Modularized battery pack of humanoid robot

Abstract

The invention relates to the technical field of battery packs, and discloses a modular battery pack of a humanoid robot, which comprises a shell module, a battery pack module is detachably connected in the shell module, and a gap distance is formed between the battery pack module and any side wall of the shell module; one side of the shell module is detachably connected with an upper cover module, and the upper cover module is detachably connected with the robot body. When the shell module is deformed by external force, the damage probability of the battery pack module can be reduced, and the overall safety and reliability of the battery pack are improved; the shell module, the battery pack module and the upper cover module are detachably connected with one another and are independent detachable modules, when one of the shell module, the battery pack module and the upper cover module is damaged and affects use safety, the shell module, the battery pack module and the upper cover module can be independently detached and replaced, the whole battery pack does not need to be replaced, and the humanoid robot can restart to work with the minimum cost; and the upper cover module is clamped with the robot main body, so that the whole battery pack can be conveniently taken out for replacement.

Description

Technical Field

[0001] The present invention relates to the technical field of battery packs, and more particularly, to a modular battery pack for a humanoid robot. Background Art

[0002] With the rapid development of robotics, robots are widely used in numerous fields, including industry, services, and healthcare. However, as a key energy supply component, battery packs require structural convenience and safety and reliability, which are the top priorities for every robotic product. Currently, most robot battery packs on the market rarely meet these requirements simultaneously. If the convenience is poor, even a small component in the battery pack can be damaged, requiring the entire pack to be forcibly dismantled, rendering all components useless and wasting significant resources. When battery packs are not sufficiently safe and reliable, their internal structure is weak, and impacts can cause internal components to collide, rendering the robot inoperable.

[0003] Therefore, it is necessary to propose a modular battery pack for a humanoid robot to solve the problems existing in the prior art. Summary of the Invention

[0004] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] In order to at least partially solve the above problems, the present invention provides a modular battery pack for a humanoid robot, comprising: an outer shell module, which is detachably connected to a battery pack module inside, and a gap is formed between the battery pack module and any side wall of the outer shell module; and an upper cover module is detachably connected to one side of the outer shell module, and the upper cover module is detachably connected to the robot body.

[0006] Preferably, the housing module includes: a first shell and a second shell, the first shell is provided with a plurality of guide columns, the second shell is provided with a plurality of first connecting columns corresponding to the guide columns, and the guide columns and the first connecting columns are connected by fixing members.

[0007] Preferably, among the multiple guide posts, at least two guide posts are arranged through the battery pack module; The battery pack module is provided with at least two through holes through which the guide column and the first connecting column can pass, and the side of the battery pack module is provided with at least two grooves that can accommodate the guide column and the first connecting column.

[0008] Preferably, a plurality of limiting posts are provided in the first shell, a plurality of second connecting posts corresponding to the limiting posts are provided on the battery pack module, and the limiting posts and the second connecting posts are connected by fixing members.

[0009] Preferably, the battery pack module includes: a plurality of battery cells, which are limitedly arranged between a first bracket and a second bracket, a plurality of third connecting columns are provided on the first bracket, a plurality of fourth connecting columns corresponding to the third connecting columns are provided on the second bracket, and the third connecting columns and the fourth connecting columns are connected by fixing members; a second connecting column is provided on the second bracket arranged close to the second shell.

[0010] Preferably, the first bracket is further provided with at least two abutment points, and the first shell is provided with abutment columns corresponding to the abutment points.

[0011] Preferably, a first circuit board is provided on the outer side of the first bracket, a second circuit board electrically connected to the first circuit board is provided on the outer side of the second bracket, and a temperature sensor for detecting the temperature of the battery pack module is connected to the first circuit board.

[0012] Preferably, the upper cover module includes: an upper cover body, which is detachably connected to the outer shell module through a fixing member; an elastic clamping portion for detachably connecting to the robot body is provided inside the upper cover body, and a trigger member of the elastic clamping portion extends out of the side of the upper cover body; when the trigger member is subjected to an external force of pressing, the elastic clamping portion disengages from the robot body.

