the tank 310, effectively recovering the gaseous working fluid generated during the cooling process and significantly reducing working fluid loss and replenishment requirements. Simultaneously, the latent and sensible heat released by the gaseous working fluid during liquefaction is absorbed by the liquid working fluid within the tank 310, achieving preheating of the liquid working fluid. The preheated liquid working fluid, when subsequently sprayed onto the heating surface, can reach its phase change temperature more quickly and vaporize to absorb heat, thereby improving the overall thermal efficiency of the cooling system, reducing external energy input, and making the negative pressure cooling device more economical and sustainable in operation.

[0066] However, this is not the only option. In other embodiments, environmentally friendly refrigerants such as deionized water can also be released into the atmosphere in small quantities.

[0067] In one embodiment, this application further proposes that the liquid supply pipe 320 passes through the heating end of the suction section 500 and makes thermal contact with the heating end of the suction section 500, so that the heating end of the suction section 500 can preheat the liquid working medium in the liquid supply pipe 320, thereby enabling the liquid working medium in the liquid supply pipe 320 to reach the phase change critical point more quickly, so that the liquid working medium can quickly vaporize and carry away heat after being sprayed onto the heating surface of the heating element 200, and can also dissipate heat for the suction section 500 itself.

[0068] Specifically, the supply pipe 320 is a conduit used to transport liquid working fluid, and it is typically made of materials with good thermal conductivity and corrosion resistance, such as copper, aluminum alloy, or stainless steel. The heating end of the suction unit 500 refers to the part of the suction unit 500 that generates heat during operation, such as the internal motor 210, compression chamber, or pump body. These parts generate heat due to energy conversion during the operation of the suction unit 500, leading to a localized temperature increase. Thermal contact between the supply pipe 320 and the heating end of the suction unit 500 can be achieved in various ways. For example, the supply pipe 320 can be directly wound around the outer shell of the suction unit 500, or a portion of the supply pipe 320 can be designed to fit tightly against the heating component of the suction unit 500, or a thermally conductive medium (such as a thermally conductive pad or thermal paste) can be filled between them to enhance heat transfer efficiency.

[0069] Through this thermally conductive contact, the heat generated by the suction unit 500 during operation can be effectively transferred to the liquid working fluid in the supply pipe 320. As the liquid working fluid flows through the heating end of the suction unit 500, it absorbs this heat, thus raising its own temperature—a process of preheating. This preheating ensures that the liquid working fluid's temperature is close to or reaches its boiling point under the negative pressure environment of the cooling chamber 110 before it reaches the spray mechanism 400 and is sprayed onto the heating surface of the heating element 200. Due to the high initial temperature of the liquid working fluid, it can reach the phase change critical point more quickly or exceed the phase change temperature point under negative pressure upon contact with the heating surface. Once sprayed onto the heat source surface, it can rapidly vaporize, efficiently carrying away heat from the heating element 200. Some of the liquid working fluid vaporizes before reaching the heating surface, further carrying away heat from the chamber. Simultaneously, in the process of absorbing heat from the suction unit 500, the liquid working fluid also effectively cools the suction unit 500 itself, reducing its operating temperature and helping to ensure long-term stable operation and extend its service life. This method of heat recovery not only optimizes the overall energy efficiency of the cooling system, but also improves the integration and reliability of the device.

[0070] In one embodiment, this application further proposes that the negative pressure cooling device also includes a second temperature sensor (not shown) and a control module 230 (not shown). The control module 230 is electrically connected to the second temperature sensor and the liquid pump respectively. The second temperature sensor is disposed at one end of the liquid supply pipe 320 near the spray mechanism 400 to detect the temperature value of the liquid working medium and transmit it to the control module 230. Furthermore, the control module 230 can control the operating power of the liquid pump to adjust the flow rate of the liquid working medium in the liquid supply pipe 320, thereby ensuring that the temperature of the preheated liquid working medium is close to but does not exceed the boiling point.

