A robot heat-dissipating waterproof joint

Abstract

The application discloses a kind of robot heat dissipation waterproof joints, including two groups of symmetrically arranged connecting heads and erecting in two groups of connecting head and the hollow joint spring of through connection, connecting head includes connecting head body, locking shell, clamping piece and multiple groups of silica gel sealing component, the locking shell is provided with general internal thread locking position, and the external connecting joint assembly of matching different interface form is matched, the liquid cooling channel is passed through and is provided with along the axial direction of connecting head body, hollow joint spring is integrally continuous spiral molding by hollow pipe material, inside is provided with through flow channel, flow channel is communicated with two sides liquid cooling channel, forms complete liquid cooling circulation passage, satisfies the continuous heat dissipation demand of robot joint. Through the above manner, the application is light in weight without external pipeline, movement is compliant and pipeline protection is prevented from leaking, sealing, buffering, excellent anti-vibration and anti-fatigue performance, adapt to robot joint narrow space and high-frequency dynamic working condition, reliable and stable operation.

Description

Technical Field

[0001] This invention relates to the field of heat dissipation technology for humanoid robots, and in particular to a waterproof heat dissipation connector for robots. Background Technology

[0002] The ability of humanoid robots to continuously and stably dissipate heat is a core technology to ensure their high performance and long-term stable operation. It is also an important hidden technical hurdle that restricts the breakthrough of their high dynamic motion capabilities. As humanoid robots develop rapidly towards high integration, high power, and high dynamic motion, core components such as robot joints, computing chips, and power batteries will generate a lot of heat during operation. If the heat cannot be dissipated in a timely and efficient manner, it is easy to cause heat accumulation, leading to equipment performance degradation or even malfunction and shutdown, which seriously limits the working time and upper limit of the humanoid robot's motion performance.

[0003] The heat generation problem of humanoid robots mainly stems from their structural design and working characteristics: On the one hand, humanoid robots generally adopt a highly integrated one-piece joint design. In pursuit of lightweight and compactness, the joints of humanoid robots typically integrate components such as motors, reducers, sensors, and actuators densely into a small space. While this design is efficient, it also leads to the easy accumulation of heat, like a "pressure cooker," forming localized high-temperature hot zones. On the other hand, under highly dynamic conditions such as running, jumping, and posture switching, the joint motors need to continuously output high torque and high power, with instantaneous output power reaching over two kilowatts, generating a large amount of heat in a short period of time. At the same time, the high-performance AI chip and power battery pack built into the robot's torso serve as auxiliary core heat sources, further exacerbating the overall heat dissipation pressure.

[0004] Existing heat dissipation technologies have significant shortcomings. Conventional natural heat dissipation and air cooling methods have low heat exchange efficiency and cannot meet the continuous heat dissipation requirements of high-power humanoid robots. If high temperatures accumulate for a long time, it will cause a series of problems such as demagnetization of permanent magnets in motors, aging of circuit insulation layers, reduced frequency operation or even damage to computing chips, and thermal failure of power batteries. This directly leads to a decrease in robot motion accuracy, inaccurate movement, and degraded overall performance. In severe cases, it can cause equipment overheating and lockup, mid-operation shutdown and breakdown, which greatly affects the robot's working stability and service life.

[0005] To address this, the industry is gradually adopting micro-liquid cooling solutions. By deploying a network of micro-liquid cooling pipes at key locations of the robot's heat source, the system achieves zero-distance heat exchange with the heat-generating components, quickly removing locally accumulated heat and significantly improving heat dissipation efficiency. However, the matching connectors for micro-liquid cooling systems still face many technical bottlenecks and are difficult to adapt to the special working conditions of humanoid robots.

[0006] Robot joint heat dissipation and waterproof connectors differ from conventional pipe connectors. They need to be adapted to the high-frequency reciprocating motion of joints, confined installation spaces, and high-frequency vibration and impact conditions. At the same time, they must meet the stringent requirements of lightweight, high fatigue resistance, high wear resistance, and high sealing reliability. Traditional heat dissipation connectors are generally bulky in structure, lack miniaturization, and have a large overall weight, which will increase the load on robot joints and reduce the flexibility of movement. At the same time, traditional connectors have poor resistance to torsion, vibration, and fatigue. Under the long-term high-frequency bending, twisting, and vibration conditions of robots, the sealing structure is prone to failure, and the pipe connection is prone to loosening and leakage. They cannot meet the needs of high-pressure rapid cooling and long-term high-frequency motion, thus restricting the practical application of micro liquid cooling technology for humanoid robots.