[0013] Preferably, the elastic snap-fitting portion includes: a support plate connected to the upper cover body, a movable plate is provided on its upper limit sliding position, a trigger member is provided at one end of the movable plate, and an elastic member is provided at the other end, a baffle is provided at the end of the support plate away from the trigger member, the elastic member is arranged between the baffle and the movable plate, and a snap-fitting plate is provided below the movable plate.

[0014] Preferably, the first circuit board or the second circuit board is also connected to a pressure sensor for detecting the internal air pressure of the housing module and a gas sensor for detecting the gas released due to thermal runaway of the battery pack module.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: In the modular battery pack of the humanoid robot described in the present invention, the battery pack module does not directly contact any side wall of the outer shell module. This reduces the probability of damage to the battery pack module when the outer shell module is deformed by external force, thereby improving the safety and reliability of the battery pack as a whole. The outer shell module, battery pack module, and upper cover module are all detachably connected to each other. The three are independent, removable modules. If one of the three is damaged and affects safety, it can be removed and replaced separately without replacing the entire battery pack. This allows the humanoid robot to resume operation at the lowest cost. The upper cover module is detachably connected to the robot body, for example, by a snap-on connection, so that the battery pack can be easily taken out and replaced, which is quick and convenient.

[0016] The modular battery pack for the humanoid robot described in the present invention, and other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the exploded structure of the upper cover module and the outer shell module in the modular battery pack of the humanoid robot according to the present invention; Figure 2 This is a schematic diagram of the exploded structure of the upper cover module, battery pack module, and outer shell module in the modular battery pack of the humanoid robot according to the present invention; Figure 3 This is a schematic structural diagram of the first shell in the modular battery pack of the humanoid robot according to the present invention; Figure 4 This is a schematic structural diagram of the second shell in the modular battery pack of the humanoid robot according to the present invention; Figure 5 This is a schematic structural diagram of a battery pack module in the modular battery pack of a humanoid robot according to the present invention; Figure 6 This is a schematic diagram of the exploded structure of the battery pack module and the housing module in the modular battery pack of the humanoid robot according to the present invention; Figure 7 This is a schematic diagram of the exploded structure of the battery pack module in the modular battery pack of the humanoid robot according to the present invention; Figure 8 This is a schematic structural diagram of the first bracket in the modular battery pack of the humanoid robot according to the present invention; Figure 9 Schematic diagram of the cross-sectional structure of the modular battery pack of the humanoid robot according to the present invention; Figure 10 This is a schematic diagram of the longitudinal cross-section structure of the modular battery pack of the humanoid robot according to the present invention at the guide column located in the middle; Figure 11 This is a schematic diagram of the longitudinal cross-section structure of the modular battery pack of the humanoid robot at the limiting column according to the present invention; Figure 12 This is a schematic diagram of the cross-sectional structure of the modular battery pack of the humanoid robot according to the present invention at the guide column located in the middle; Figure 13 This is a schematic diagram of the exploded structure of the upper cover module in the modular battery pack of the humanoid robot according to the present invention; Figure 14 This is a schematic structural diagram of the elastic clamping portion in the modular battery pack of the humanoid robot according to the present invention; Figure 15 This is a schematic cross-sectional structural diagram of the upper cover module in the modular battery pack of the humanoid robot according to the present invention; Figure 16 This is a schematic cross-sectional structural diagram of the elastic clamping portion in the modular battery pack of the humanoid robot according to the present invention; Figure 17 This is a schematic diagram of the internal structure of the modular battery pack of the humanoid robot described in the present invention. DETAILED DESCRIPTION

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0019] It should be understood that terms such as “having”, “including” and “comprising” used herein do not preclude the existence or addition of one or more other elements or combinations thereof.

