Vertical energy storage device shell for robot and system thereof

Abstract

An energy storage device housing (300) is disclosed. The energy storage housing may include a protective cover (206) and a housing (202) including compartments (203) and attachment points (302) (304) (306) (308) for various systems of the robotic system. The robotic system may be directly attached to the energy storage device housing. Further, the computer system (400) may be attached to the energy storage device (204) to form a conduit path that may act as a primary cooling interface to simultaneously cool the energy storage device (412) and the computer electronics (411).

Description

[0001] Incorporation by reference into any priority application

[0002] Any and all applications for which foreign or domestic priority claims are identified in the Application Data Sheet or PCT request filed with this application are incorporated herein by reference pursuant to 37 CFR 1.57 and Sections 4.18 and 20.6. This application claims priority to U.S. Provisional Patent Application No. 63 / 378,006, filed on September 30, 2022, the disclosure of which is hereby incorporated by reference in its entirety and for all purposes. Technical Field

[0003] The present disclosure relates to energy storage devices, and more particularly to energy storage devices, designs, and compartments for robotic applications. Background Art

[0004] Electrochemical energy storage systems are widely used to provide power to electronic, electromechanical, electrochemical and other useful devices. Lithium-ion batteries are one of the most common examples of electrochemical energy storage systems, and the popularity of lithium-ion batteries is due to their higher energy density compared to other electrochemical energy storage systems. In the past decade, the use of lithium-ion batteries has expanded from consumer electronics to other fields including the automotive and robotics industries. Lithium-ion batteries consist of four main components: cathode electrode, anode electrode, electrolyte and separator, and at least some of the success of lithium-ion batteries can be attributed to the development of high energy density electrodes.

[0005] Embodiments of the present disclosure and their advantages may be best understood by reference to the following detailed description. It should be understood that the same reference numerals are used to identify the same elements shown in one or more of the accompanying drawings, wherein the display is for the purpose of illustrating embodiments of the present disclosure, rather than for limiting embodiments of the present disclosure. Summary of the invention

[0006] In order to summarize the present invention and achieve advantages over the prior art, certain objects and advantages of the present invention are described herein. Not all of these objects or advantages may be achieved in any particular embodiment of the present invention. Thus, for example, those skilled in the art will recognize that the present invention may be implemented or performed in a manner that achieves or optimizes one advantage or a group of advantages as taught herein without necessarily achieving other objects or advantages as taught or suggested herein.

[0007] In one aspect, an energy storage device housing is disclosed. The energy storage device housing includes a protective cover; and a shell, the shell including: a compartment; a pelvis attachment point; an arm attachment point; and a neck attachment point.

[0008] In another aspect, an energy storage device system is disclosed. The energy storage device system includes an energy storage device housing; and an energy storage device positioned within the compartment. In some embodiments, the energy storage device system also includes energy storage device electronics.

[0009] In another aspect, a robot is disclosed. The robot includes an energy storage device housing or an energy storage device system, a leg system including a pelvic mounting point attached to a pelvic attachment point by a pelvic fastener, an arm system including an arm mounting point attached to the arm attachment point by an arm fastener, and a head system including a neck mounting point attached to a neck attachment point by a neck fastener.

[0010] In some embodiments, the pelvic mounting point is directly attached to the pelvic attachment point, wherein the arm mounting point is directly attached to the arm attachment point, and wherein the neck mounting point is directly attached to the neck attachment point. In some embodiments, at least one of the pelvic mounting point and the pelvic attachment point, the arm mounting point and the arm attachment point, and the neck mounting point and the neck attachment point includes a spacer disposed therebetween. In some embodiments, the pelvic fasteners, the arm fasteners, and the neck fasteners are each independently selected from the group consisting of screws, bolts, nails, rivets, anchors, adhesives, snaps, hot stakes, welding, and combinations thereof. In some embodiments, the energy storage device housing is configured to substantially withstand a bending moment from a payload of at least about 20 kg, wherein the energy storage device housing is configured to substantially withstand a bending moment from a payload of at least about 20 kg.

[0011] In some embodiments, the energy storage device housing further includes a computer attachment point.