[0007] Based on the above defects and shortcomings, it is necessary to improve the existing technology and design a robot heat dissipation and waterproof connector. Summary of the Invention

[0008] The main technical problem solved by this invention is to provide a robot heat dissipation and waterproof connector that is lightweight, has no external pipelines, moves smoothly, and has pipeline protection and leak prevention. It has excellent sealing, buffering, vibration resistance and fatigue resistance performance, is suitable for the narrow space of robot joints and high-frequency dynamic working conditions, and operates reliably and stably.

[0009] To solve the above-mentioned technical problems, the present invention provides a robot heat dissipation and waterproof connector, including two connectors threaded to an external connector assembly and a hollow joint spring conductively connected to the two connectors; each connector includes a connector body and a locking shell sleeved on the outside of the connector body; the connector body has a liquid cooling channel extending through it axially; the hollow joint spring is formed by continuously spiraling a hollow tube to form a helical spring body; the central through hole of the hollow tube serves as a flow channel for the liquid cooling medium; the flow channel extends through the entire assembly along the spiral direction; the flow channel is conductively connected to the liquid cooling channels of the two connectors to form a continuous liquid cooling circulation path; the locking shell has an axial through hole, and the middle section of the axial through hole has an internal thread structure to form a universal threaded locking position; the connector and the external connector assembly are assembled by threaded matching, and multiple sets of silicone sealing rings are arranged at the threaded mating position and the end face mating position to form a multi-level sealing structure.

[0010] Preferably, one side wall of the axial through hole of the locking shell is provided with a limiting groove for matching and installing the mounting piece, and the other side wall of the axial through hole is provided with a flared structure for assembly guidance.

[0011] Preferably, the locking shell is mounted on the connector body and engages with the external thread of the external connector assembly via an internal thread structure. The external connector assembly has an external thread structure that protrudes upward for thread locking. The internal thread structure of the locking shell engages with the external thread structure of the external connector assembly. The lower section of the connector body is inserted into the connecting hole of the external connector assembly to achieve alignment and assembly.

[0012] Preferably, the middle section of the connector body is provided with a mating surface that mates with the axial through hole of the locking shell. An installation groove is provided on the mating surface, and a locking component is assembled in the locking space formed by the limiting groove and the installation groove to realize the axial limiting assembly of the locking shell and the connector body.

[0013] Preferably, the root of the external thread structure has an annular groove and is fitted with an outer silicone ring, which fits tightly with the flared structure of the locking shell; the side wall of the hole of the external connector assembly has an annular groove and is fitted with an inner silicone ring, which seals with the lower head of the connector body; the root of the lower section of the connector body has an annular groove and is fitted with a first silicone ring, which seals with the side wall of the hole of the external connector assembly.

[0014] Preferably, the locking shell is mounted in reverse on the connector body and locks and fixes the plate end connector. The plate end connector is threadedly matched and mated with the external connector assembly. The lower section of the connector body is a connecting section, where the plate end connector is inserted. The outer wall of the connecting section is provided with a connecting thread and locks with the internal thread structure of the locking shell, so that the locking shell presses and limits the plate end connector to the lower end of the connector body. The lower section of the plate end connector is provided with an external thread, and the external connector assembly is provided with an internal thread hole that mates with the external thread. The plate end connector is screwed and mated with the internal thread hole of the external connector assembly through the lower external thread. The plate end connector is provided with a through flow channel communicating with the flow channel in the axial direction.

[0015] Preferably, the middle section of the plate end connector is provided with a mating surface that mates with the axial through hole, and an installation groove is provided on the mating surface. A locking component is assembled in the locking space formed by the limiting groove and the installation groove to realize the axial limiting assembly of the locking shell and the plate end connector.