[0020] like Figure 1-Figure 2 、 Figure 12 and Figure 17 As shown, the present invention provides a modular battery pack for a humanoid robot, comprising: an outer shell module 1, which is detachably connected to a battery pack module 2 inside, and a gap is formed between the battery pack module 2 and any side wall of the outer shell module 1; one side of the outer shell module 1 is detachably connected to a top cover module 3, and the top cover module 3 is detachably connected to the robot body.

[0021] The battery pack module 2 does not directly contact any side wall of the outer shell module 1. When the outer shell module 1 is deformed by external force, the probability of damage to the battery pack module 2 is reduced, thereby improving the safety and reliability of the battery pack as a whole. The outer shell module 1, the battery pack module 2, and the upper cover module 3 are all detachably connected to each other. The three are independent detachable modules. If one of the three is damaged and affects the safety of use, it can be removed and replaced separately without replacing the entire battery pack. The humanoid robot can be put back into operation in a minimal cost manner. The upper cover module 3 is detachably connected to the robot body, for example, by a snap-on connection, so that the battery pack can be taken out as a whole for replacement quickly and conveniently.

[0022] like Figure 3 、 Figure 4 and Figure 10 As shown, in one embodiment, the shell module 1 includes: a first shell 4 and a second shell 5, the first shell 4 is provided with a plurality of guide columns 41, the second shell 5 is provided with a plurality of first connecting columns 51 corresponding to the guide columns 41, and the guide columns 41 and the first connecting columns 51 are connected by a fixing member 9.

[0023] Wherein, the fixing member 9 is a screw.

[0024] At least one supporting rib is provided on the side of the guide column 41 , and the supporting rib is arranged along the length direction of the guide column 41 ; the width of the supporting rib gradually decreases from the first shell 4 to the second shell 5 .

[0025] The connection position between the guide column 41 and the first connection column 51 is located in the middle of the housing module 1, that is, Figure 10 The position of the fixing member 9 is shown.

[0026] A threaded hole is provided at the end of the guide column 41, and the first connecting column 51 is hollow, and a limiting ring is provided on the inner side near its end; when connecting, the end of the guide column 41 is inserted into the first connecting column 51, and then the fixing piece 9 is inserted into the first connecting column 51 from the outside of the second shell 5, so that the fixing piece 9 is connected to the threaded hole of the guide column 41.

[0027] Furthermore, among the multiple guide posts 41 , at least two guide posts 41 are disposed through the battery pack module 2 ; like Figure 5 As shown, the battery pack module 2 is provided with at least two through holes 21 through which the guide columns 41 and the first connecting columns 51 can pass, and the side of the battery pack module 2 is provided with at least two grooves 22 that can accommodate the guide columns 41 and the first connecting columns 51.

[0028] The number of guide posts 41 is preferably ten, two of which are located in the middle of the first housing 4 and pass through the battery pack module 2 to guide the installation and positioning of the battery pack module 2, and the remaining eight are distributed on the outside of the battery pack module 2; like Figure 5 As shown, the side of the battery pack module 2 is provided with a groove 22, as shown in FIG. Figure 17As shown, after the guide column 41 and the first connecting column 51 are connected, they are located in the groove 22, limiting the installation position of the battery pack module 2; thereby, the battery pack module 2 is located in the center position inside the outer shell module 1. When the side of the outer shell module 1 is squeezed, the squeezing force will not affect the battery pack module 2, thereby ensuring safety of use.

[0029] like Figure 3 、 Figure 6 、 Figure 7 and Figure 12 As shown, in one embodiment, a plurality of limiting columns 42 are provided in the first shell 4, and a plurality of second connecting columns 252 corresponding to the limiting columns 42 are provided on the battery pack module 2, and the limiting columns 42 and the second connecting columns 252 are connected by fixing members 9.

[0030] Wherein, the fixing member 9 is a screw.

[0031] At least one supporting rib is provided on the side surface of the limiting column 42 , and the supporting rib is arranged along the length direction of the limiting column 42 .