[0012] In another aspect, a housing-computer system is disclosed. The housing-computer system includes an energy storage device housing; and a computer system including a computer mounting point attached to a computer attachment point by a computer fastener.

[0013] In some embodiments, the computer mounting point is directly attached to the computer attachment point. In some embodiments, the duct path is disposed between the energy storage device housing and the computer system. In some embodiments, the energy storage device housing further comprises a plurality of heat sinks positioned within the duct path. In some embodiments, the computer system further comprises a computer radiator positioned within the duct path. In some embodiments, the duct path further comprises an outer duct wall. In some embodiments, the duct path further comprises an inner duct wall. In some embodiments, the housing-computer system further comprises a fan positioned at the entrance of the duct path. In some embodiments, the housing-computer system further comprises an airflow vent positioned at the outlet of the duct path. In some embodiments, the position of the airflow vent is selected from the side side surface, the top side surface and a combination thereof of the housing-computer system.

[0014] In another aspect, a robot is disclosed. The robot includes a housing-computer system, an energy storage device positioned within a compartment, and a leg system including a pelvic mounting point attached to a pelvic attachment point via a pelvic fastener.

[0015] These and other embodiments are described in further detail below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a front perspective view of a robot including an energy storage device housing according to some embodiments.

[0017] Figure 2 is a rear perspective exploded view of an energy storage device system including an energy storage device housing, according to some embodiments.

[0018] Figure 3A is a front perspective view of an energy storage device housing and attachment points according to some embodiments.

[0019] Figure 3B is a perspective transparent front view of the interior of an energy storage device housing according to some embodiments.

[0020] Figure 4A is a front perspective view of an energy storage device housing attached to a leg system according to some embodiments.

[0021] Figure 4B is a front perspective view of an energy storage device housing attached to an arm system according to some embodiments.

[0022] Figure 4C is a front perspective view of an energy storage device housing attached to a head system according to some embodiments.

[0023] Figure 4D is an illustration of a front view of a robot including an energy storage device housing, according to some embodiments.

[0024] Figure 4E is a side view of a robot including an energy storage device housing according to some embodiments.

[0025] Figure 5A is a cross-sectional side view illustration of a housing-computer system according to some embodiments.

[0026] Figure 5B is a front perspective exploded view of a housing-computer system according to some embodiments.

[0027] Figure 5C is a rear perspective exploded view of a housing-computer system according to some embodiments.

[0028] Figure 5Dis a cross-sectional front view of a housing-computer system according to some embodiments.

[0029] Fig. 6A is a cross-sectional side view illustration of a housing-computer system according to some embodiments.

[0030] Figure 6B is a front perspective exploded view of a housing-computer system according to some embodiments.

[0031] Figure 6C is a front perspective view of a housing-computer system according to some embodiments.

[0032] Fig. 7A is a front perspective view of a portion of a robot having side vents according to some embodiments.

[0033] Figure 7B is a front perspective view of a portion of a robot having a top vent according to some embodiments. DETAILED DESCRIPTION

[0034] Energy storage device housings, energy storage device systems, and housing-computer systems are described herein. The energy storage device housing may not only retain the energy storage device within its compartment, but may also form a trunk of the robot such that the energy storage device housing structurally supports and transfers loads from body part elements (e.g., head, neck, arms, pelvis, legs) of the robot attached thereto. As such, in addition to being structurally designed to handle loads from the robot's body parts as well as additional loads and load transfers, the energy storage device housing may provide the energy storage device retained within protection from mechanical damage and thermal runaway.

[0035] In some additional aspects, a housing-computer system formed by a computer system attached to an energy storage device housing can form a duct path therebetween that can serve as a primary cooling interface for cooling both the energy storage device and the computer electronics.

[0036] One or more aspects of the present application relate to enhanced technologies for autonomous or semi-autonomous (collectively referred to herein as autonomous) operation of a machine, which is generally referred to as a robot or a robotic machine. In one or more embodiments, the robot can be configured or optimized to perform one or more tasks that are usually achieved by manpower. In some applications, the robot can be humanoid in appearance to physically resemble a person or manpower at least in part. In other applications, the robot may not be constrained by humanoid features in appearance.