[0016] Preferably, the connector body has an annular groove in the middle section and an outer silicone ring is fitted thereon. The outer silicone ring fits tightly with the flared structure of the locking shell. The upper and lower sections of the plate end connector are sequentially equipped with an inner silicone ring and a first silicone ring. The inner silicone ring is sealed to the inner wall end face of the connector body connection section, and the first silicone ring is sealed to the outer end face of the internal threaded hole.

[0017] Preferably, straight rod connectors extend from both ends of the hollow joint spring. The straight rod connectors are inserted into the connector body and precisely aligned with the liquid cooling channel. The assembly position of the straight rod connectors and the connector body forms a sealed connection to ensure that the liquid cooling medium flows without leakage.

[0018] Preferably, the upper end of the connector body is provided with a receiving space, and a sealing ring is fitted on the outside of the straight rod connector and confined within the receiving space to achieve end face sealing at the upper assembly position.

[0019] Preferably, a second silicone ring is fitted onto the straight rod connector. The second silicone ring is integrally embedded inside the hole in the upper section of the connector body, and the upper and lower ends of the second silicone ring extend outward to press and fit against the upper and lower end faces of the upper section of the connector body, forming a bidirectional end face sealing structure.

[0020] Compared with the prior art, the beneficial effects of the present invention are: Employing an integrated hollow joint spring, the hollow structure directly integrates the liquid cooling channel, with the tubing internally installed and not occupying external space. Compared to solid components, it is lighter in weight, effectively reducing joint load and improving movement flexibility. The hollow spring has inherent flexibility and elasticity, eliminating the need for traditional hinges and bearings. Its simple structure and convenient assembly allow for smooth joint movement and also provide cushioning and impact protection. During bending movements, the spring can cover and protect the internal liquid cooling channel, preventing the tubing from being pulled and damaged, and effectively preventing leakage. The multi-level sealing structure with threaded locking and multi-point silicone rings can block internal coolant leakage and external moisture intrusion in both directions, ensuring a reliable sealing effect. The silicone rings have a flexible buffering effect, which can weaken the rigid wear and abnormal noise caused by joint rotation and vibration, while compensating for the machining and assembly tolerances of parts and improving the fitting accuracy. They can also increase assembly friction, effectively preventing the joint from loosening and falling off under high-frequency movement, resulting in better structural stability. Axial positioning and fixing are achieved through clamping components, which can effectively prevent axial movement, offset and loosening of various components. It forms a double anti-loosening and locking effect with the threaded structure, which can resist torsion and vibration during robot movement. At the same time, it can limit the limit displacement of the joint and avoid component compression damage. It has excellent overall shock resistance, torsion resistance and fatigue resistance, and can be adapted to the high-frequency dynamic heat dissipation requirements of robots for a long time. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a robot heat dissipation and waterproof connector according to the present invention.

[0022] Figure 2 This is a schematic diagram of the unfolded structure of Embodiment 1 of the present invention.

[0023] Figure 3 This is a partial assembly diagram of Embodiment 1 of the present invention.

[0024] Figure 4 This is a cross-sectional view of the locking shell of the present invention.

[0025] Figure 5 This is a schematic diagram of the unfolded structure of Embodiment 2 of the present invention.

[0026] Figure 6 This is a partial assembly diagram of Embodiment 2 of the present invention.

[0027] Among them, 1. Connector, 10. Liquid cooling channel, 11. Connector body, 12. Locking shell, 121. Limiting groove, 122. Internal thread structure, 123. Flared structure, 13. Clip-on component, 14. Plate end connector; 2. Hollow joint spring, 20. Flow channel, 21. Straight rod connector; 3. External connector assembly, 31. External thread structure, 32. Internal thread hole; 41. External silicone ring, 42. Internal silicone ring, 43. First silicone ring, 44. Sealing ring, 45. Second silicone ring. Detailed Implementation

