A modular battery pack for a humanoid robot

Abstract

This invention relates to the field of battery pack technology and discloses a modular battery pack for a humanoid robot, comprising: an outer shell module, to which a battery pack module is detachably connected, with a gap between the battery pack module and any sidewall of the outer shell module; a top cover module is detachably connected to one side of the outer shell module, and the top cover module is detachably connected to the robot body. When the outer shell module is deformed by external force, the probability of damage to the battery pack module can be reduced, improving the overall safety and reliability of the battery pack; the outer shell module, battery pack module, and top cover module are detachably connected to each other, and are independent detachable modules. When one of the three is damaged and affects safety, it can be removed and replaced individually without replacing the entire battery pack, allowing the humanoid robot to resume operation at minimal cost; the top cover module is snapped into the robot body, allowing for easy removal and replacement of the entire battery pack.

Description

Technical Field

[0001] This invention relates to the field of battery pack technology, and more specifically, to a modular battery pack for a humanoid robot. Background Technology

[0002] With the rapid development of robotics technology, robots are widely used in numerous fields such as industry, service, and healthcare. However, as a key power supply component for robots, the battery pack's structural convenience and reliability are essential requirements for every robot product. Currently, very few robot battery packs on the market can simultaneously meet these demands. When convenience is poor, damage to even a small part of the battery pack necessitates the forceful disassembly of the entire pack, rendering all parts unusable and wasting significant resources. Conversely, when the battery pack's reliability is low, its internal structure is not robust, and impacts can cause internal components to collide, rendering the robot unable to function properly.

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

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] 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, wherein a battery pack module is detachably connected inside the outer shell module, and a gap is formed between the battery pack module and any side wall of the outer shell module; and a top cover module is detachably connected to one side of the outer shell module, and the top cover module is detachably connected to the robot body.

[0006] Preferably, the outer shell module includes: a first shell and a second shell, wherein the first shell is provided with a plurality of guide posts, and the second shell is provided with a plurality of first connecting posts corresponding to the guide posts, and the guide posts and the first connecting posts are connected by fasteners.

[0007] Preferably, at least two of the guide posts pass through the battery pack module;

[0008] The battery pack module has at least two through holes through which the guide post and the first connecting post can pass, and the side of the battery pack module has at least two grooves that can accommodate the guide post and the first connecting post.

[0009] Preferably, the first housing is provided with a plurality of limiting posts, and the battery pack module is provided with a plurality of second connecting posts corresponding to the limiting posts, and the limiting posts and the second connecting posts are connected by a fastener.

[0010] Preferably, the battery pack module includes: multiple battery cells, which are positioned between a first bracket and a second bracket; the first bracket is provided with multiple third connecting posts; the second bracket is provided with multiple fourth connecting posts corresponding to the third connecting posts; the third connecting posts and the fourth connecting posts are connected by fasteners; and the second bracket, which is located near the second housing, is provided with second connecting posts.

[0011] Preferably, the first bracket is further provided with at least two abutment points, and the first housing is provided with abutment posts corresponding to the abutment points.

[0012] Preferably, a first circuit board is provided on the outer side of the first bracket, and a second circuit board electrically connected to the first circuit board is provided on the outer side of the second bracket. A temperature sensor for detecting the temperature of the battery pack module is connected to the first circuit board.

[0013] Preferably, the upper cover module includes: an upper cover body, which is detachably connected to the outer shell module via a fastener; the upper cover body has an elastic snap-fit ​​part inside for detaching and connecting with the robot body, and a trigger of the elastic snap-fit ​​part extends out of the side of the upper cover body; when the trigger is subjected to an external pressing force, the elastic snap-fit ​​part disengages from the robot body.

[0014] Preferably, the elastic snap-fit ​​part includes: a support plate connected to the upper cover body, a movable plate slidably mounted on the upper limit of the support plate, a trigger element at one end of the movable plate and an elastic element at the other end, a baffle at the end of the support plate away from the trigger element, the elastic element being disposed between the baffle and the movable plate, and a snap-fit ​​plate being disposed below the movable plate.

[0015] Preferably, the first or second circuit board is further connected to a pressure sensor for detecting the internal air pressure of the housing module and a gas sensor for detecting the gas released during thermal runaway of the battery pack module.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects:

[0017] The modular battery pack for the humanoid robot described in this invention does not have direct contact between the battery pack module and either sidewall of the outer shell module. When the outer shell module is deformed by external force, the probability of damage to the battery pack module can be reduced, thereby improving the overall safety and reliability of the battery pack.

[0018] The outer shell module, battery pack module, and top cover module are all detachably connected to each other. They are independent detachable modules. When 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. This allows the humanoid robot to start working again with minimal cost.

[0019] The top cover module can be detached from the robot body, for example, by using a snap-fit ​​method, which allows the battery pack to be easily removed and replaced quickly and conveniently.