[0032] The number of the limiting posts 42 is preferably four, which are arranged corresponding to the positions of the second connecting posts 252 and are used to fix the battery pack module 2 and the first shell 4; like Figure 11 and Figure 12 As shown, a threaded hole is provided at the end of the limiting column 42, and the second connecting column 252 is hollow and has a limiting ring inside. When connecting, the end of the limiting column 42 is inserted into the second connecting column 252, and then the fixing part 9 is inserted into the second connecting column 252 from the outside of the battery pack module 2 so that it is connected to the threaded hole of the limiting column 42 to achieve fixation.

[0033] like Figure 7 and Figure 12 As shown, in one embodiment, the battery pack module 2 includes: a plurality of battery cells 23, which are limitedly arranged between a first bracket 24 and a second bracket 25, the first bracket 24 is provided with a plurality of third connecting columns 241, the second bracket 25 is provided with a plurality of fourth connecting columns 251 corresponding to the third connecting columns 241, and the third connecting columns 241 and the fourth connecting columns 251 are connected by a fixing member 9; a second connecting column 252 is provided on the second bracket 25 arranged near the second shell 5.

[0034] The fixing member 9 is a screw; the third connecting column 241 and the fourth connecting column 251 are preferably set to 6 and evenly arranged.

[0035] The third connecting column 241 and the fourth connecting column 251 are arranged at the gap between the adjacent battery cells 23, and the connection position between the two is located at the center of the distance between the first bracket 24 and the second bracket 25, that is, Figure 12The position of the fixing member 9 is shown; like Figure 7 As shown, the first bracket 24 and the second bracket 25 are both provided with a groove for accommodating the end of the battery cell 23. After the first bracket 24 and the second bracket 25 are connected, the battery cell 23 is limited between the first bracket 24 and the second bracket 25; A threaded hole is provided at the end of the third connecting column 241, and the fourth connecting column 251 is hollow and has a limiting ring on the inner side near its end. When connecting, the fixing member 9 is inserted from the outside of the second bracket 25 into the fourth connecting column 251. The fixing member 9 is limited by the limiting ring and connected to the threaded hole of the third connecting column 241 to realize the connection between the first bracket 24 and the second bracket 25.

[0036] Assuming that the first shell 4 is squeezed by external force, the limiting column 42 will generate a force on the second bracket 25 without exerting any effect on the battery cell 23, thereby preventing the battery cell 23 from being damaged; in addition, the second bracket 25 and the first bracket 24 are connected and fixed by 6 evenly arranged third connecting columns 241 and fourth connecting columns 251, which can better resist external force and reduce the probability of damage to the battery cell 23.

[0037] like Figure 3 、 Figure 8 and Figure 9 As shown, in one embodiment, at least two abutment points 242 are further provided on the first bracket 24 , and abutment posts 43 corresponding to the abutment points 242 are provided on the first shell 4 .

[0038] The abutting point 242 is the bottom surface of the groove extending from the first bracket 24 , and the cross section of the abutting column 43 is cross-shaped.

[0039] The abutment points 242 correspond to the gaps between adjacent battery cells 23. When the battery pack module 2 is installed, the abutment between the abutment points 242 and the abutment posts 43 can enhance the stability of the connection between the battery pack module 2 and the first housing 4. When the first shell 4 is subjected to external extrusion force, the abutment column 43 generates a force on the abutment point 242. The abutment column 43 with a cross-shaped cross section can prevent the force from being concentrated at a certain point of the abutment point 242, thereby reducing or preventing deformation of the first bracket 24.

[0040] In addition, the abutment column 43 can also be set as an elastic column, which can form an elastic force between the battery pack module 2 and the first shell 4 during installation. When the first shell 4 is subjected to external extrusion, it can also prevent the elastic column from generating force on the first bracket 24, thereby ensuring the stability of the installation structure and the safety of use of the battery pack module 2.