[0028] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0029] Please see Figures 1 to 6 The embodiments of the present invention include: A robot heat dissipation and waterproof connector, suitable for liquid cooling and waterproof sealing applications in robot finger joints, includes: This type of robot heat dissipation and waterproof connector includes two sets of symmetrically arranged connectors 1 and a hollow joint spring 2 installed between and connected to the two sets of connectors 1. Each connector 1 includes a connector body 11, a locking shell 12, a locking component 13, and multiple sets of silicone sealing components. The locking shell 12 has a universal internal thread locking position, matching external connector assemblies 3 (heat dissipation blocks) of different interface types, resulting in strong structural versatility. The connector body 11 has a liquid cooling channel 10 extending axially. The hollow joint spring 2 is integrally and continuously spirally formed from hollow tubing, with a through-flow channel 20 inside. The straight rod connectors 21 extending from both ends of the hollow joint spring 2 are respectively sealed and inserted into the upper end of the corresponding connector body 11. The straight rod connectors 21 are precisely aligned with the liquid cooling channels 10 of the connector body 11, so that the flow channel 20 inside the hollow joint spring 2 is connected with the liquid cooling channels 10 on both sides, forming a closed and complete liquid cooling circulation path to meet the continuous heat dissipation requirements of the robot joint. At the same time, the hollow joint spring 2 relies on its own elasticity to achieve flexible joint swing and buffer collision protection, and has the advantages of lightweight, high flexibility and pipeline protection performance. The structure of the present invention will be described in detail below through two specific embodiments.

[0030] Example 1: Direct Thread Assembly Structure This embodiment is a forward assembly structure, adapted to the external connector assembly 3 with an external thread structure 31 at the top, the overall structure is simple and the assembly efficiency is high.

[0031] The locking shell 12 is sleeved on the outside of the connector body 11. The locking shell 12 has an axial through hole along the axial direction. An internal thread structure 122 is provided in the middle section of the axial through hole to form a universal thread locking position. A limiting groove 121 is provided on one side of the hole wall of the axial through hole, and a flared structure 123 is provided on the other side. The flared structure 123 can be used for assembly guidance and end face sealing.

[0032] The middle section of the connector body 11 is provided with a mating surface that matches the axial through hole. The mating surface is provided with an installation groove. The clamping part 13 is assembled in the clamping space formed by the limiting groove 121 and the installation groove, so as to realize the axial limiting and fixing of the locking shell 12 and the connector body 11, and prevent the locking shell 12 from axially moving or loosening during operation.

[0033] The upper end of the external connector assembly 3 has an upward protrusion of an external thread structure 31. The locking shell 12 is threadedly locked with the external thread structure 31 of the external connector assembly 3 through its internal thread structure 122. At the same time, the lower section of the connector body 11 is inserted into the connecting hole of the external connector assembly 3 to achieve precise radial and axial alignment, ensuring overall assembly accuracy and structural stability.

[0034] This embodiment features a multi-layered sealing structure, forming a three-dimensional, multi-level sealing protection system: An annular groove is formed at the root of the external thread structure 31 of the external connector assembly 3, and an external silicone ring 41 is fitted inside the annular groove. The external silicone ring 41 fits tightly against the inner wall of the flared structure 123 of the locking shell 12, achieving a top end face seal. An annular groove is formed on the side wall of the hole of the external connector assembly 3, and an inner silicone ring 42 is fitted inside. The inner silicone ring 42 seals against the lower head of the connector body 11. An annular groove is formed at the root of the lower section of the connector body 11, and a first silicone ring 43 is fitted. The first silicone ring 43 fits tightly against the side wall of the hole of the external connector assembly 3, achieving a middle section side wall seal. The combined effect of these multiple sealing structures effectively prevents external moisture from seeping in, while also preventing internal coolant from leaking through the assembly gaps.

[0035] To improve the sealing performance of the connector 1 and the hollow joint spring 2, a receiving space is provided at the upper end of the connector body 11, and a sealing ring 44 is fitted on the outside of the straight rod connector 21 and confined within the receiving space to achieve sealing of the upper assembly end face.

[0036] Another sealing structure for connector 1 and hollow joint spring 2 is as follows: a second silicone ring 45 is fitted on the straight rod connector 21. The second silicone ring 45 is embedded in the hole of the upper section of connector body 11 and extends outward at both ends, respectively pressing and fitting the upper and lower end faces of the upper section of connector body 11 to form a bidirectional end face sealing structure, which greatly improves the sealing reliability of the pipeline docking position.

