Heat exchange device, robot heat management system and robot

Abstract

The utility model relates to a heat exchange device, a robot heat management system and a robot, the heat exchange device comprises a sealing sleeve, a partition plate, a third valve, a piston, a driving element, a first valve, a second valve and a controller, the sealing sleeve is provided with a sealing cavity, the partition plate divides the sealing cavity into a liquid storage cavity and a plurality of liquid separation cavities, and a power element is immersed in a refrigerant of the liquid storage cavity; a piston is correspondingly arranged in each liquid separation cavity, each liquid separation cavity is divided into a gasification cavity and a compression cavity by the corresponding piston, the third valves are installed on the partition plate, and the liquid storage cavity can communicate with the corresponding gasification cavities through the corresponding third valves. The liquid storage cavity is provided with a liquid inlet, each gasification cavity is correspondingly provided with an air outlet, the liquid inlet is provided with a first valve, and each air outlet is correspondingly provided with a second valve. According to the heat exchange device, the robot heat management system and the robot, the problems that a heat management system is large in size and low in cooling efficiency are solved.

Description

Technical Field

[0001] The present application relates to the technical field of robot heat dissipation devices, and in particular to a heat exchange device, a robot thermal management system and a robot. Background Art

[0002] With the rapid development of the humanoid robot industry, the actions that robots can perform are becoming more and more complex, the speed is getting faster and faster, and the load is getting heavier. In addition, the rapid increase in AI computing power has led to an increasing demand for thermal management of robot drive motors and chips.

[0003] Among the existing cooling technologies, air cooling, air cooling + liquid cooling, heat pump air conditioning cooling, liquid nitrogen, liquid carbon dioxide cooling and other cooling methods have shown a diversified development trend. These thermal management methods have their own advantages and disadvantages. Air cooling can meet the needs when the heat dissipation is small. With the sharp increase in heat dissipation load, the simple air cooling method has become incapable. Air cooling + liquid cooling technology is most widely used in new energy vehicles. It is also the first thermal management method that everyone thinks of and applies to robots. Heat will eventually dissipate into the atmosphere, so the final cooling link is still air cooling, which makes the thermal management system too complicated. In addition to the water channel, a separate cooling fan and centralized heat dissipation space must be set up. If a distributed air cooling mode is adopted, more fans will be needed and more thermal management control resources will be occupied. Liquid nitrogen and liquid carbon dioxide have higher cooling capacity, and thermal management control will be relatively complicated. Utility Model Content

[0004] In view of this, it is necessary to provide a heat exchange device, a robot thermal management system and a robot that are smaller in size, more compact in structure, and can more directly and quickly cool power components.

[0005] The heat exchange device provided by the present application includes a sealing sleeve, a partition, a third valve, a piston, a driving element, a first valve, a second valve and a controller, the controller is electrically connected to the driving element, the first valve, the second valve and the third valve respectively, the sealing sleeve is provided with a sealing chamber, the partition divides the sealing chamber into a liquid storage chamber and a plurality of liquid separation chambers, the liquid storage chamber is provided with a liquid refrigerant, the power element is partially or completely immersed in the liquid storage chamber, each liquid separation chamber is provided with a piston, the piston divides the liquid separation chamber into a gasification chamber close to the liquid storage chamber and a compression chamber far from the liquid storage chamber, the third valve and the liquid separation chamber are arranged one by one and installed at the corresponding position of the partition, and the liquid storage chamber can be connected to the corresponding gasification chamber through the corresponding third valve. The liquid storage chamber is provided with a liquid inlet, each gasification chamber is provided with a corresponding gas outlet, the liquid inlet is provided with a first valve, and each gas outlet is provided with a second valve. The driving element drives the corresponding piston to move in a direction close to or away from the power element. When the controller controls the first valve and the corresponding second valve to be closed, and controls the corresponding third valve to be opened, and the driving element drives the corresponding piston to move in a direction away from the power element, the vaporization cavity can expand, so that the liquid refrigerant in the liquid storage cavity can enter the vaporization cavity and change into gaseous refrigerant. When the controller controls the corresponding third valve to be closed and the second valve to be opened, and the driving element drives the corresponding piston to move in a direction close to the power element and squeeze the vaporization cavity, the gas-liquid mixed refrigerant in the vaporization cavity can be discharged through the gas outlet.

[0006] In one embodiment, the plurality of liquid separation chambers are disposed at the same end of the liquid storage chamber.

[0007] In one embodiment, a plurality of liquid separation chambers are distributed around the periphery of the liquid storage chamber.

