Robot

Abstract

The invention relates to the technical field of artificial intelligence, and discloses a robot which comprises a trunk and four limbs connected with the trunk. The hollow tube battery is of an annular structure and is arranged on at least one of the trunk and the four limbs in a sleeving mode, and the hollow tube battery serves as a power source of the robot. According to the robot provided by the invention, the surface layers of the trunk and the four limbs are sleeved with the hollow pipe batteries of the annular structures, so that other functional parts of the robot can be arranged in hollow spaces of the hollow pipe batteries, the installation space of the robot is not additionally occupied, and the space utilization rate is fully increased while the function of an energy source is achieved. In addition, the surface layer of the robot is sleeved with the hollow pipe battery, and a certain mechanical structure supporting function, a certain machine body external protection function and the like can be provided.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a robot. Background Art

[0002] With the continuous development of artificial intelligence technology, robots such as humanoid robots are playing an important role in education, medical care, industry and other fields, bringing a more convenient, efficient and intelligent lifestyle to mankind.

[0003] At present, robots are usually powered by lithium-ion batteries, which mainly include three types of structures: cylindrical batteries, square shell batteries, and soft-pack batteries.

[0004] However, the applicant found that the existing robots have at least the following disadvantages:

[0005] Traditional cylindrical, soft-pack or square-shell battery structures require a large installation space when used on robots. However, due to the small and scattered space available for the entire robot, the battery layout space is limited, resulting in low space utilization of the robot. Summary of the invention

[0006] The present invention provides a robot to solve or improve the problem in the related art that the space provided by the robot is small and scattered, which makes the battery arrangement space limited and leads to low space utilization of the robot.

[0007] The present invention provides a robot, comprising:

[0008] a torso and limbs connected to said torso;

[0009] A hollow tube battery in a ring structure is sleeved on at least one of the trunk and the limbs, and the hollow tube battery is used as a power source for the robot.

[0010] In an optional embodiment, the hollow tube battery comprises:

[0011] A battery cell with an annular structure, the battery cell comprising at least one set of a first pole piece, a second pole piece and a diaphragm which are stacked, the first pole piece and the second pole piece have opposite polarities, and the diaphragm is arranged between the first pole piece and the second pole piece;

[0012] An outer shell is disposed around the outer wall of the battery core, and the outer shell is connected to the first pole piece;

[0013] A pair of end covers, respectively covering the two ends of the battery core, and the pair of end covers are both connected to the second pole piece;

[0014] A pair of annular insulating pads are respectively arranged between a pair of the end covers and the outer shell.

[0015] In an optional embodiment, the hollow tube battery further comprises:

[0016] A first pole lug, arranged corresponding to the first pole piece, the first pole lug being connected to the outer shell;

[0017] A second pole lug, arranged corresponding to the second pole piece, the second pole lug being connected to the end cover;

[0018] Wherein, the first pole lug and the second pole lug are respectively arranged at two ends of the battery core.

[0019] In an optional embodiment, the hollow tube battery comprises:

[0020] The first hollow tube battery and the second hollow tube battery are arranged in the joint connection area of ​​the limbs, or in the joint connection area of ​​the trunk and the limbs;

[0021] A first annular electrode adapter, disposed on a side of the first hollow tube battery facing the second hollow tube battery;

[0022] A second annular electrode adapter, disposed on a side of the second hollow tube battery facing the first hollow tube battery;

[0023] The flexible electrical connector is disposed between the first annular electrode adapter and the second annular electrode adapter.

[0024] In an optional embodiment, the outer shell of the first hollow tube battery is connected to the first annular electrode adapter, and the end cover of the second hollow tube battery is connected to the second annular electrode adapter, or,

[0025] The end cover of the first hollow tube battery is connected to the first annular electrode adapter, and the outer shell of the second hollow tube battery is connected to the second annular electrode adapter.

[0026] In an optional embodiment, the first annular electrode adapter is welded to the first hollow tube battery, and / or,

[0027] The second annular electrode adapter is welded to the second hollow tube battery.

[0028] In an optional embodiment, the hollow tube battery comprises:

[0029] The third hollow tube battery and the fourth hollow tube battery are arranged in the non-joint connection area of ​​the trunk and / or the limbs, and the third hollow tube battery and the fourth hollow tube battery are stacked in sequence along the axial direction of the hollow tube battery.