[0041] like Figure 7As shown, in one embodiment, a first circuit board 26 is provided on the outer side of the first bracket 24, and a second circuit board 27 electrically connected to the first circuit board 26 is provided on the outer side of the second bracket 25. The first circuit board 26 is connected to a temperature sensor 8 for detecting the temperature of the battery pack module 2.

[0042] The slot extending from the first bracket 24 passes through the first circuit board 26 , and the abutting post 43 does not come into contact with the first circuit board 26 .

[0043] The second circuit board 27 is a BMS (battery management system) circuit board, which is electrically connected to the first circuit board 26 and is used to achieve overall control of the battery pack module 2; Preferably, two temperature sensors 8 are provided, and detection ends thereof are arranged between adjacent battery cells 23 for detecting the operating temperature of the battery cells 23 .

[0044] like Figure 13 and Figure 15 As shown, in one embodiment, the upper cover module 3 includes: an upper cover body 6, which is detachably connected to the outer shell module 1 through a fixing member 9; an elastic clamping portion 7 for detachably connecting to the robot body is provided inside the upper cover body 6, and a triggering member 71 of the elastic clamping portion 7 extends out of the side of the upper cover body 6; when the triggering member 71 is pressed by an external force, the elastic clamping portion 7 is disengaged from the robot body.

[0045] Four fixing columns with threaded holes are set on the top outer side of the shell module 1, that is, two are set on the top outer side of the first shell 4 and the second shell 5 respectively. After the upper cover body 6 is buckled on the shell module 1, the fixing part 9 is inserted from the top of the upper cover body 6 to connect the fixing part 9 with the fixing column to achieve the fixation of the upper cover module 3 and the shell module 1.

[0046] The robot body is provided with an installation slot for accommodating the battery pack, and the side of the installation slot is provided with a card slot corresponding to the elastic card slot 7. When the entire battery pack is installed on the robot body, the elastic card slot 7 will be engaged with the card slot on the robot body to limit the battery pack as a whole; when the battery pack needs to be removed from the robot body, press the trigger parts 71 on both sides of the upper cover body 6, and the elastic card slot 7 will be disengaged from the card slot, so that the entire battery pack can be easily taken out quickly and conveniently.

[0047] like Figure 14-16 As shown, in one embodiment, the elastic clamping portion 7 includes: a support plate 72 connected to the upper cover body 6, a movable plate 73 is provided for sliding at its upper limit, a trigger member 71 is provided at one end of the movable plate 73, and an elastic member 74 is provided at the other end, a baffle 75 is provided at the end of the support plate 72 away from the trigger member 71, the elastic member 74 is arranged between the baffle 75 and the movable plate 73, and a clamping plate 76 is provided below the movable plate 73.

[0048] The support plate 72 is provided with a limit member 721, and the movable plate 73 is provided with a slide groove 731 corresponding to the limit member 721. The limit member 721 and the slide groove 731 are used to limit the movable plate 73 vertically and horizontally. The movable plate 73 is provided with a limit rod 732 at one end close to the baffle 75. The baffle 75 is provided with a notch for accommodating the limit rod 732. The elastic member 74 is sleeved on the outside of the limit rod 732. The support plate 72 is provided with a limiting groove 722 , and the movable plate 73 is provided with a limiting plate 733 corresponding to the limiting groove 722 for limiting the sliding direction of the movable plate 73 .

[0049] like Figure 14 As shown, the support plate 72 is connected to the upper cover body 6 by screws, the movable plate 73 is limited and slides on the support plate 72, and the trigger member 71 is fixedly connected to the end of the movable plate 73 by screws; when the trigger member 71 is pressed, the movable plate 73 is driven to move toward the side close to the baffle 75, and the clamping plate 76 moves synchronously. The side of the clamping plate 76 close to the trigger member 71 is provided with a clamping block for clamping with the clamping slot. After the clamping plate 76 moves, the clamping block is disengaged from the clamping slot; The movement of the movable plate 73 is limited by the slide groove 731 and the limiter 721. The limiter 721 can be a screw. The head of the screw is used to limit the vertical position of the movable plate 73. The relative sliding of the slide groove 731 and the screw is used to limit the horizontal position of the movable plate 73. Figure 16 The lateral position of the movable plate 73 can also be limited by the limiting groove 722 and the limiting plate 733.