[0037] Therefore, the robot can use vision-based sensor information to navigate in a real-world environment. It is understandable that humans can navigate in various environments and use vision and a deep understanding of their real-world environment to perform detailed tasks. For example, people can quickly identify objects (e.g., walls, boxes, machines, tools, etc.) and use these objects to inform navigation / movement (e.g., walking, running, avoiding collisions, etc.) and perform manipulation tasks (e.g., picking up objects, using machines / tools, moving between limited locations, etc.). Such robots can utilize energy storage device orientation, design, architecture and / or compartments, which not only provide power for the robot and its equipment, but are also configured to help the robot perform tasks.

[0038] Although included herein are descriptions of energy storage device orientation, design, structure, and / or compartments for robots, it is understood that the technology may be applied to other machines. For example, the disclosures described herein relating to energy storage devices, energy storage device housings, energy storage device systems, and / or housing-computer systems may be used in part for ground vehicles, air vehicles, and the like. Additionally, in some embodiments, references to robots may not be limited to any particular type of environment, such as a built environment, a factory, a commercial facility, a domestic facility, a public area, a secure and protective environment, and the like.

[0039] Figure 1 An exemplary robot 100 is shown. The robot 100 may include one or more electric motors that cause movement of one or more actuators or manipulators. The electric motors may include, for example, induction motors, permanent magnet motors, etc. The robot 100 is also depicted as including an energy storage device system 102, which is shown located within a chest 104 of the robot 100. The robot 100 is at least partially covered by a housing 106. The energy storage device system 102 includes an energy storage device housing that houses at least one energy storage device. Figure 1 As shown, the torso, arms, and neck of the robot 100 are mounted directly to the energy storage device housing of the energy storage device system 102. The energy storage device may include one or more energy storage device (e.g., battery) packs, each of which includes multiple energy storage devices, which can be used to power the robot and its equipment (e.g., electric motors) as known to those skilled in the art.

[0040] Figure 2 It shows that it can be integrated into a robot (e.g. Figure 1The energy storage device system 200 in the robot 100 of the embodiment of the present invention is shown. The energy storage device system 200 includes a housing 202, the housing 202 includes a compartment 203, a vertically oriented energy storage device package 204 and a protective cover 206. The vertically oriented energy storage device package 204 includes a plurality of batteries 208, cooling, electrical and / or reinforcement components 210 and electronic device components 212. The housing 202 and the protective cover 206 together can be referred to as an energy storage device housing.

[0041] In some embodiments, the anode and cathode of one or more of the plurality of batteries 208 may be electrically connected to the electronic device element 212 through the same side or single plane of the battery. For example, an exemplary type of storage cell and storage cell arrangement that can be used in at least one embodiment is described in U.S. Provisional Application No. 63 / 366,454, entitled “ENERGY STORAGE CELL”, filed on June 15, 2022. Another exemplary type of storage cell and storage cell arrangement that can be used in at least one embodiment is described in PCT Application No. PCT / US2021 / 051343, entitled “ENERGY STORAGE CELL”, filed on September 21, 2021. U.S. Provisional Application No. 63 / 366,454 and PCT Application No. PCT / US 2021 / 051343 are incorporated herein by reference. Such orientation can help reduce manufacturing costs, minimize the space occupied by the energy storage device system, and / or help with the discharge and discharge guidance of gases. In some embodiments, cooling and / or strengthening element 210 may include channels and / or materials that facilitate heat transfer from energy storage device system 200. In some embodiments, housing 202 may include channels and / or materials that facilitate heat transfer from energy storage device system 200, such as cooling fins and / or heat sinks.

[0042] Figure 3A An energy storage device housing 300 is shown including a pelvis attachment point 302 , an arm attachment point 304 , a neck attachment point 306 , and a computer attachment point 308 . Figure 3B An interior compartment of energy storage device housing 300 is depicted, including a plurality of energy storage devices 310 and energy storage device electronics 312 .