[0030] In an optional embodiment, the outer shell of the third hollow tube battery is connected to the end cover of the fourth hollow tube battery, or,

[0031] The end cover of the third hollow tube battery is connected to the outer shell of the fourth hollow tube battery.

[0032] In an optional implementation, the third hollow tube battery and the fourth hollow tube battery are connected by welding.

[0033] In an optional embodiment, the hollow tube battery is in a circular ring structure or an elliptical ring structure.

[0034] The robot provided by the present invention can use the hollow tube battery in a ring structure to arrange other functional components of the robot by using the hollow space of the hollow tube battery, without occupying additional installation space of the robot, and fully improve the space utilization rate while serving as an energy source. In addition, the hollow tube battery is sleeved on the surface of the robot, which can also provide certain mechanical structure support functions and external protection functions of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A schematic diagram of the structure of a robot according to an embodiment of the present invention;

[0037] Figure 2 A three-dimensional diagram of a hollow tube battery according to an embodiment of the present invention;

[0038] Figure 3 An exploded view of a hollow tube battery according to an embodiment of the present invention;

[0039] Figure 4 A top view of a hollow tube battery according to an embodiment of the present invention;

[0040] Figure 5 A top view of a hollow tube battery according to another embodiment of the present invention;

[0041] Figure 6 A schematic diagram of the composition of a battery cell according to an embodiment of the present invention;

[0042] Figure 7 is a three-dimensional diagram of a battery cell according to an embodiment of the present invention;

[0043] Figure 8 A schematic diagram of the structure of a hollow tube battery in a joint connection area of ​​an embodiment of the present invention;

[0044] Fig. 9 Schematic diagram of the structure of a hollow tube battery in a non-joint connection area of ​​an embodiment of the present invention.

[0045] Description of reference numerals:

[0046] 1. Torso; 2. Limbs; 3. Hollow tube battery; 301. Battery cell; 3011. First pole piece; 3012. Second pole piece; 3013. Diaphragm; 3014. Insulating film; 3015. First end face; 3016. Second end face; 3017. Filling hole; 302. Outer shell; 303. End cover; 304. Annular insulating pad; 310. First hollow tube battery; 320. Second hollow tube battery; 330. First annular electrode adapter; 340. Second annular electrode adapter; 350. Flexible electrical connector; 360. Third hollow tube battery; 370. Fourth hollow tube battery; 4. Joint connection area; 5. Non-joint connection area. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0048] 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" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" refers to two or more, unless otherwise clearly and specifically defined.

[0049] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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, 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. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0050] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0051] Combine the following Figures 1 to 9 , describing a robot according to an embodiment of the present invention.

[0052] According to an embodiment of the present invention, a robot is provided, comprising a trunk 1 and limbs 2 connected to the trunk 1. Specifically, Figure 1 As shown, a humanoid robot, also known as a humanoid robot, is a bionic robot that can imitate human walking on two legs and has a certain level of intelligence. A humanoid robot usually has the basic form of a human, including a trunk 1, limbs 2 and other structures. The trunk 1 includes the head, chest, abdomen and buttocks, and the limbs 2 include upper limbs and lower limbs.

[0053] Furthermore, if Figure 2 As shown, the robot further includes a hollow tube battery 3 in a ring structure, which is sleeved on at least one of the trunk 1 and the limbs 2, and is used as a power source for the robot. Figure 1 As shown, the hollow tube battery 3 can be arranged on the surface of the robot's upper limbs, lower limbs, chest, abdomen and buttocks, etc., which have cylindrical or elliptical cylindrical parts. The specific installation position needs to be determined according to actual usage requirements.

[0054] In this way, by putting the hollow tube battery 3 in a ring structure on the surface of the trunk 1 and the limbs 2, the hollow space of the hollow tube battery 3 can be used to arrange other functional components of the robot, without occupying the installation space of the robot, and fully improving the space utilization while serving as an energy source. In addition, the hollow tube battery 3 is sleeved on the outside of the robot surface, and can also provide certain mechanical structure support functions and external protection functions, etc., which is conducive to achieving the advantages of lightweight, low energy consumption, and long battery life of the robot, and reducing costs.