[0050] In one embodiment, the first circuit board 26 or the second circuit board 27 is further connected to a pressure sensor for detecting the internal air pressure of the housing module 1 and a gas sensor for detecting gas released due to thermal runaway of the battery pack module 2 .

[0051] Both the pressure sensor and the gas sensor can be set on the first circuit board 26 or the second circuit board 27, or installed on the inner side of the shell module 1, or arranged on the first bracket 24 and the second bracket 25, and located between adjacent battery cells 23. The specific arrangement and installation position are determined according to the size of the selected pressure sensor and gas sensor.

[0052] The gas sensor is a gas concentration sensor used to detect the concentration of one or more gases released when the battery pack module 2 thermally runs away. The gas concentration sensor includes but is not limited to one or more of a carbon monoxide concentration sensor and a hydrogen concentration sensor.

[0053] A voltage sensor for detecting the voltage of the battery cell 23 may also be optionally provided on the first circuit board 26 or the second circuit board 27 .

[0054] In one embodiment, a damage warning module is provided on the second circuit board 27 to detect whether the battery pack module 2 is damaged based on data detected in real time by multiple sensors. If the battery pack module 2 is damaged, an early warning prompt is issued; The multiple sensors include: one or more combinations of a temperature sensor 8 , a gas sensor, a pressure sensor, and a voltage sensor for detecting the voltage of the battery cell 23 .

[0055] Furthermore, using the damaged warning module to provide warning includes: The data detected by multiple sensors within the latest set time period is input into the trained anomaly detection model. The anomaly detection model predicts the data of multiple sensors at the next moment and obtains multiple predicted values. The trained anomaly detection model can adopt the LSTM (Long Short-Term Memory) neural network model in the prior art and be trained using historical data from multiple sensors of the battery pack module 2 under normal operating conditions. For example, continuous data detected every 60 seconds is used as a sample, and each sample contains parameters corresponding to multiple sensors. Through repeated training, the prediction error of the anomaly detection model is minimized, thereby obtaining a trained anomaly detection model. The trained anomaly detection model can accurately predict the data of multiple sensors under normal conditions. If abnormal data (such as a sudden increase in temperature) is input, the prediction error will increase significantly. The set time period may be, for example, 60 seconds, and the input data of the model may be updated every 0.1 seconds, that is, the latest multiple sensor data within 60 seconds is input into the trained anomaly detection model; Calculate the absolute value of the error between the predicted value and the true value of each sensor respectively, and standardize the absolute value of the error to obtain the error standard score of each sensor; The standardization formula is: ,in, For the The error standard fraction of each sensor, For the The absolute value of the error of each sensor, and Respectively The mean and standard deviation of the absolute value of the error of the normal data of the sensor, Normal data of each sensor can be the data in the final training phase of the anomaly detection model, or the data within any set time period under normal working conditions; Determine the error standard score of each sensor; Each sensor is preset with a corresponding set score. For example, the set score of the temperature sensor 8 is set to 2-2.5, and the set scores of the gas sensor, pressure sensor, and voltage sensor are all set to 2-3. A set maximum score corresponding to each sensor can also be set. For example, the set maximum scores of multiple sensors are all set to 5-8. The set score can also use a dynamic threshold. For example, the set score is calculated in real time based on historical normal data. The calculation formula is: , is a constant, preferably 3; and in order to adapt to the performance of the battery cell 23 decaying over time, the data in the latest set time period under normal working conditions can be recalculated every certain period, such as 1 month. and ; Improve the accuracy of error standard score judgment; If the error standard score of one sensor among multiple sensors is greater than the corresponding set score, it will be recorded and no warning prompt will be issued; If the error standard score of a sensor among multiple sensors is greater than the corresponding set score for three consecutive times and less than the set maximum score, a level 1 warning is issued; it is determined that there is a potential abnormality in battery pack module 2; If the error standard scores of at least half of the sensors among the multiple sensors are greater than the corresponding set scores and less than the set maximum score, a second-level warning is issued; it is determined that the battery pack module 2 is damaged; If the error standard score of any key sensor among multiple sensors is greater than the set maximum score, a second-level warning is issued; it is determined that the battery pack module 2 is damaged; among them, the key sensors are the temperature sensor 8 and the gas sensor.