[0071] Specifically, the second temperature sensor is used to monitor the temperature of the liquid working medium in the supply pipe 320 in real time. It can be of various forms, such as a thermistor, thermocouple, or resistance temperature detector (RTD), to ensure measurement accuracy and response speed. The sensor is preferably located at the end of the supply pipe 320 near the spray mechanism 400, i.e., just before the liquid working medium is sprayed onto the heating surface, to obtain the liquid working medium temperature closest to the spray state, thus providing an accurate input signal for subsequent control. The control module 230 is the core of the entire temperature regulation system, electrically connected to the second temperature sensor and the liquid pump. The control module 230 receives the liquid working medium temperature value transmitted by the second temperature sensor and calculates the required operating power of the liquid pump according to a preset control strategy. The control module 230 internally stores a control algorithm that can dynamically adjust the operating state of the liquid pump based on the temperature feedback signal. The operating power of the liquid pump directly determines its delivery capacity of the liquid working medium, i.e., the flow rate of the liquid working medium in the supply pipe 320. By adjusting the operating power of the liquid pump, such as by changing the voltage, current, or frequency (for a variable frequency pump), the flow rate and velocity of the liquid working fluid can be precisely controlled. When the pump power increases, the flow rate increases; when the pump power decreases, the flow rate decreases. Adjusting the flow rate of the liquid working fluid is a key means of achieving precise temperature control. In a fixed path where heat exchange occurs between the supply pipe 320 and the heating end of the suction section 500, the flow rate of the liquid working fluid directly affects its residence time in the heat exchange zone, thus affecting the amount of heat absorbed. The faster the flow rate, the shorter the residence time, the less heat absorbed, and the smaller the temperature rise; conversely, the slower the flow rate, the longer the residence time, the more heat absorbed, and the greater the temperature rise. Through this control mechanism, the temperature of the liquid working fluid can be precisely controlled within an ideal range before it leaves the supply pipe 320 and enters the spray mechanism 400. This range is "close to but not exceeding the boiling point," which means that the liquid working fluid is fully preheated, but phase change is avoided in the liquid supply pipe 320. This ensures that the liquid working fluid is stably delivered to the spray mechanism 400 in liquid form, creating the best conditions for subsequent efficient vaporization and heat absorption on the heating surface.

[0072] In one embodiment, this application further proposes that the liquid supply pipe 320 includes a main pipeline (not shown) passing through the suction section 500 and a bypass pipeline (not shown) bypassing the suction section 500. The negative pressure cooling device also includes a regulating valve (not shown). When the heat generated by the suction section 500 is too high, the regulating valve allows some of the liquid working fluid to enter the spray mechanism 400 through the bypass pipeline, preventing the liquid working fluid from vaporizing within the liquid supply pipe 320. The main pipeline is typically designed to be closely fitted or wrapped around the heating end of the suction section 500 to maximize heat transfer efficiency. The bypass pipeline is a branch of the liquid supply pipe 320, designed to bypass the heating end of the suction section 500 and avoid heat exchange with it. When there is a risk of overheating of the liquid working fluid in the main pipeline, the bypass pipeline provides an alternative path, allowing some or all of the liquid working fluid to be directly delivered to the spray mechanism 400 without preheating. The bypass pipeline can use the same materials and pipe diameter as the main pipeline, or it can be optimized according to flow requirements. A regulating valve is a device used to control fluid flow. In this embodiment, its function is to adjust the distribution ratio of the liquid working fluid between the main pipeline and the bypass pipeline based on the system operating status, particularly the heat generated by the suction unit 500. The regulating valve can be of various forms, such as a manual valve, an electric valve, or a pneumatic valve, and precisely controls the flow rate of the liquid working fluid through the bypass pipeline by changing the valve opening. For example, when excessive heat is detected in the suction unit 500, the control module 230 can instruct the regulating valve to increase the opening of the bypass pipeline, thereby increasing the proportion of liquid working fluid flowing through the bypass pipeline.

[0073] In one embodiment, this application further proposes that the suction unit 500 includes, but is not limited to, a micro vacuum pump, a micro blower, and a compressor. The micro vacuum pump further includes micro rotary vane vacuum pumps, oil-free piston vacuum pumps, oil-free diaphragm vacuum pumps, micro vortex vacuum pumps, and spherical pumps, etc.