[0055] In some embodiments of the present invention, Figure 3 As shown, the hollow tube battery 3 includes a battery cell 301, an outer shell 302, a pair of end covers 303, and a pair of annular insulating pads 304. Specifically, as Figure 7 As shown, the battery cell 301 is an annular tubular structure. Figure 6 As shown, the battery cell 301 includes at least one group of first pole piece 3011, second pole piece 3012 and diaphragm 3013 which are stacked. The polarities of the first pole piece 3011 and the second pole piece 3012 are opposite. If the first pole piece 3011 is a positive pole piece, the second pole piece 3012 is a negative pole piece; if the first pole piece 3011 is a negative pole piece, the second pole piece 3012 is a positive pole piece. The diaphragm 3013 is arranged between the first pole piece 3011 and the second pole piece 3012. Specifically, the material of the diaphragm 3013 can be PE (Polyethylene, polyethylene) battery diaphragm, PP (Polypropylene, polypropylene) battery diaphragm or other types of battery diaphragms. Among them, the number of the first pole piece 3011, the second pole piece 3012 and the diaphragm 3013 needs to be specifically determined according to the actual design requirements.

[0056] Furthermore, if Figure 6 As shown, the battery cell 301 further includes an insulating film 3014 located at the outermost layer, and a diaphragm 3013 is arranged between the insulating film 3014 and the first pole piece 3011. Specifically, the insulating film 3014 can be a battery diaphragm, a PE coating, a PP coating, a PET (Polyethylene terephthalate) coating, etc. In this way, the materials of each layer of the battery cell 301 are directly wound around the inner wall of the hollow tube as the axis to form a tubular structure with a hollow space. In addition, as Figure 7 As shown, the end surface of the battery core 301 is also provided with a liquid injection hole 3017 for injecting the electrolyte required by the battery.

[0057] like Figure 3As shown, the outer shell 302 is arranged around the outer wall of the battery cell 301, and the outer shell 302 is connected to the first pole piece 3011 to form an external package of the battery, protect the components inside the battery from physical damage and chemical corrosion, and have good sealing and mechanical strength. A pair of end caps 303 are respectively covered at both ends of the battery cell 301, and the pair of end caps 303 are both connected to the second pole piece 3012. As a result, the polarities of the outer shell 302 and the end caps 303 are opposite, so that the corresponding polarities can be derived. Further, a pair of annular insulating pads 304 are respectively arranged between the pair of end caps 303 and the outer shell 302 to insulate and isolate the outer shell 302 and the end caps 303, and play a role in closed connection.

[0058] In this way, the inner wall of the hollow tube is directly wound as the axis to form a hollow tube battery 3 with a hollow structure. Since the hollow space is located outside the battery closed structure, it can be set on the surface of the robot, and other components can be arranged using the hollow structure, thereby improving space utilization. In addition, the hollow tube battery 3 itself has a certain structural strength, and is used in the arms, legs, chest, abdomen and buttocks of the robot, which can provide electrical energy for the robot while providing structural support for the body.

[0059] In some embodiments of the present invention, the hollow tube battery 3 further includes a first pole ear and a second pole ear. Specifically, the first pole ear is arranged corresponding to the first pole piece 3011, and the first pole ear is connected to the outer shell 302. Generally, the first pole ear extends outward from the end of the first pole piece 3011 and is connected to the outer shell 302 of the battery, such as being connected to the outer shell 302 by welding, riveting or gluing, thereby forming a first current path for connecting to the positive or negative pole of the external circuit, for example, connecting to the negative pole for transmitting the negative pole current.

[0060] The second pole ear is provided corresponding to the second pole piece 3012, and the second pole ear is connected to the end cover 303. Specifically, the second pole ear extends outward from the end of the second pole piece 3012, and is connected to the end cover 303 of the battery, such as by welding, riveting or gluing, so as to form a second current path for connecting to the positive or negative electrode of the external circuit, for example, connecting to the positive electrode for transmitting the positive current.

[0061] The first pole tab and the second pole tab are respectively disposed at two ends of the battery cell 301. Figure 7 As shown, the battery cell 301 has a pair of opposite first end faces 3015 and second end faces 3016, and the first pole ear and the second pole ear are respectively led to the two opposite end faces of the hollow tube battery 3. In this way, the pole ears are formed on both sides, so that when used as a part of the robot body, the series and parallel connection of the battery can be effectively realized, and a variety of battery combination states can be combined by using single cells, such as achieving a certain voltage and current capacity.