[0043] Figure 4A Energy storage device housing 300 is shown attached to leg system 314. Leg system includes pelvis 315, pelvis mount 316 attached to the top of pelvis 315, pelvis mounting point 318 disposed at the top of pelvis mount 316, and legs 317A and 317B attached to the bottom of pelvis 315. Pelvis mounting point 318 is disposed at the bottom of pelvis 315. Figure 4A 304 as configured to be attached to the pelvis attachment point 302. The energy storage device housing is also shown having an arm attachment spacer 320 disposed on the arm attachment point 304.

[0044] Figure 4B The energy storage device housing 300 is shown attached to the leg system 314 and to the arm system including the left arm 324A and the right arm 324B. Each arm 324A and 324B includes an arm mounting point 326 configured to attach to the arm attachment point 304 via the spacer attachment point 322. Figure 4C Energy storage device housing 300 is shown attached to arms 342A and 342B and to head system 328. Head system 328 includes a neck mounting point 330 configured to attach to neck attachment point 306.

[0045] Figure 4D A front view of robot 340 is depicted with leg system 314 , arms 324A and 324B, and head system 328 attached to energy storage device housing 300 . Figure 4D The robot 340 is shown standing on the leg system 314 with its arms 324A and 342B extending horizontally from its sides. Figure 4E Depicted Figure 4D 340, wherein the robot 340 stands on the leg system 314 with its arms 324A and 342B extending horizontally forward.

[0046] In some embodiments, the energy storage device housing is attached to the pelvic system, the arm system, the head system and / or the leg system. In some embodiments, the energy storage device housing is directly attached to the pelvic system, the arm system, the head system and / or the leg system. In some embodiments, the energy storage device housing includes one or more attachment points, which are configured to be directly or indirectly attached to other components or systems of the robot by using fasteners. In some embodiments, the attachment points are configured to directly attach the pelvic system, the pelvic mounting, the arm system, the arm mounting, the head system, the thermal mounting, the leg system and / or the leg mounting. In some embodiments, the attachment points directly attached to the components or systems of the robot include spacers disposed therebetween. In some embodiments, fasteners include screws, bolts, nails, rivets, anchors, adhesives (e.g., glue), snaps (e.g., plastic snaps), hot piles (e.g., plastic hot piles), welding and combinations thereof.

[0047] In some embodiments, the pelvis of the robot is the root of the kinematic chain. In some embodiments, all or substantially all components (e.g., head, neck, trunk or energy storage device housing, pelvis, legs), attachment points and / or mountings in the kinematic chain are as rigid as possible to reduce end effector deflection and / or avoid excitation modal frequencies. In some embodiments, the payload on the robot's arm may result in shear forces and bending moments applied to the trunk or energy storage device housing. As such, in some embodiments, the trunk or energy storage device housing provides structural support to withstand or substantially withstand bending moments from the following payloads: approximately, at least, or at least approximately 0.5 kg, 1 kg, 2 kg, 5 kg, 10 kg, 20 kg, 30 kg, 40 kg, 50 kg, 75 kg, 100 kg, 150 kg, or 200 kg, or any numerical range therebetween.

[0048] Figure 5A A cross-sectional side view of a housing-computer system 400 including an energy storage device housing 400A attached to a computer system 400B is shown, whereby a duct path 402 is formed between the energy storage device housing 400A and the computer system 400B. The computer system 400B includes a fan 404 adjacent to the energy storage device housing 400A and the inlet of the duct path 402, such that the fan 404 is configured to cause air to follow an airflow path 406 through the duct path 402. The energy storage device housing 400A includes a heat sink 408 disposed within the duct path 402, and the computer system 400B includes a computer heat sink 410 disposed within the duct path 402, such that air along the airflow path 406 is configured to absorb heat from a plurality of energy storage devices 412 within the energy storage device housing 400A and computer electronics 411 of the computer system 400B before exiting the housing-computer system 400.