[0074] In one embodiment, this application further proposes that a moisture-absorbing material or device be provided at the outlet of the suction section 500. Specifically, the moisture-absorbing material or device is designed to effectively absorb or remove moisture or incompletely vaporized liquid working fluid that may be entrained in the gaseous working fluid discharged from the suction section 500. The moisture-absorbing material can be a loose, porous, activated adsorbent material with high adsorption performance, such as molecular sieves, silica gel, activated alumina, or zeolite. By providing a moisture-absorbing material or device at the outlet of the suction section 500, moisture or incompletely vaporized liquid working fluid that may be entrained in the gaseous working fluid discharged from the suction section 500 can be effectively removed. This ensures that the discharged gaseous working fluid is drier and purer, thereby avoiding corrosion and blockage of subsequent pipelines, valves, or recovery devices by moisture, and extending the service life of these components. At the same time, it improves the purity of the recovered working fluid and reduces the cost and complexity of subsequent processing. In addition, the dry gaseous working fluid is more conducive to subsequent energy recovery or reuse processes, such as converting it into electrical energy through a micro thermoelectric generator or organic Rankine cycle micro-module, thereby improving the reliability, operating efficiency and energy utilization of the entire negative pressure cooling device.

[0075] In one embodiment, this application further proposes converting the discharged high-temperature gaseous working fluid into electrical energy using a micro thermoelectric generator or an organic Rankine cycle micro-module. This electrical energy can supply the suction unit 500 or other power-consuming modules, achieving partial energy recycling of the negative pressure cooling device. Specifically, the high-temperature gaseous working fluid refers to a high-temperature gaseous working medium that absorbs heat and vaporizes on the heating surface of the heating element 200, and is then extracted from the cooling chamber 110 by the suction unit 500. This gaseous working fluid carries a large amount of heat energy absorbed from the heating element 200. The micro thermoelectric generator is a solid-state device capable of directly converting heat energy into electrical energy. When a temperature difference exists between the two ends of the micro thermoelectric generator, an electromotive force is generated. In practical applications, the high-temperature gaseous working fluid can be used as a heat source, transferring its heat to the high-temperature side of the micro thermoelectric generator through a heat exchanger, while the low-temperature side dissipates heat through ambient air or coolant, thereby creating a temperature difference between the two ends of the micro thermoelectric generator and generating electrical energy. An organic Rankine cycle micro-module is a system that utilizes an organic working fluid to undergo a phase change cycle at a relatively low temperature to recover thermal energy and convert it into mechanical or electrical energy. The module typically includes core components such as an evaporator, expander, condenser, and pump. In the evaporator, the high-temperature gaseous working fluid transfers heat to the organic working fluid, causing it to evaporate and produce high-pressure steam. This high-pressure steam drives the expander, which in turn drives the generator 210 to generate electricity. Subsequently, the organic working fluid condenses in the condenser and is pumped back to the evaporator, completing the cycle. After the thermal energy of the high-temperature gaseous working fluid is converted into electrical energy through any of the above methods, the generated electrical energy can be effectively utilized. For example, the electrical energy can be directly supplied to the suction section 500 in a negative pressure cooling device to partially or completely offset the power consumption of the suction section 500. Furthermore, the electrical energy can also be supplied to other electrical modules in the negative pressure cooling device, such as the control module 230 and the liquid pump, thereby reducing the external power demand of the entire system.

[0076] In one embodiment, this application further proposes that the negative pressure cooling device also includes a control module 230 and a pressure sensor (not shown). The control module 230 is the core intelligent unit in the negative pressure cooling device. Its main functions are to receive signals from the sensor, perform data processing and logical judgment, and send instructions to the actuator according to a preset control strategy. In the negative pressure cooling device, the control module 230 is responsible for real-time monitoring of the air pressure inside the cooling chamber 110 and dynamically adjusting the operating state of the suction unit 500 based on the deviation of the air pressure value from a preset range. A pressure sensor is a device used to measure gas pressure, capable of converting the measured physical pressure value into an electrical signal output. The sensor is typically installed inside the cooling chamber 110 to ensure accurate sensing of the actual air pressure inside the cooling chamber 110. The pressure sensor can be a piezoresistive, capacitive, or MEMS pressure sensor, and its selection should consider measurement accuracy, response speed, long-term stability, and applicability in the negative pressure environment of the cooling chamber 110. Through the air pressure sensor, the control module 230 can acquire the air pressure data in the cooling chamber 110 in real time, providing accurate input for subsequent control decisions.