[0062] In some embodiments of the present invention, Figure 8 As shown, the hollow tube battery 3 includes a first hollow tube battery 310, a second hollow tube battery 320, a first annular electrode adapter 330, a second annular electrode adapter 340, and a flexible electrical connector 350. Specifically, as Figure 1 As shown, the first hollow tube battery 310 and the second hollow tube battery 320 are arranged in the joint connection area 4 of the limbs 2, such as the knee joint, elbow joint, etc., or are arranged in the joint connection area 4 between the trunk 1 and the limbs 2, such as the connection position between the trunk 1 and the lower limbs.

[0063] like Figure 8 As shown, the first annular electrode adapter 330 is disposed on the side of the first hollow tube battery 310 facing the second hollow tube battery 320, and the second annular electrode adapter 340 is disposed on the side of the second hollow tube battery 320 facing the first hollow tube battery 310. Specifically, the first annular electrode adapter 330 and the second annular electrode adapter 340 use annular electrode adapter sheets, so that the two battery cells are easily connected through the upper and lower annular electrode adapter sheets, which simplifies the connection process, improves the reliability and stability of the connection, and ensures reliable current transmission.

[0064] The flexible electrical connector 350 is disposed between the first annular electrode adapter 330 and the second annular electrode adapter 340. Specifically, the flexible electrical connector 350 may be a wire or a soft conductive metal sheet, etc. The flexible electrical connector 350 may be connected to the first annular electrode adapter 330 and the second annular electrode adapter 340 respectively by welding, bonding, etc. Thus, the flexible electrical connector 350 has a certain deformation ability to meet the bending action requirements, and ensures that the upper and lower single cells are current-conductive, thereby ensuring the normal operation of the battery.

[0065] In this way, by arranging the first hollow tube battery 310 and the second hollow tube battery 320 in the joint connection area 4 of the torso, while ensuring reliable power transmission across the joints, the batteries are allowed to maintain a certain flexibility and adaptability when the joints are bent, and will not restrict the natural movement of the limbs. This combines the flexibility and lightness of the hollow tube battery 3 with the convenience and safety of the joint connection area 4, providing a stable and reliable energy supply for electronic components near the joint area.

[0066] In an optional embodiment of the present invention, the outer shell 302 of the first hollow tube battery 310 is connected to the first annular electrode adapter 330, and the end cap 303 of the second hollow tube battery 320 is connected to the second annular electrode adapter 340. Alternatively, the end cap 303 of the first hollow tube battery 310 is connected to the first annular electrode adapter 330, and the outer shell 302 of the second hollow tube battery 320 is connected to the second annular electrode adapter 340. In this way, the first hollow tube battery 310 and the second hollow tube battery 320 are connected to the annular electrode adapter through their respective outer shells 302 and end caps 303, realizing the series connection between the first hollow tube battery 310 and the second hollow tube battery 320, while increasing the battery pack voltage and meeting the high voltage requirements of electronic equipment, the flexibility and lightness of the battery are also maintained.

[0067] In an optional embodiment of the present invention, the first annular electrode adapter 330 is welded to the first hollow tube battery 310, and / or the second annular electrode adapter 340 is welded to the second hollow tube battery 320. Preferably, the first hollow tube battery 310 and the second hollow tube battery 320 are respectively welded to the annular electrode adapter. In this way, a reliable connection between the annular electrode adapter and the hollow tube battery 3 is achieved, ensuring good conductivity and mechanical stability between the hollow tube battery 3 and the annular electrode adapter. Of course, in other embodiments, the connection between the hollow tube battery 3 and the annular electrode adapter includes but is not limited to welding, and can also be achieved by threaded connection, snap-on, bonding or other mechanical and electrical connection methods.

[0068] In some other embodiments of the present invention, Fig. 9 As shown, the hollow tube battery 3 includes a third hollow tube battery 360 and a fourth hollow tube battery 370. Specifically, as Figure 1 As shown, the third hollow tube battery 360 and the fourth hollow tube battery 370 are arranged in the non-joint connection area 5 of the trunk 1 and / or the limbs 2, such as the chest, abdomen, thigh, calf, etc. Fig. 9 As shown, the third hollow tube battery 360 and the fourth hollow tube battery 370 are stacked in sequence along the axial direction of the hollow tube battery 3 .