[0008] In one embodiment, adjacent gasification chambers are interconnected.

[0009] In one embodiment, the sealing sleeve is provided with an assembly opening, so that the power element can be installed in the liquid storage cavity through the assembly opening.

[0010] In one embodiment, the outer wall of the power element is sealed and welded to the assembly opening, or the outer wall of the power element is sealed and clamped to the assembly opening.

[0011] In one embodiment, the first valve, the second valve and the third valve are one-way valves, or the first valve, the second valve and the third valve are two-way valves.

[0012] In one embodiment, the driving element is a motor or a cylinder.

[0013] The present application also provides a robot thermal management system, which includes the heat exchange device described in any one of the above embodiments.

[0014] The present application also provides a robot, which includes the robot thermal management system described in any one of the above embodiments.

[0015] Compared with the prior art, the heat exchange device, robot thermal management system and robot provided by the present application, when the first valve and the second valve are both closed, the third valve is opened, and the vaporization chamber expands, the gas pressure in the vaporization chamber and the liquid storage chamber must be reduced, and the vacuum degree of the vaporization chamber and the liquid storage chamber increases. At this time, the boiling point of the liquid refrigerant in the liquid storage chamber is sharply reduced, and the liquid refrigerant in the liquid storage chamber is vaporized into gaseous refrigerant in the process of entering the vaporization chamber. In addition, since the liquid storage chamber is provided with a power element, the refrigerant in the liquid storage chamber will take away the heat generated by the power element during the phase change process.

[0016] After that, the third valve is closed and the second valve is opened, the piston quickly compresses the vaporization chamber and discharges the gas-liquid mixed refrigerant in the vaporization chamber through the gas outlet. At this time, the gaseous refrigerant in the vaporization chamber will not be remixed with the liquid refrigerant in the liquid storage chamber, thus preventing the gaseous refrigerant from re-liquefying and causing the heat exchange efficiency of the heat exchange device to decrease.

[0017] Moreover, such an arrangement can prevent the liquid refrigerant in the liquid storage chamber from being discharged while discharging the gaseous refrigerant, thereby reducing the number of times the liquid refrigerant in the liquid storage chamber is replenished.

[0018] Afterwards, close the third valve, open the first valve, and add new refrigerant.

[0019] From the above, it can be seen that the heat exchange device provided in the present application performs heat exchange by directly sleeved on the outside of the power element through the sealing sleeve, which is not only compact in structure and easy to install, but also has extremely high heat exchange efficiency through the rapid discharge and replenishment of the refrigerant.

[0020] Furthermore, the heat exchange device of the present application has multiple independently working pistons. When the sealing performance of one of the pistons decreases, the controller can close the corresponding third valve to enable the other pistons to work normally, thereby greatly improving the operating fault tolerance of the heat exchange device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic structural diagram of a heat exchange device according to an embodiment of the present application.

[0023] Figure numerals: 100, sealing sleeve; 110, liquid separation chamber; 111, compression chamber; 112, gasification chamber; 113, air outlet; 120, liquid storage chamber; 121, liquid inlet; 130, assembly port; 200, piston; 300, driving element; 400, first valve; 500, second valve; 600, partition; 700, third valve; 800, power element. DETAILED DESCRIPTION

[0024] With the rapid development of the humanoid robot industry, the actions that robots can perform are becoming more and more complex, the speed is getting faster and faster, and the load is getting heavier. In addition, the rapid increase in AI computing power has led to an increasing demand for thermal management of robot drive motors and chips.

[0025] Among the existing cooling technologies, air cooling, air cooling + liquid cooling, heat pump air conditioning cooling, liquid nitrogen, liquid carbon dioxide cooling and other cooling methods have shown a diversified development trend. These thermal management methods have their own advantages and disadvantages. Air cooling can meet the needs when the heat dissipation is small. With the sharp increase in heat dissipation load, the simple air cooling method has become incapable. Air cooling + liquid cooling technology is most widely used in new energy vehicles. It is also the first thermal management method that everyone thinks of and applies to robots. Heat will eventually dissipate into the atmosphere, so the final cooling link is still air cooling, which makes the thermal management system too complicated. In addition to the water channel, a separate cooling fan and centralized heat dissipation space must be set up. If a distributed air cooling mode is adopted, more fans will be needed and more thermal management control resources will be occupied. Liquid nitrogen and liquid carbon dioxide have higher cooling capacity, and thermal management control will be relatively complicated.