[0056] Multiple sensors can be used to detect the working condition of the battery pack module 2, so as to accurately determine whether it is damaged and issue an early warning. The graded early warning can accurately inform the user of the degree of damage to the battery pack module 2 so that corresponding measures can be taken to further improve the safety of use.

[0057] Furthermore, it also includes: an electronic identification module set on the first circuit board 26 or the second circuit board 27. When multiple battery packs are connected to the robot body, the electronic identification module is used to distinguish each battery pack.

[0058] For example, a robot body may require three battery packs according to the present invention to form a battery pack. When the damaged warning module of one of the battery packs issues an alarm, the robot body will push the electronic identification of the battery pack that has issued the alarm through its screen or software, and display its location. For example, the three installation slots on the robot body are numbered 1, 2, and 3. When a battery pack is installed in the installation slot, the electronic identification of the battery pack corresponds to the number of the installation slot. When the damaged warning module of one of the battery packs issues an alarm, the number of the installation slot and the corresponding electronic identification of the battery pack will be displayed, thereby quickly locating the faulty battery pack and facilitating replacement by maintenance personnel.

[0059] Furthermore, it also includes: A battery capacity detection module provided on the first circuit board 26 or the second circuit board 27 is used to detect the current actual capacity of the battery pack; The discharge control module arranged on the first circuit board 26 or the second circuit board 27 is used to enable the automatic balancing module of the robot body to obtain the actual capacity of the new battery pack when a new battery pack is connected to the robot body, compare it with the actual capacity of the old battery pack, and adjust the discharge weight of each battery pack.

[0060] The discharge weight of each battery pack is adjusted through a dynamic load distribution method. The dynamic load distribution method can obtain the discharge current distribution value of each battery pack based on the current actual capacity of each battery pack to achieve balancing. The specific formula is as follows: in, For the The discharge current distribution value of each battery pack, For the The current actual capacity of the battery pack, is the total output current required by the battery pack, is the total number of battery packs.

[0061] Through the cooperation of the robot's automatic balancing module and the battery pack's discharge control module, the discharge weight of each battery pack can be adjusted according to the current actual capacity of multiple battery packs, thereby achieving balanced discharge of the battery packs, preventing increased battery loss when replacing a new battery pack when a battery pack fails, and ensuring the overall life of the battery pack.

[0062] In addition, battery packs can be classified according to the capacity attenuation rate: Class A: Capacity attenuation rate is less than or equal to 10%; Class B: Capacity attenuation rate is between 10% and 20%, and can only be used in combination with Class B or Class C battery packs; Class C: The entire pack needs to be replaced or combined with the same level; If a battery pack on the robot body is damaged and needs to be replaced, the following replacement strategy can be used: When a single battery pack fails, it is replaced with a Class A battery pack first. The robot automatically adjusts the discharge weight based on the actual capacity of each battery pack, and then uses the discharge control module of each battery pack to control the discharge. If two or more of the replaced battery packs are Class C battery packs, the entire group should be replaced with Class B or above battery packs (for example, all replaced with Class B or all replaced with Class A, without the need for balancing) to avoid frequent adjustments to the discharge weight of each battery pack and loss of efficiency.