[0077] Specifically, the control module 230 is electrically connected to both the pressure sensor and the suction unit 500. Electrical connection refers to the transmission of electrical signals and / or power supply between different electronic components via wires, cables, printed circuit board traces, or wireless communication links. In this embodiment, the control module 230 transmits pressure data to the pressure sensor via electrical connection, and transmits control commands for the output power of the suction unit 500 via electrical connection. This connection method ensures accurate and real-time information exchange between the various parts of the control system. The pressure sensor is installed inside the cooling chamber 110 to detect the pressure value within the cooling chamber 110 and transmit it to the control module 230. Furthermore, the control module 230 can control the output power of the suction unit 500 to maintain the pressure value within the cooling chamber 110 within a preset pressure range. Controlling the output power of the suction unit 500 means adjusting the electrical energy supplied to the suction unit 500, thereby changing the working intensity or rotation speed of the suction unit 500. For the suction unit 500 driven by motor 210, the speed of DC motor 210 can be adjusted using pulse width modulation technology, or the frequency and voltage of AC motor 210 can be adjusted using a frequency converter. By precisely controlling the output power, the suction rate of suction unit 500 can be steplessly or steppedly adjusted, thereby directly affecting the amount of gaseous working fluid extracted from cooling chamber 110, achieving the purpose of regulating the gas pressure inside cooling chamber 110. The preset pressure range refers to a target range set for the gas pressure inside cooling chamber 110, including an upper limit and a lower limit. The range setting is based on the physical properties of the liquid working fluid, the heat dissipation requirements of heating element 200, and the overall energy efficiency optimization goals of the system.

[0078] Specifically, when the pressure sensor detects that the pressure inside the cooling chamber 110 is lower than the lower limit of the preset pressure range, the control module 230 can control the suction unit 500 to reduce its output power, thereby reducing the suction rate of the gaseous working fluid. When the pressure sensor detects that the pressure inside the cooling chamber 110 is lower than the lower limit of the preset pressure range, it indicates that the suction unit 500 is suctioning too fast, resulting in low pressure. At this time, the control module 230 will issue a command to reduce the output power of the suction unit 500. Reducing the output power of the suction unit 500 will directly lead to a decrease in its working efficiency, thereby reducing the suction rate. Conversely, when the pressure sensor detects that the pressure inside the cooling chamber 110 is higher than the upper limit of the preset pressure range, the control module 230 can control the suction unit 500 to increase its output power, thereby increasing the suction rate of the gaseous working fluid. When the air pressure exceeds the upper limit of the preset pressure range, it indicates that the suction unit 500 is not suctioning sufficiently, resulting in excessive pressure. The control module 230 then instructs the suction unit 500 to increase its output power. Increasing the output power improves working efficiency and increases the suction rate. By adjusting the suction rate, the removal speed of the gaseous working fluid in the cooling chamber 110 can be precisely controlled, thereby achieving refined management of the air pressure in the cooling chamber 110 and keeping the boiling point of the gaseous working fluid within a constant range. The boiling point of the liquid working fluid is closely related to the ambient pressure; the lower the pressure, the lower the boiling point. By precisely controlling the air pressure in the cooling chamber 110 within the preset pressure range, the boiling point of the liquid working fluid can be kept within a relatively constant range. A stable boiling point not only optimizes the vaporization heat absorption efficiency of the liquid working fluid on the heating surface, avoiding a decrease in cooling performance or local overheating due to pressure fluctuations, but also enables the entire cooling system to maintain a highly efficient and stable operating state when facing dynamically changing heat loads, significantly improving the adaptability and reliability of the negative pressure cooling device.