[0026] In view of this, it is necessary to provide a heat exchange device, a robot thermal management system and a robot that are smaller in size, more compact in structure, and can more directly and quickly cool power components.

[0027] See also Figure 1 The heat exchange device includes a sealing sleeve 100, a partition 600, a third valve 700, a piston 200, a driving element 300, a first valve 400, a second valve 500 and a controller (not shown), and the controller is electrically connected to the driving element 300, the first valve 400, the second valve 500 and the third valve 700, respectively, so as to control the actions of the driving element 300, the first valve 400, the second valve 500 and the third valve 700. Specifically, the controller can control the start and stop of the driving element 300, the opening and closing of the first valve 400, the opening and closing of the second valve 500 and the opening and closing of the third valve 700.

[0028] Specifically, in one embodiment, the driving element 300 is a motor, but is not limited thereto. In other embodiments, the driving element 300 may also be a cylinder or other device.

[0029] The sealing sleeve 100 is provided with a sealing cavity, and the partition 600 divides the sealing cavity into a liquid storage cavity 120 and a plurality of liquid separation cavities 110. Liquid refrigerant is provided in the liquid storage cavity 120. The power element 800 (including but not limited to IGBT module, chip and motor) is partially or completely immersed in the liquid storage cavity 120. A piston 200 is correspondingly provided in each liquid separation cavity 110. The piston 200 divides the liquid separation cavity 110 into a vaporization cavity 112 close to the liquid storage cavity 120 and a compression cavity 111 far away from the liquid storage cavity 120. The third valve 700 and the liquid separation cavity 110 are arranged one by one and installed at the corresponding position of the partition 600. The liquid storage cavity 120 can be connected to the corresponding vaporization cavity 112 through the corresponding third valve 700.

[0030] It should be noted that the partition 600 can be a continuous plate or multiple independent plates. The function of the third valve 700 is to connect the liquid storage chamber 120 and the corresponding gasification chamber 112. Therefore, the third valve 700 can be set on one plate or on multiple plates.

[0031] It should be noted that the gasification chamber 112 and the compression chamber 111 are not connected.

[0032] Specifically, the refrigerant is a phase change cooling liquid.

[0033] Preferably, the phase change coolant includes water, which is environmentally friendly, pollution-free and has the advantage of low cost.

[0034] But not limited to this, in other embodiments, the phase change coolant also includes other environmentally friendly refrigerants, which are not listed here one by one.

[0035] It should be noted that there is air inside the sealing sleeve 100 and it is not in an absolute vacuum state.

[0036] The liquid storage chamber 120 is provided with a liquid inlet 121, and each gasification chamber 112 is correspondingly provided with an air outlet 113. The liquid inlet 121 is provided with a first valve 400, and the first valve 400 is used to control the on-off of the liquid inlet 121. Each air outlet 113 is correspondingly provided with a second valve 500, and the second valve 500 is used to control the on-off of the air outlet 113.

[0037] Specifically, in one embodiment, the liquid inlet 121 is disposed on a side of the power element 800 away from the partition 600 , which is conducive to the refrigerant flowing through the entire power element 800 and improving the heat dissipation efficiency.

[0038] But not limited thereto, in other embodiments, the liquid inlet 121 may also be disposed at the middle position of the power element 800 .

[0039] The controller can control the driving element 300 to drive the corresponding piston 200 to move in a direction close to or away from the power element 800. When the controller controls the first valve 400 and the corresponding second valve 500 to be closed, and controls the corresponding third valve 700 to be opened, and the driving element 300 drives the corresponding piston 200 to move in a direction away from the power element 800 and squeeze the compression chamber 111, the vaporization chamber 112 can expand, so that the liquid refrigerant in the liquid storage chamber 120 can enter the vaporization chamber 112 and change into a gaseous refrigerant. In the process of vaporization of the refrigerant, a large amount of heat generated by the power element 800 will be taken away.

[0040] When the controller controls the corresponding third valve 700 to close and the second valve 500 to open, and the driving element 300 drives the corresponding piston 200 to move in a direction close to the power element 800 and squeeze the vaporization chamber 112, the gas-liquid mixed refrigerant in the vaporization chamber 112 can be discharged through the outlet 113.

[0041] It should be noted that the compression chamber 111 may be in a sealed state, or in a state connected to the outside, or in a state connected to the outside through a valve.

[0042] It should be noted that, although each liquid separation chamber 110 is provided with a corresponding piston 200, the driving element 300 corresponding to each piston 200 is not necessarily independent, that is, one driving element 300 can drive all pistons 200 to move, or one driving element 300 can drive one piston 200 to move. The former has lower manufacturing cost and better synchronization, while the latter has higher operating fault tolerance.