[0037] Example 2: Reverse locking band plate end connector assembly structure This embodiment is a reverse locking assembly structure, which is adapted to the countersunk external connector assembly 3 with internal threaded holes 32. Compared with the first embodiment, it adds a plate end connector 14, which can be adapted to irregular and countersunk external heat dissipation connectors, and the structure has a wider range of adaptability.

[0038] The locking shell 12 is sleeved on the outside of the connector body 11 in the opposite direction. The lower section of the connector body 11 is the connecting section. The plate end connector 14 is inserted inside the connecting section. The outer wall of the connecting section is provided with connecting threads and locks in place with the internal thread structure 122 of the locking shell 12. Through the axial pressing action of the locking shell 12, the plate end connector 14 is stably limited to the lower end of the connector body 11, achieving a secure fixation without loosening.

[0039] The middle section of the plate end connector 14 is provided with a mating surface that matches the axial through hole of the locking shell 12. The mating surface is provided with an installation groove. The limiting groove 121 of the locking shell 12 and the installation groove of the plate end connector 14 form a locking space. The locking component 13 is assembled in the locking space to realize the axial limiting assembly of the locking shell 12, the plate end connector 14 and the connector body 11, effectively preventing the structure from loosening or shifting under robot vibration conditions.

[0040] The lower section of the plate end connector 14 is provided with an external thread structure, and the external connector assembly 3 is provided with an internal thread hole 32. The plate end connector 14 is screwed into the internal thread hole 32 of the external connector assembly 3 through the lower external thread to complete the overall sealing assembly; the plate end connector 14 is provided with a through flow channel 140 in the axial direction, which communicates with the flow channel 20.

[0041] This embodiment also features a multi-stage sealing structure to ensure waterproof and leak-proof performance: an annular groove is formed in the middle section of the connector body 11 and an outer silicone ring 41 is fitted thereon. The outer silicone ring 41 fits tightly with the flared structure 123 of the locking shell 12 to achieve a seal on the end face of the locking shell port; the upper and lower sections of the plate-end connector 14 are sequentially fitted with an inner silicone ring 42 and a first silicone ring 43. The inner silicone ring 42 seals with the end face of the inner wall of the connector body 11, and the first silicone ring 43 seals with the outer end face of the internal threaded hole 32. The combination of multiple sealing structures forms an all-round sealing barrier, effectively blocking external moisture and preventing internal coolant leakage.

[0042] The sealing structure of the hollow joint spring 2 and the connector 1 in this embodiment is the same as that in Embodiment 1.

[0043] This invention discloses a robot heat dissipation and waterproof connector, which adopts an integrated hollow liquid-cooled spring structure. The structure is simplified and lightweight, requires no external pipelines, allows for smooth joint movement, and effectively protects the internal pipelines from leakage. Combined with a threaded multi-stage silicone seal and a double anti-loosening structure with axial limiting of the clamping component, it has bidirectional sealing, flexible buffering, tolerance compensation, and anti-vibration, anti-torsion, and anti-fatigue performance. It can adapt to the narrow space of humanoid robot joints and long-term high-frequency dynamic working conditions, with high reliability and good stability.

[0044] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A robot heat dissipation and waterproof connector, characterized in that: The assembly includes two connectors (1) threaded onto an external connector assembly (3) and a hollow joint spring (2) electrically connected to the two connectors (1); each connector (1) includes a connector body (11) and a locking shell (12) sleeved on the outside of the connector body (11). The connector body (11) has a liquid cooling channel (10) extending through it axially. The hollow joint spring (2) is formed by continuously coiling a hollow tube to form a helical spring body. The central through hole of the hollow tube serves as the liquid cooling medium. The liquid cooling channel (20) is connected to the liquid cooling channel (10) of the two connectors (1) to form a through liquid cooling circulation path; the locking shell (12) has an axial through hole along the axial direction, and the middle section of the axial through hole is provided with an internal thread structure (122) to form a universal thread locking position; the connector (1) and the external connector assembly (3) are assembled by thread matching, and multiple sets of silicone sealing rings are arranged at the thread mating position and the end face mating position to form a multi-level sealing structure; The hollow joint spring (2) extends straight rod connectors (21) from both ends. The straight rod connectors (21) are inserted into the connector body (11) and precisely docked with the liquid cooling channel (10). The assembly position of the straight rod connectors (21) and the connector body (11) forms a sealed connection. The upper end of the connector body (11) is provided with a receiving space, and the straight rod connector (21) is fitted with a sealing ring (44) on the outside and is confined within the receiving space; The straight rod connector (21) is fitted with a second silicone ring (45). The second silicone ring (45) is embedded in the upper section hole of the connector body (11). The upper and lower ends of the second silicone ring (45) extend outward and press against the upper and lower end faces of the upper section of the connector body (11) to form a bidirectional end face sealing structure.