[0079] In one embodiment, this application also proposes a humanoid robot that integrates the negative pressure cooling device described in any of the above embodiments. A humanoid robot is a robot designed to mimic human form and function, typically comprising a torso, head, arms, and legs. Such robots integrate numerous precision electronic components and high-power actuators, such as motors 210 for joint actuation, power modules 220 for energy conversion and control, and control modules 230 for computation and decision-making. These components generate significant heat during operation, especially when performing complex actions or high-intensity calculations. By applying the aforementioned negative pressure cooling device to the humanoid robot, the heat dissipation problem of highly integrated, high-heat-density components within the humanoid robot can be effectively solved. The negative pressure cooling device utilizes the principle of low-temperature vaporization and heat absorption of a liquid working fluid under negative pressure, efficiently and precisely removing the heat generated by the heat-generating components 200 such as the motors 210, power modules 220, and control modules 230 within the humanoid robot. This not only ensures the performance stability and reliability of the humanoid robot under long-term operation or high-load working conditions, avoiding performance degradation or failure due to overheating, but its compact design also makes it easier to integrate into the limited internal space of the humanoid robot, thereby improving the overall operating efficiency and service life of the humanoid robot. In addition, the negative pressure cooling device can dynamically adjust the cooling intensity according to the actual heat generation of the heating element 200, providing a solid heat dissipation guarantee for the intelligent control and efficient operation of the humanoid robot.

[0080] In one embodiment, this application further proposes an aircraft including the negative pressure cooling device described in any of the above embodiments. An aircraft refers to a vehicle or device capable of flying in the air or space, encompassing various types, such as, but not limited to, airplanes, helicopters, drones, rockets, and satellites. The aforementioned negative pressure cooling device can be integrated into the aircraft as its core cooling system, providing efficient heat dissipation for the heat-generating components 200 inside the aircraft. For example, the negative pressure cooling device can be used to cool key components in the aircraft, such as avionics, airborne radar systems, high-power motor 210 drivers, battery packs, or communication modules. By applying the aforementioned negative pressure cooling device to the aircraft, the overall performance and reliability of the aircraft can be significantly improved. The negative pressure cooling device utilizes the principle of low-temperature boiling phase change and heat absorption of a liquid working fluid under negative pressure, which can efficiently remove the heat generated by the heat-generating components 200, thereby ensuring that the key components inside the aircraft operate stably within the optimal temperature range. Compared to traditional air-cooled or single-phase liquid-cooled systems, negative pressure cooling devices typically have a smaller size and lighter weight while maintaining the same heat dissipation capacity. This is crucial for aircraft sensitive to load and fuel efficiency. Furthermore, due to its phase-change cooling characteristics, the device can better adapt to the heat dissipation requirements of aircraft operating at different altitudes and ambient temperatures, providing stable cooling effects and effectively avoiding fluctuations in heat dissipation performance caused by environmental changes. This extends the service life of electronic equipment and power systems in the aircraft, and improves the success rate and safety of flight missions.

[0081] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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, they should be considered to be within the scope of this specification.

[0082] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

[0083] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0084] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0085] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Claims

1. A negative pressure cooling device, characterized in that, include: The cooling chamber (100) is provided with a cooling cavity (110), which is used to install one or more heating elements (200). The heating element (200) has a heating surface for heat dissipation, which is disposed in the cooling cavity (110). The liquid supply unit (300) is capable of supplying liquid working fluid into the cooling chamber (110) through the liquid supply pipe (320); A spraying mechanism (400) is provided at the liquid outlet end of the liquid supply section (300). The liquid working medium can be sprayed onto the corresponding heating surface through the spraying mechanism (400), and the liquid working medium can absorb heat and vaporize into a gaseous working medium on the heating surface. as well as, A suction unit (500) is installed at one end of the cooling chamber (100) and connected to the cooling cavity (110). The suction unit (500) is capable of extracting the gaseous working fluid in the cooling cavity (110). The liquid supply unit (300) includes a liquid storage tank (310), a liquid supply pipe (320) and a liquid pump. The liquid storage tank (310) is used to store liquid working fluid. One end of the liquid supply pipe (320) is connected to the liquid storage tank (310) through the liquid pump, and the other end is connected to the spraying mechanism (400). The liquid supply pipe (320) passes through the heating end of the suction part (500) and makes thermal contact with the heating end of the suction part (500) so that the heating end of the suction part (500) can preheat the liquid working medium in the liquid supply pipe (320). The negative pressure cooling device also includes a second temperature sensor and a control module (230). The control module (230) is electrically connected to the second temperature sensor and the liquid pump. The second temperature sensor is located at one end of the liquid supply pipe (320) near the spray mechanism (400) to detect the temperature value of the liquid working medium and transmit it to the control module (230). The control module (230) can control the operating power of the liquid pump to adjust the flow rate of the liquid working medium in the liquid supply pipe (320) and make the temperature of the preheated liquid working medium rise towards its boiling point and not exceed its boiling point. The exhaust end of the suction unit (500) is connected to the liquid storage tank (310) through an exhaust pipe. One end of the exhaust pipe connected to the liquid storage tank (310) is immersed in the liquid working medium. Furthermore, the side wall of the exhaust pipe and the liquid working medium are in thermally conductive contact so that the gaseous working medium in the exhaust pipe can release heat and liquefy into the liquid working medium and enter the liquid storage tank (310).