[0069] It can be understood that the number of the third hollow tube batteries 360 can be one, two or more, the number of the fourth hollow tube batteries 370 can be one, two or more, and the third hollow tube batteries 360 and the fourth hollow tube batteries 370 are arranged alternately in sequence along the axial direction of the hollow tube battery 3.

[0070] In this way, a long tube structure is formed by the third hollow tube battery 360 and the fourth hollow tube battery 370, or more single cells, and arranged in the non-joint connection area 5. On the one hand, it can provide a certain voltage and current capacity for the electronic components near the non-joint area. On the other hand, it can also provide certain support and protection functions, and the hollow tube structure design is used to improve space utilization, which is conducive to realizing the lightweight of the robot.

[0071] In an optional embodiment of the present invention, the outer shell 302 of the third hollow tube battery 360 is connected to the end cover 303 of the fourth hollow tube battery 370, or the end cover 303 of the third hollow tube battery 360 is connected to the outer shell 302 of the fourth hollow tube battery 370. In this arrangement, the outer shells 302 and the end covers 303 of the upper and lower single cells are directly connected, so that the third hollow tube battery 360 and the fourth hollow tube battery 370 are connected in series, forming a stable current connection path, thereby ensuring the stability and functionality of the battery pack.

[0072] In an optional embodiment of the present invention, the third hollow tube battery 360 and the fourth hollow tube battery 370 are connected by welding. In this way, by directly welding the upper and lower single cells, a firm and stable connection method is provided, which not only ensures the physical connection, but also ensures the smooth transmission of current between the single cells, thereby ensuring the stability and functionality of the battery pack, and providing a reliable electrical connection. Of course, in other embodiments, the third hollow tube battery 360 and the fourth hollow tube battery 370 include but are not limited to welding connections, and can also be achieved by threaded connections, snaps, bonding or other mechanical and electrical connection methods.

[0073] In some embodiments of the present invention, Figure 4 and Figure 5 As shown, the hollow tube battery 3 is in a circular ring structure or an elliptical ring structure. With such a configuration, the size and shape of the hollow tube battery 3 can be customized according to the specific application requirements of the robot trunk, and a suitable battery structure can be selected, thereby improving the convenience of installation and the flexibility of design, and meeting the use requirements of different parts.

[0074] The robot provided by the present invention is described in detail in combination with the above embodiments. Figure 1 As shown, a robot is provided, for example, a humanoid robot, comprising a trunk 1 and limbs 2 connected to the trunk 1. Further, as Figure 2 As shown, the robot further includes a hollow tube battery 3 in a ring structure, which is sleeved on at least one of the trunk 1 and the limbs 2, and is used as a power source for the robot. Figure 4 and Figure 5 As shown, the hollow tube battery 3 is in a circular ring structure or an elliptical ring structure.

[0075] Specifically, if Figure 3 As shown, the hollow tube battery 3 includes a battery cell 301, an outer shell 302, a pair of end caps 303, and a pair of annular insulating pads 304. The battery cell 301 includes at least one set of first pole pieces 3011, second pole pieces 3012, and diaphragms 3013 stacked in layers. The first pole piece 3011 and the second pole piece 3012 have opposite polarities. If one of them is a positive pole piece, the other is a negative pole piece. The diaphragm 3013 is disposed between the first pole piece 3011 and the second pole piece 3012. In addition, as shown in FIG. Figure 6 As shown, the battery cell 301 further includes an insulating film 3014 located at the outermost layer, and a diaphragm 3013 is arranged between the insulating film 3014 and the first pole piece 3011 .

[0076] In this embodiment, if Figure 3 As shown, the outer shell 302 is arranged around the outer wall of the battery cell 301, and the outer shell 302 is connected to the first pole piece 3011. A pair of end caps 303 are respectively arranged at both ends of the battery cell 301, and the pair of end caps 303 are both connected to the second pole piece 3012. A pair of annular insulating pads 304 are respectively arranged between the pair of end caps 303 and the outer shell 302.