[0049] Figure 5B and 5C Depicting the separation Figure 5AThe housing of the computer system 400 includes an energy storage device housing 400A and a computer system 400B. The surface of the energy storage device housing 400A configured to interface with the computer system 400B includes a computer attachment point 415, a pair of heat sinks 408, and a pair of inner duct walls 414 along the path of the heat sink 408, wherein the heat sink 408 starts at the bottom end of the energy storage device housing 400A and ends at the top side end of the energy storage device housing 400A. The computer system 400B includes a pair of fans 404, a computer radiator 410, and a computer cover 416. The computer cover 416 is configured to interface with the surface of the energy storage device housing 400A and includes a computer mounting point 417 and a pair of outer duct walls 418. The energy storage device housing 400A is configured to be attached to the computer system 400B by attaching the computer attachment point 415 to the computer mounting point 417 (e.g., with fasteners) so that the outer conduit wall 418 of the computer cover 416 and the inner conduit wall 414 of the energy storage device housing 400A form a Figure 5A The pipeline path 402. Figure 5C Energy storage device housing 400A is shown without a protective cover (ie, housing), whereby a plurality of energy storage devices 412 and energy storage device electronics 420 are arranged within a compartment.

[0050] Figure 5D A cross-sectional front view of a housing-computer system 400 is shown, showing Figures 5A-5C A pair of fans 404, airflow path 406, heat sink 408, computer radiator 410, inner duct wall 414, outer duct wall 418, and computer cover 416.

[0051] Fig. 6A A cross-sectional side view of a housing-computer system 500 including an energy storage device housing 500A attached to a computer system 500B is shown, thereby forming a housing duct path 522A and a computer duct path 522B between the energy storage device housing 400A and the computer system 400B. The computer system 500B includes a fan 508 adjacent to the energy storage device housing 500A and the inlet of the housing duct path 522A and the computer duct path 522B, such that the fan 508 is configured to pass air through the housing and computer duct paths 522A and 522B. The energy storage device housing includes a heat sink disposed within the energy storage device housing 500A, and the computer system 400B includes a computer heat sink 520 and a heat distribution system 518 (e.g., a vapor chamber and / or copper pads) disposed within a computer duct path 522B such that a fan 508 flows air through the housing and computer duct paths 522A and 522B to absorb heat from the plurality of energy storage devices 524 within the energy storage device housing 500A and the computer electronics 506 of the computer system 500B before exiting the top of the housing-computer system 500.

[0052] Figure 6B Depicting the separation Fig. 6A The housing of the computer system 500 includes an energy storage device housing 500A and a computer system 500B, and Figure 6C An energy storage device housing 500A and a computer system 500B are depicted attached to form a housing - a computer system 500. A surface of the energy storage device housing 500A configured to interface with the computer system 500B includes: a pair of heat sinks 502, wherein the heat sinks 502 begin at the bottom end of the energy storage device housing 500A and end at the top end of the energy storage device housing 500A; and a pair of outer duct walls 504, which generally follow the path of the heat sinks 502. The computer system 500B includes computer electronics 506, a pair of fans 508, and a computer hood 512. The computer hood 512 is configured to interface with a surface of the energy storage device housing 500A and includes airflow vents 510 at the top end of the computer system 500B. The energy storage device housing 500A is configured to be attached to the computer system 500B such that the outer duct walls 504 of the energy storage device housing 500A and the airflow vents 510 of the computer system 500B form Fig. 6A The housing conduit path 522A and the computer conduit path 522B.

[0053] Fig. 7A A portion of a robot 600A is depicted, including an energy storage device housing 602A, a computer system 604A attached to a front portion of the energy storage device housing 602A, a pair of fans 606A attached to the computer system 604A, a portion of an arm 610A attached to the energy storage device housing 602A, a side airflow vent 608A, and a housing 612A that generally covers the robot 600A. The side airflow vent 608A is configured to exhaust air drawn in by the fan 606A out the side of the robot 600A below the arm 610A. An example housing that may include such a side airflow vent may be the computer system 604A. Figures 5A-5D A housing of a computer system 400.

[0054] Figure 7B A portion of a robot 600B is depicted that includes an energy storage device housing 602B, a computer system 604B attached to a front portion of the energy storage device housing 602B, a pair of fans 606B attached to the computer system 604B, a portion of an arm 610B attached to the energy storage device housing 602B, a top airflow vent 608B, and a housing 612B that generally covers the robot 600B. The top airflow vent 608B is configured to exhaust air drawn in by the fan 606B out of a top back portion of the robot 600B behind a head of the robot 600B. An example housing that may include such side airflow vents may be a computer system. Figures 6A-6C The housing of the computer system 500.