2. The negative pressure cooling device according to claim 1, characterized in that, Multiple heating elements (200) are arranged along the axial direction of the cooling chamber (110). The negative pressure cooling device also includes multiple partitions, each partition being disposed between adjacent heating elements (200) to divide the cooling chamber (110) into multiple pressure chambers. The heating elements (200) are respectively disposed in the corresponding pressure chambers. The partitions are provided with balance holes that connect adjacent pressure chambers. The suction part (500) is installed at one end of the axial direction of the cooling chamber (110) and directly connected to one of the pressure chambers, so that when the suction part (500) is running, the distance H between the pressure chamber and the suction part (500) and the air pressure value P of the pressure chamber can satisfy that P and H are positively correlated, and the heat output Q of the heating element (200) and the air pressure value P of the corresponding pressure chamber are negatively correlated. Alternatively, multiple heating elements (200) may be arranged along the circumference of the cooling cavity (110).

3. The negative pressure cooling device according to claim 1, characterized in that, The heating element (200) includes a motor (210), a power module (220) and a control module (230). The suction part (500) is sealed and installed at one end of the cooling chamber (110) in the axial direction. The suction end of the suction part (500) is connected to the cooling chamber (110), and the exhaust end of the suction part (500) extends out of the outside of the cooling chamber (110). The motor (210) is mounted on the other end of the cooling chamber (110) in the axial direction, and the stator winding of the motor (210) extends into the cooling chamber (110), and the output shaft of the motor (210) extends out of the outside of the cooling chamber (110); The power module (220) and the control module (230) are disposed between the suction part (500) and the motor (210), and the connecting wires of the power module (220) and the control module (230) are respectively sealed and pass through the cooling chamber (110).

4. The negative pressure cooling device according to claim 1, characterized in that, The liquid supply pipe (320) includes a main pipe (321) and branch pipes (322). One end of the main pipe (321) is connected to the liquid storage tank (310), and the other end is connected to a plurality of branch pipes (322). Each branch pipe (322) is arranged around the outer periphery of the cooling chamber (100). The spraying mechanism (400) includes multiple nozzle groups (410), which are installed on the side wall of the cooling chamber (100). Each branch pipe (322) is connected to one or more nozzle groups (410).

5. The negative pressure cooling device according to claim 4, characterized in that, It also includes a first temperature sensor and a control module (230). The control module (230) is electrically connected to the first temperature sensor and the nozzle assembly (410). The first temperature sensor is installed on the heating surface to detect the temperature value of the heating surface of the heating element (200) and transmit it to the control module (230). The control module (230) can control the spraying mode of the nozzle assembly (410) to adjust the rate and flow rate of the liquid working fluid sprayed from the nozzle assembly (410). The nozzle assembly (410) includes two spray modes: continuous jet mode and micro-droplet spray mode.

6. The negative pressure cooling device according to claim 1, characterized in that, It also includes a control module (230) and a pressure sensor. The control module (230) is electrically connected to the pressure sensor and the suction unit (500). The pressure sensor is installed in the cooling chamber (110) to detect the pressure value in the cooling chamber (110) and transmit it to the control module (230). The control module (230) can control the output power of the suction unit (500) so that the pressure value in the cooling chamber (110) is maintained within a preset pressure range.

7. A humanoid robot, characterized in that, Includes the negative pressure cooling device as described in any one of claims 1-6.

8. An aircraft, characterized in that, Includes the negative pressure cooling device as described in any one of claims 1-6.

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