2. The robot heat dissipation and waterproof connector according to claim 1, characterized in that: The locking shell (12) has a limiting groove (121) on one side of the axial through hole for matching and installing the mounting clip (13), and the other side of the axial through hole has a flared structure (123) for assembly guidance.

3. The robot heat dissipation and waterproof connector according to claim 1, characterized in that: The locking shell (12) is mounted on the connector body (11) and locked in place with the external thread of the external connector assembly (3) through the internal thread structure (122). The external connector assembly (3) has an external thread structure (31) for thread locking that protrudes upward. The internal thread structure (122) of the locking shell (12) is locked in place with the external thread structure (31) of the external connector assembly (3). The lower section of the connector body (11) is inserted into the connection hole of the external connector assembly (3).

4. A robot heat dissipation and waterproof connector according to claim 3, characterized in that: The middle section of the connector body (11) is provided with a mating surface that mates with the axial through hole of the locking shell (12). An installation groove is provided on the mating surface. A locking component (13) is assembled in the locking space formed by the limiting groove (121) and the installation groove, so as to realize the axial limiting assembly of the locking shell (12) and the connector body (11).

5. A robot heat dissipation and waterproof connector according to claim 3, characterized in that: The external thread structure (31) has an annular groove at its root and is fitted with an external silicone ring (41). The external silicone ring (41) fits tightly with the flared structure (123) of the locking shell (12). The external connector assembly (3) has an annular groove on its hole sidewall and is fitted with an inner silicone ring (42). The inner silicone ring (42) seals with the lower head of the connector body (11). The lower root of the connector body (11) has an annular groove and is fitted with a first silicone ring (43). The first silicone ring (43) seals with the hole sidewall of the external connector assembly (3).

6. A robot heat dissipation and waterproof connector according to claim 1, characterized in that: The locking shell (12) is mounted on the connector body (11) in reverse and locks and fixes the plate end connector (14). The plate end connector (14) is threadedly matched with the external connector assembly (3). The lower section of the connector body (11) is the connecting section. The plate end connector (14) is inserted into the connecting section. The outer wall of the connecting section is provided with a connecting thread and is locked and engaged with the internal thread structure (122) of the locking shell (12). The locking shell (12) presses and limits the plate end connector (14) to the lower end of the connector body (11). The lower section of the plate end connector (14) is provided with an external thread. The external connector assembly (3) is provided with an internal thread hole (32) that mates with the external thread. The plate end connector (14) is screwed and engaged with the internal thread hole (32) of the external connector assembly (3) through the lower external thread. The plate end connector (14) is provided with a through flow channel (140) that communicates with the flow channel (20) in the axial direction.

7. A robot heat dissipation and waterproof connector according to claim 6, characterized in that: The middle section of the plate end connector (14) is provided with a mating surface that mates with the axial through hole. An installation groove is provided on the mating surface. A locking component (13) is assembled in the locking space formed by the limiting groove (121) and the installation groove, so as to realize the axial limiting assembly of the locking shell (12) and the plate end connector (14).

8. A robot heat dissipation and waterproof connector according to claim 6, characterized in that: The connector body (11) has an annular groove in the middle section and an outer silicone ring (41) is installed thereon. The outer silicone ring (41) fits tightly with the flared structure (123) of the locking shell (12). The upper and lower sections of the plate end connector (14) are successively equipped with an inner silicone ring (42) and a first silicone ring (43). The inner silicone ring (42) is sealed to the inner wall end face of the connector body (11), and the first silicone ring (43) is sealed to the outer end face of the internal thread hole (32).

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