[0077] Furthermore, the hollow tube battery 3 further includes a first pole ear and a second pole ear. The first pole ear is arranged corresponding to the first pole piece 3011, and the first pole ear is connected to the outer shell 302. The second pole ear is arranged corresponding to the second pole piece 3012, and the second pole ear is connected to the end cover 303. The first pole ear and the second pole ear are respectively arranged at the two ends of the battery cell 301. Specifically, as Figure 7 As shown, the battery cell 301 has a pair of opposite first end faces 3015 and second end faces 3016 , and the first pole tab and the second pole tab are respectively led out to the two opposite end faces of the battery cell 301 .

[0078] In the embodiment of the present invention, Figure 8 As shown, the hollow tube battery 3 includes a first hollow tube battery 310, a second hollow tube battery 320, a first annular electrode adapter 330, a second annular electrode adapter 340, and a flexible electrical connector 350. Specifically, as Figure 1 As shown, the first hollow tube battery 310 and the second hollow tube battery 320 are arranged in the joint connection area 4 of the limbs 2, or in the joint connection area 4 of the trunk 1 and the limbs 2. Figure 8 As shown, the first annular electrode adapter 330 is disposed on the side of the first hollow tube battery 310 facing the second hollow tube battery 320, and the second annular electrode adapter 340 is disposed on the side of the second hollow tube battery 320 facing the first hollow tube battery 310. The flexible electrical connector 350 is disposed between the first annular electrode adapter 330 and the second annular electrode adapter 340.

[0079] Further, the outer shell 302 of the first hollow tube battery 310 is connected to the first annular electrode adapter 330, and the end cap 303 of the second hollow tube battery 320 is connected to the second annular electrode adapter 340. Alternatively, the end cap 303 of the first hollow tube battery 310 is connected to the first annular electrode adapter 330, and the outer shell 302 of the second hollow tube battery 320 is connected to the second annular electrode adapter 340. Thus, the series connection between the first hollow tube battery 310 and the second hollow tube battery 320 is achieved. Among them, the first annular electrode adapter 330 is welded to the first hollow tube battery 310, and the second annular electrode adapter 340 is welded to the second hollow tube battery 320, ensuring good conductivity and mechanical stability between the hollow tube battery 3 and the annular electrode adapter.

[0080] Furthermore, in an embodiment of the present invention, if Fig. 9 As shown, the hollow tube battery 3 includes a third hollow tube battery 360 and a fourth hollow tube battery 370, and the third hollow tube battery 360 and the fourth hollow tube battery 370 are arranged in the non-joint connection area 5 of the trunk 1 and / or the limbs 2, and the third hollow tube battery 360 and the fourth hollow tube battery 370 are stacked in sequence along the axial direction of the hollow tube battery 3.

[0081] Specifically, the outer shell 302 of the third hollow tube battery 360 is connected to the end cover 303 of the fourth hollow tube battery 370, or the end cover 303 of the third hollow tube battery 360 is connected to the outer shell 302 of the fourth hollow tube battery 370. Thus, the upper and lower hollow tube batteries 3 are directly connected in series. Among them, the third hollow tube battery 360 and the fourth hollow tube battery 370 are welded to provide a firm and stable connection method.

[0082] In summary, in the embodiment of the present invention, a hollow tube battery 3 with a hollow structure is proposed, and the hollow tube battery 3 is arranged on the surface of the robot's arms, legs, chest, abdomen and buttocks, etc., which have cylindrical or elliptical parts. Compared with the need to occupy a large dedicated space in the robot and other equipment in the related art, the embodiment of the present invention is to set the hollow tube battery 3 with a ring structure on the surface of the trunk 1 and the limbs 2, so that the hollow space of the hollow tube battery 3 can be used to arrange other functional components of the robot, without occupying the installation space of the robot specifically, and fully improving the space utilization while serving as an energy source. Moreover, the hollow tube battery 3 itself has a certain structural strength, and is sleeved outside the surface of the robot, and can also provide a certain mechanical structure support function and body external protection function, etc., which is conducive to achieving the advantages of lightweight, low energy consumption, and long battery life of the robot, and reducing costs.

[0083] At the same time, the hollow tube battery 3 adopts the method of output ears on both sides, which can effectively realize the series-parallel connection of battery packs when used as part of the body of equipment such as robots, and use single cells to combine multiple battery combination states, for example, to achieve a certain voltage and current capacity.