[0055] In some embodiments, the surface of the energy storage device housing configured to interface with the computer system is a primary surface. In some embodiments, the surface of the energy storage device housing configured to interface with the computer system is a front surface or a rear surface. For example, in some embodiments, the surface is the front main surface of the energy storage device housing. In some embodiments, the surface of the computer system configured to interface with the energy storage device housing (e.g., a computer cover) is a primary surface. In some embodiments, the surface of the computer system configured to interface with the energy storage device housing (e.g., a computer cover) is a primary surface. For example, in some embodiments, the surface (e.g., a computer cover) is the rear main surface of the computer system.

[0056] In some embodiments, the robot includes 1, 2, 3, 4, 5, or 6 or more fans. In some embodiments, the robot includes 1, 2, 3, 4, 5, or 6 or more duct paths. In some embodiments, the duct path is vertically divided into a closed duct path and a computer duct path. In some embodiments, the duct path is not vertically separated. In some embodiments, the robot includes 1, 2, 3, 4, 5, or 6 or more vents. In some embodiments, the robot includes 1, 2, 3, 4, 5, or 6 or more radiators. In some embodiments, the duct path includes a plurality of heat sinks (e.g., 2, 3, 4, 5, 6, 10, 15, 20, 25, 50, 75, or 100). In some embodiments, these fans and / or duct vents are positioned on the top, bottom, left, right, front, and / or rear positions of the robot's trunk, housing-computer system and / or energy storage device housing, or any combination thereof. In some embodiments, fans and / or duct vents are positioned on or near a major or minor surface of the trunk of the robot, the housing-computer system, and / or the energy storage device housing, or any combination thereof. In some embodiments, the duct path and / or length of the heat sink is substantially linear or curved. In some embodiments, the inner and / or outer duct walls may be positioned on the energy storage device housing, the computer system (e.g., a computer cover), or any combination thereof. In some embodiments, the housing-computer system does not include an inner duct wall.

[0057] In some embodiments, the energy storage device housing is attached to a computer system. In some embodiments, the energy storage device housing is directly attached to a computer system. In some embodiments, the energy storage device housing includes one or more attachment points, which are configured to be directly or indirectly attached to other components or systems of the robot by using fasteners. In some embodiments, the attachment points are configured to be directly attached to a computer system. In some embodiments, the attachment points directly attached to the computer system of the robot include spacers disposed therebetween. In some embodiments, fasteners include screws, bolts, nails, rivets, anchors, adhesives, welding, snaps (e.g., plastic snaps), heat stakes (e.g., plastic heat stakes) and combinations thereof.

[0058] In some embodiments, the energy storage device system can be used to protect the energy storage device (e.g., from impact, water, and / or normal operation), used as a structural support element for the robot trunk and / or body (e.g., to withstand structural loads), or a combination thereof. In some embodiments, the energy storage device system can be used as a structural support so that additional support structures (e.g., beams) may not be necessary and / or may be removed altogether. As such, in some embodiments, the energy storage device system can help save cost and weight.

[0059] In some embodiments, the energy storage device housing, shell and / or protective cover are configured to provide protection for the energy storage device and / or the structural support. In some embodiments, the shape and / or orientation of the energy storage device, energy storage device housing, shell and / or protective cover are configured to provide protection for the energy storage device and / or structural support. In some embodiments, the energy storage device housing is configured to serve as the main structural support of the robot trunk and / or body. In some embodiments, the trunk and / or body of the robot do not include additional main structural components. In some embodiments, structural support and / or main structural support provide protection from mechanical injuries, meet the safety requirements of energy storage devices, provide structural support for pelvis, arms, head, main robot computer and / or other equipment directly mounted to the energy storage device system or trunk, and / or withstand and transmit dynamic loads from the upper body through the pelvis and legs to maintain balance and maximize stiffness, thereby accurately positioning the robot.