[0043] Correspondingly, when the driving elements 300 and the pistons 200 are arranged in a one-to-one correspondence, one controller may control the operation of all the driving elements 300 , or one controller may control the operation of only one driving element 300 .

[0044] Compared with the prior art, the heat exchange device and robot provided by the present application, when the first valve 400 and the second valve 500 are both closed, the third valve 700 is opened, and the vaporization chamber 112 expands, the gas pressure in the vaporization chamber 112 and the liquid storage chamber 120 must be reduced, and the vacuum degree of the vaporization chamber 112 and the liquid storage chamber 120 increases. At this time, the boiling point of the liquid refrigerant in the liquid storage chamber 120 is sharply reduced, and the liquid refrigerant in the liquid storage chamber 120 is vaporized into gaseous refrigerant in the process of entering the vaporization chamber 112. In addition, since the liquid storage chamber 120 is provided with a power element 800, the refrigerant in the liquid storage chamber 120 will take away the heat generated by the power element 800 during the phase change process.

[0045] Afterwards, the third valve 700 is closed and the second valve 500 is opened, and the piston 200 quickly compresses the vaporization chamber 112 and discharges the gas-liquid mixed refrigerant in the vaporization chamber 112 through the gas outlet 113. At this time, the gaseous refrigerant in the vaporization chamber 112 will not be remixed with the liquid refrigerant in the liquid storage chamber 120, thereby preventing the gaseous refrigerant from being reliquefied and causing the heat exchange efficiency of the heat exchange device to decrease.

[0046] Moreover, such a configuration can prevent the liquid refrigerant in the liquid storage chamber 120 from being discharged while discharging the gaseous refrigerant, thereby reducing the number of times the liquid refrigerant in the liquid storage chamber 120 is replenished.

[0047] Afterwards, the second valve 500 is closed, the third valve 700 is opened, and the first valve 400 is opened, and the piston 200 is used to move in the liquid separation chamber 110 to create a negative pressure environment in the vaporization chamber 112, thereby facilitating the refrigerant to quickly enter the liquid storage chamber 120, so as to facilitate the liquid storage chamber 120 to be replenished with new refrigerant.

[0048] From the above, it can be seen that the heat exchange device provided in the present application performs heat exchange by directly sleeve-mounting the sealing sleeve 100 on the outside of the power element 800. It is not only compact in structure and easy to install, but also has extremely high heat exchange efficiency through rapid discharge and replenishment of refrigerant.

[0049] Furthermore, the heat exchange device of the present application has a plurality of independently working pistons 200. When the sealing performance of one of the pistons 200 decreases, the controller can close the corresponding third valve 700 to enable the other pistons 200 to work normally, thereby greatly improving the operating fault tolerance of the heat exchange device.

[0050] In one embodiment, if Figure 1 As shown, the plurality of liquid-distributing chambers 110 are all disposed at the same end of the liquid-storing chamber 120 .

[0051] Such a configuration is beneficial to the arrangement of the liquid separation chamber 110 and the liquid storage chamber 120 and reduces the volume of the sealing sleeve 100. Moreover, when the sealing sleeve 100 is arranged vertically, it is beneficial for the working medium in the liquid separation chamber 110 to quickly flow back to the liquid storage chamber 120.

[0052] But not limited thereto, in other embodiments, the plurality of liquid separation chambers 110 are distributed around the circumference of the liquid storage chamber 120 .

[0053] Such a configuration is conducive to fully utilizing the space around the liquid storage chamber 120 and arranging as many liquid separation chambers 110 and pistons 200 as possible to improve the heat exchange efficiency of the heat exchange device.

[0054] In one embodiment, adjacent gasification chambers 112 are connected to each other.

[0055] Such an arrangement is conducive to forming the same negative pressure environment in each vaporization cavity 112 , thereby improving the synchronization of the vaporization of the refrigerant in each vaporization cavity 112 .

[0056] However, the present invention is not limited thereto. In other embodiments, adjacent gasification chambers 112 may also be disconnected to improve the operational independence of each gasification chamber 112 .

[0057] In one embodiment, the first valve 400, the second valve 500 and the third valve 700 are one-way valves. The one-way valves have simple control logic and low cost, which is beneficial to reducing the manufacturing cost of the heat exchange device.

[0058] In another embodiment, the first valve 400 , the second valve 500 , and the third valve 700 are two-way valves.