[0063] In the description of the present invention, 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 to 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 invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0064] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0065] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with this field, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the present invention, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A modular battery pack for a humanoid robot, characterized in that: include: The outer shell module (1) is detachably connected to a battery pack module (2) inside the outer shell module (1), and a gap is formed between the battery pack module (2) and any side wall of the outer shell module (1); one side of the outer shell module (1) is detachably connected to an upper cover module (3), and the upper cover module (3) is detachably connected to the robot body.

2. The modular battery pack for a humanoid robot according to claim 1, characterized in that: The housing module (1) comprises: a first shell (4) and a second shell (5); a plurality of guide columns (41) are provided in the first shell (4); a plurality of first connecting columns (51) corresponding to the guide columns (41) are provided in the second shell (5); the guide columns (41) and the first connecting columns (51) are connected via a fixing member (9).

3. The modular battery pack for a humanoid robot according to claim 2, wherein: Among the plurality of guide posts (41), at least two guide posts (41) are arranged through the battery pack module (2); The battery pack module (2) is provided with at least two through holes (21) capable of allowing the guide columns (41) and the first connecting columns (51) to pass through, and the side surfaces of the battery pack module (2) are provided with at least two grooves (22) capable of accommodating the guide columns (41) and the first connecting columns (51).

4. The modular battery pack for a humanoid robot according to claim 2, wherein: A plurality of limiting columns (42) are provided in the first shell (4), a plurality of second connecting columns (252) corresponding to the limiting columns (42) are provided on the battery pack module (2), and the limiting columns (42) and the second connecting columns (252) are connected via a fixing member (9).

5. The modular battery pack for a humanoid robot according to claim 4, characterized in that: The battery pack module (2) comprises: a plurality of battery cells (23) which are limitedly arranged between a first bracket (24) and a second bracket (25); a plurality of third connecting columns (241) are provided on the first bracket (24); a plurality of fourth connecting columns (251) corresponding to the third connecting columns (241) are provided on the second bracket (25); the third connecting columns (241) and the fourth connecting columns (251) are connected via a fixing member (9); and a second connecting column (252) is provided on the second bracket (25) which is arranged close to the second shell (5).

6. The modular battery pack for a humanoid robot according to claim 5, characterized in that: At least two abutment points (242) are also provided on the first bracket (24), and abutment columns (43) corresponding to the abutment points (242) are provided on the first shell (4).

7. The modular battery pack for a humanoid robot according to claim 5, wherein: A first circuit board (26) is provided on the outside of the first bracket (24), and a second circuit board (27) electrically connected to the first circuit board (26) is provided on the outside of the second bracket (25). A temperature sensor (8) for detecting the temperature of the battery pack module (2) is connected to the first circuit board (26).

8. The modular battery pack for a humanoid robot according to claim 1, wherein: The upper cover module (3) comprises: an upper cover body (6) which is detachably connected to the outer shell module (1) via a fixing member (9); an elastic clamping portion (7) for detachably connecting to the robot body is provided inside the upper cover body (6); a triggering member (71) of the elastic clamping portion (7) extends out of a side of the upper cover body (6); when the triggering member (71) is subjected to an external force, the elastic clamping portion (7) is disengaged from the robot body.

9. The modular battery pack for a humanoid robot according to claim 8, wherein: The elastic clamping portion (7) comprises: a support plate (72) connected to the upper cover body (6), a movable plate (73) being provided on the upper limit sliding position, a triggering member (71) being provided at one end of the movable plate (73), and an elastic member (74) being provided at the other end, a baffle (75) being provided at the end of the support plate (72) away from the triggering member (71), the elastic member (74) being arranged between the baffle (75) and the movable plate (73), and a clamping plate (76) being provided below the movable plate (73).

10. The modular battery pack for a humanoid robot according to claim 7, wherein: The first circuit board (26) or the second circuit board (27) is also connected to a pressure sensor for detecting the internal air pressure of the housing module (1) and a gas sensor for detecting the release of gas due to thermal runaway of the battery pack module (2).

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