[0060] In some embodiments, the energy storage device system and / or housing is configured to provide thermal management of the robot computer system and / or energy storage device. In some embodiments, the energy storage device also includes a thermal management system. In some embodiments, the energy storage device system including a thermal management system utilizes the thermal conductivity and structure of the energy storage device housing, reduces the physical volume of the package, speeds up assembly, reduces costs, reduces components, and / or improves product reliability.

[0061] In some embodiments, the energy storage device housing, housing and / or protective cover include materials that provide structural support and / or enable thermal management of the energy storage device and / or computer system. In some embodiments, the material includes ceramic, glass, aluminum, silver, copper, gold, silicon, tungsten, iron, carbon, alloys thereof (e.g., steel), and combinations thereof. In some embodiments, the material is aluminum.

[0062] In some embodiments, the electronic device element and / or computer electronic device includes a printed circuit board assembly (PCBA). In some embodiments, the electronic device element and / or computer electronic device includes a temperature monitoring element, a voltage monitoring element, a balancing element, a multi-stage passive and active fuse, a power distribution bus (e.g., distributing power to multiple separate control, monitoring and fusible buses), a power conversion bus (e.g., converting power to a low voltage communication bus), a charging management element, a power distribution element, and a combination thereof. In some embodiments, the electronic device element and / or computer electronic device does not have a power distribution controller. In some embodiments, the electronic device element is configured to allow a limb, a computer electronic device (e.g., a main robot computer system) / or a head to be directly electrically connected to an energy storage device. All processes described herein can be implemented and fully automated via a software code module, which is executed by a computing system including one or more computers or processors. The code module can be stored in any type of non-transient computer-readable medium or other computer storage device. Some or all of the methods can be implemented in dedicated computer hardware.

[0063] According to the disclosure, many other changes except those described herein will be apparent.For example, according to an embodiment, some actions, events or functions of any algorithm described herein can be performed in different orders, or can be added, merged or completely omitted (for example, not all described actions or events are necessary for the practice of the algorithm). In addition, in certain embodiments, actions or events can be performed concurrently rather than sequentially, for example, by multithreading, interrupt processing or multiple processors or processor cores or on other parallel architectures. In addition, different tasks or processes can be performed by different machines and / or computing systems that can work together.

[0064] The various illustrative logic blocks, modules, and engines described in conjunction with the embodiments disclosed herein may be implemented or executed by a machine designed to perform the functions described herein (e.g., a processing unit or processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof). The processor may be a microprocessor, but in an alternative, the processor may be a controller, a microcontroller, or a state machine, a combination thereof, or the like. The processor may include a circuit configured to process computer executable instructions. In another embodiment, the processor includes an FPGA or other programmable device that performs logic operations without processing computer executable instructions. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors and a DSP core, or any other such configuration. Although primarily described herein with respect to digital technology, the processor may also primarily include analog components. For example, some or all of the signal processing algorithms described herein may be implemented in analog circuits or mixed analog and digital circuits. The computing environment may include any type of computer system, including but not limited to a microprocessor-based computer system, a mainframe computer, a digital signal processor, a portable computing device, a device controller, or a computing engine within an appliance, etc.

[0065] Unless otherwise specifically stated, conditional language such as "may," "can," "might," or "could" is understood in the context to be generally used to express that some embodiments include and other embodiments do not include certain features, elements, and / or steps. Thus, such conditional language is generally not intended to imply that one or more embodiments require features, elements, and / or steps in any way, or that one or more embodiments must include logic for determining, with or without user input or prompting, whether such features, elements, and / or steps are included in any particular embodiment or are to be performed in any particular embodiment.

[0066] Unless expressly stated otherwise, disjunctive language, such as the phrase "at least one of X, Y, or Z," is understood together with the context to be generally used to indicate that an item, a term, etc. may be X, Y, or Z, or any combination thereof (e.g., X, Y, and / or Z). Thus, such disjunctive language is generally not intended to, and should not, imply that certain embodiments require that at least one of X, at least one of Y, or at least one of Z each be present.