[0059] In one embodiment, if Figure 1 As shown, the sealing sleeve 100 is provided with an assembly opening 130 , so that the power element 800 can be installed in the liquid storage chamber 120 through the assembly opening 130 and partially or completely immersed in the refrigerant in the liquid storage chamber 120 .

[0060] Specifically, the outer wall of the power element 800 may be sealed and welded to the assembly opening 130 , or may be sealed and clamped to the assembly opening 130 .

[0061] However, the invention is not limited thereto. In other embodiments, the power element 800 may also be arranged to fit the outer surface or the inner surface of the sealing sleeve 100 to reduce the difficulty of assembling the power element 800 and the sealing sleeve 100 .

[0062] The present application also provides a robot thermal management system, which includes the heat exchange device described in any one of the above embodiments.

[0063] The present application also provides a robot, which includes the robot thermal management system described in any one of the above embodiments.

[0064] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0065] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

[0066] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0067] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0068] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0069] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0070] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0071] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

Claims

1. A heat exchange device, characterized in that: The invention comprises a sealing sleeve (100), a partition (600), a third valve (700), a piston (200), a driving element (300), a first valve (400), a second valve (500) and a controller, wherein the controller is electrically connected to the driving element (300), the first valve (400), the second valve (500) and the third valve (700), respectively; the sealing sleeve (100) is provided with a sealing cavity; the partition (600) divides the sealing cavity into a liquid storage cavity (120) and a plurality of liquid separation cavities (110); a liquid refrigerant is provided in the liquid storage cavity (120); a power element (8 00) is partially or completely immersed in the liquid storage chamber (120), each of the liquid separation chambers (110) is correspondingly provided with the piston (200), the piston (200) divides the liquid separation chamber (110) into a vaporization chamber (112) close to the liquid storage chamber (120) and a compression chamber (111) far away from the liquid storage chamber (120), the third valve (700) and the liquid separation chamber (110) are arranged in a one-to-one correspondence and installed at a corresponding position of the partition (600), and the liquid storage chamber (120) can be connected to the corresponding vaporization chamber (112) through the corresponding third valve (700); The liquid storage chamber (120) is provided with a liquid inlet (121), each of the gasification chambers (112) is correspondingly provided with a gas outlet (113), the liquid inlet (121) is provided with the first valve (400), and each of the gas outlets (113) is correspondingly provided with the second valve (500); The driving element (300) is capable of driving the corresponding piston (200) to move in a direction approaching or away from the power element (800); when the controller controls the first valve (400) and the corresponding second valve (500) to be closed, and controls the corresponding third valve (700) to be opened, and the driving element (300) drives the corresponding piston (200) to move in a direction away from the power element (800), the vaporization chamber (112) is capable of expanding, so that the liquid refrigerant in the liquid storage chamber (120) can enter the vaporization chamber (112) and change into a gaseous refrigerant; When the controller controls the corresponding third valve (700) to close and the second valve (500) to open, and the driving element (300) drives the corresponding piston (200) to move in a direction close to the power element (800) and squeeze the vaporization chamber (112), the gas-liquid mixed refrigerant in the vaporization chamber (112) can be discharged through the gas outlet (113).

2. The heat exchange device according to claim 1, characterized in that: The plurality of liquid separation chambers (110) are all arranged at the same end of the liquid storage chamber (120).

3. The heat exchange device according to claim 1, characterized in that: The plurality of liquid separation chambers (110) are distributed around the periphery of the liquid storage chamber (120).

4. The heat exchange device according to claim 1, characterized in that: Adjacent gasification chambers (112) are communicated with each other.

5. The heat exchange device according to claim 1, characterized in that: The sealing sleeve (100) is provided with an assembly opening (130) so that the power element (800) can be installed in the liquid storage chamber (120) through the assembly opening (130).

6. The heat exchange device according to claim 5, characterized in that: The outer wall of the power element (800) is sealed and welded to the assembly opening (130), or the outer wall of the power element (800) is sealed and clamped to the assembly opening (130).

7. The heat exchange device according to claim 1, characterized in that: The first valve (400), the second valve (500) and the third valve (700) are one-way valves, or the first valve (400), the second valve (500) and the third valve (700) are two-way valves.

8. The heat exchange device according to claim 1, characterized in that: The driving element (300) is a motor or a cylinder.

9. A robot thermal management system, characterized in that: Comprising a heat exchange device as described in any one of claims 1 to claim 8.

10. A robot, characterized in that: Comprising the robot thermal management system as described in claim 9.

Images