[0084] In addition, the embodiment of the present invention proposes a layout scheme of the hollow tube battery 3 in the joint connection area 4 and the non-joint connection area 5, realizing the battery layout of different installation positions of the robot to meet its installation and use requirements. In particular, in the joint connection area 4, a flexible connection method of the hollow tube battery 3 is realized, which ensures reliable transmission of power across the joint while allowing the battery to maintain a certain flexibility and adaptability when the joint is bent, and will not restrict the natural movement of the limbs.

[0085] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A robot, characterized in that: include: A trunk (1) and limbs (2) connected to the trunk (1); A hollow tube battery (3) in an annular structure is sleeved on at least one of the trunk (1) and the limbs (2), and the hollow tube battery (3) is used as a power source for the robot.

2. The robot according to claim 1, characterized in that: The hollow tube battery (3) comprises: A battery cell (301) with an annular structure, the battery cell (301) comprising at least one group of a first pole piece (3011), a second pole piece (3012) and a diaphragm (3013) arranged in a stacked manner, the first pole piece (3011) and the second pole piece (3012) having opposite polarities, and the diaphragm (3013) being arranged between the first pole piece (3011) and the second pole piece (3012); An outer shell (302) is arranged around the outer wall of the battery core (301), and the outer shell (302) is connected to the first pole piece (3011); A pair of end covers (303), respectively covering two ends of the battery core (301), and the pair of end covers (303) are both connected to the second pole piece (3012); A pair of annular insulating pads (304) are respectively arranged between a pair of the end covers (303) and the outer shell (302).

3. The robot according to claim 2, characterized in that: The hollow tube battery (3) further comprises: A first pole lug, arranged corresponding to the first pole piece (3011), the first pole lug being connected to the outer shell (302); A second pole lug, arranged corresponding to the second pole piece (3012), the second pole lug being connected to the end cover (303); Wherein, the first pole lug and the second pole lug are respectively arranged at two ends of the battery cell (301).

4. The robot according to claim 2 or 3, characterized in that: The hollow tube battery (3) comprises: The first hollow tube battery (310) and the second hollow tube battery (320) are arranged in the joint connection area (4) of the limbs (2), or in the joint connection area (4) between the trunk (1) and the limbs (2); A first annular electrode adapter (330) is disposed on the first hollow tube battery (310) toward the one side of a second hollow tube battery (320); A second annular electrode adapter (340) is disposed on a side of the second hollow tube battery (320) facing the first hollow tube battery (310); A flexible electrical connector (350) is disposed between the first annular electrode adapter (330) and the second annular electrode adapter (340).

5. The robot according to claim 4, characterized in that: The outer shell (302) of the first hollow tube battery (310) is connected to the first annular electrode adapter (330), and the end cover (303) of the second hollow tube battery (320) is connected to the second annular electrode adapter (340), or, The end cover (303) of the first hollow tube battery (310) is connected to the first annular electrode adapter (330), and the outer shell (302) of the second hollow tube battery (320) is connected to the second annular electrode adapter (340).

6. The robot according to claim 4, characterized in that: The first annular electrode adapter (330) is welded to the first hollow tube battery (310), and / or, The second annular electrode adapter (340) is welded to the second hollow tube battery (320).

7. The robot according to claim 2 or 3, characterized in that: The hollow tube battery (3) comprises: The third hollow tube battery (360) and the fourth hollow tube battery (370) are arranged in the non-joint connection area (5) of the trunk (1) and / or the limbs (2), and the third hollow tube battery (360) and the fourth hollow tube battery (370) are stacked in sequence along the axial direction of the hollow tube battery (3).

8. The robot according to claim 7, characterized in that: The outer shell (302) of the third hollow tube battery (360) is connected to the end cover (303) of the fourth hollow tube battery (370), or, The end cover (303) of the third hollow tube battery (360) is connected to the outer shell (302) of the fourth hollow tube battery (370).

9. The robot according to claim 7, characterized in that: The third hollow tube battery (360) and the fourth hollow tube battery (370) are connected by welding.

10. The robot according to any one of claims 1 to 3, characterized in that: The hollow tube battery (3) is in the form of a circular ring structure or an elliptical ring structure.

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