[0067] Any process description, element or block in the flowcharts described herein and / or depicted in the accompanying drawings should be understood to potentially represent a module, segment or portion of code including one or more executable instructions for implementing a specific logical function or element in the process. Alternative implementations are included within the scope of the embodiments described herein, where the functions, elements or functions involved can be deleted, executed from the order shown or discussed, including substantially simultaneously or in reverse order as will be understood by those skilled in the art.

[0068] Unless expressly stated otherwise, articles such as "a" or "an" should generally be interpreted as including one or more of the described items. Thus, phrases such as "configured to" are intended to include one or more of the described devices. Such one or more of the described devices may also be configured together to perform the described statements. For example, "a processor configured to perform statements A, B, and C" may include a first processor configured to perform statement A, which works in conjunction with a second processor configured to perform statements B and C.

[0069] It should be emphasized that many changes and modifications may be made to the above-described embodiments, and the elements of these embodiments should be understood as other acceptable examples. All such modifications and changes are intended to be included within the scope of the present disclosure.

Claims

1. A housing of an energy storage device, comprising: Protective cover; as well as A housing, the housing comprising: compartment; pelvic attachment point; Arm attachment points; and Neck attachment point.

2. An energy storage device system, comprising: The energy storage device housing according to claim 1; as well as An energy storage device is positioned within the compartment.

3. The energy storage device system of claim 2, further comprising energy storage device electronics.

4. A robot comprising: The energy storage device housing according to claim 1 or the energy storage device system according to claim 2 or 3; a leg system including a pelvic mounting point attached to said pelvic attachment point by a pelvic fastener; an arm system including an arm mounting point attached to said arm attachment point by an arm fastener; as well as A head system includes a neck mounting point attached to the neck attachment point by a neck fastener.

5. The robot of claim 4, wherein the pelvis mounting point is directly attached to the pelvis attachment point, wherein the arm mounting point is directly attached to the arm attachment point, and wherein the neck mounting point is directly attached to the neck attachment point.

6. The robot according to claim 4 or 5, wherein at least one of the pelvis mounting point and the pelvis attachment point, the arm mounting point and the arm attachment point, and the neck mounting point and the neck attachment point includes a spacer disposed therebetween.

7. The robot according to any one of claims 4 to 6, wherein the pelvic fastener, the arm fastener and the neck fastener are each independently selected from the group consisting of screws, bolts, nails, rivets, anchors, adhesives, snaps, heat stakes, welds and combinations thereof.

8. The robot of any one of claims 4 to 7, wherein the energy storage device housing is configured to substantially withstand a bending moment from a payload of at least about 20 kg.

9. The energy storage device housing of claim 1 further comprising a computer attachment point.

10. A housing-computer system, comprising: The energy storage device housing according to claim 9; as well as A computer system includes a computer mounting point attached to the computer attachment point by a computer fastener.

11. The housing-computer system of claim 10, wherein the computer mounting point is directly attached to the computer attachment point.

12. The housing-computer system according to claim 10 or 11, wherein a conduit path is provided between the energy storage device housing and the computer system.

13. The enclosure-computer system of claim 12, wherein the energy storage device enclosure further comprises a plurality of heat sinks positioned within the conduit path.

14. The enclosure-computer system of claim 12 or 13, wherein the computer system further comprises a computer heat sink positioned within the conduit path.

15. The enclosure-computer system of any one of claims 12 to 14, wherein the conduit path further comprises an outer conduit wall.

16. The enclosure-computer system of any one of claims 12 to 15, wherein the conduit path further comprises an inner conduit wall.

17. The enclosure-computer system according to any one of claims 12 to 16, wherein the enclosure-computer system further comprises a fan positioned at an inlet of the duct path.

18. The enclosure-computer system of any one of claims 12 to 17, wherein the enclosure-computer system further comprises an airflow vent positioned at an outlet of the duct path.

19. The housing-computer system of any one of claims 12 to 18, wherein the location of the airflow vent is selected from a side side surface, a top side surface, and a combination thereof of the housing-computer system.

20. A robot comprising: The housing-computer system of any one of claims 10 to 19; an energy storage device positioned within the compartment; as well as A leg system includes a pelvic mounting point attached to the pelvic attachment point by a pelvic fastener.

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