[0020] The modular battery pack for the humanoid robot described in this invention, and other advantages, objectives and features of this invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0022] Figure 1 This is an exploded structural diagram of the upper cover module and the outer shell module in the modular battery pack of the humanoid robot described in this invention.

[0023] Figure 2 This is an exploded structural diagram of the top cover module, battery pack module, and outer shell module in the modular battery pack of the humanoid robot described in this invention.

[0024] Figure 3 This is a schematic diagram of the structure of the first housing in the modular battery pack of the humanoid robot described in this invention;

[0025] Figure 4 This is a schematic diagram of the structure of the second housing in the modular battery pack of the humanoid robot described in this invention;

[0026] Figure 5 This is a schematic diagram of the battery pack module in the modular battery pack of the humanoid robot described in this invention;

[0027] Figure 6 This is an exploded structural diagram of the battery pack module and the outer shell module in the modular battery pack of the humanoid robot described in this invention.

[0028] Figure 7 This is an exploded structural diagram of the battery pack module in the modular battery pack of the humanoid robot described in this invention;

[0029] Figure 8 This is a schematic diagram of the structure of the first support in the modular battery pack of the humanoid robot described in this invention;

[0030] Figure 9 This is a schematic cross-sectional view of the modular battery pack of the humanoid robot described in this invention.

[0031] Figure 10 This is a schematic diagram of the longitudinal section structure of the modular battery pack of the humanoid robot described in this invention at the guide post located in the middle;

[0032] Figure 11 This is a schematic diagram of the longitudinal section structure of the modular battery pack of the humanoid robot described in this invention at the limiting post;

[0033] Figure 12 This is a schematic diagram of the cross-sectional structure of the modular battery pack of the humanoid robot described in this invention at the guide post located in the middle.

[0034] Figure 13 This is an exploded structural diagram of the upper cover module in the modular battery pack of the humanoid robot described in this invention.

[0035] Figure 14 This is a schematic diagram of the elastic snap-fit ​​part in the modular battery pack of the humanoid robot described in this invention;

[0036] Figure 15 This is a schematic diagram of the cross-sectional structure of the upper cover module in the modular battery pack of the humanoid robot described in this invention;

[0037] Figure 16 This is a schematic diagram of the cross-sectional structure of the elastic snap-fit ​​part in the modular battery pack of the humanoid robot described in this invention;

[0038] Figure 17 This is a schematic diagram of the internal structure of the modular battery pack of the humanoid robot described in this invention. Detailed Implementation

[0039] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0040] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0041] like Figures 1-2 , 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, wherein a battery pack module 2 is detachably connected 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; an upper cover module 3 is detachably connected to one side of the outer shell module 1, and the upper cover module 3 is detachably connected to the robot body.

[0042] The battery pack module 2 does not directly contact either 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 can be reduced, thereby improving the overall safety and reliability of the battery pack.

[0043] The outer shell module 1, battery pack module 2, and top cover module 3 are all detachably connected to each other. They are independent detachable modules. When 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 start working again in a way that minimizes costs.

[0044] The top cover module 3 can be detached and connected to the robot body, for example, by using a snap-fit ​​method, which allows the battery pack to be easily removed and replaced quickly and conveniently.

[0045] like Figure 3 , Figure 4 and Figure 10 As shown, in one embodiment, the outer shell module 1 includes: a first shell 4 and a second shell 5. The first shell 4 is provided with a plurality of guide posts 41, and the second shell 5 is provided with a plurality of first connecting posts 51 corresponding to the guide posts 41. The guide posts 41 and the first connecting posts 51 are connected by a fastener 9.

[0046] Among them, fastener 9 is a screw.

[0047] The guide post 41 has at least one support rib on its side, and the support rib is arranged along the length of the guide post 41; the width of the support rib gradually decreases from the first housing 4 to the second housing 5.

[0048] The connection point between the guide post 41 and the first connecting post 51 is located in the middle of the outer casing module 1, i.e. Figure 10 The location of the fastener 9 shown.

[0049] The end of the guide post 41 is provided with a threaded hole, and the first connecting post 51 is hollow with a limiting ring on the inner side near its end. During connection, the end of the guide post 41 is inserted into the first connecting post 51, and then the fixing member 9 is inserted from the outside of the second housing 5 into the first connecting post 51, so that the fixing member 9 is connected to the threaded hole of the guide post 41.

[0050] Furthermore, of the multiple guide posts 41, at least two guide posts 41 are arranged through the battery pack module 2;

[0051] like Figure 5 As shown, the battery pack module 2 is provided with at least two through holes 21 through which the guide post 41 and the first connecting post 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 post 41 and the first connecting post 51.

[0052] The number of guide posts 41 is preferably 10, of which two guide posts 41 are located in the middle of the first housing 4 and pass through the battery pack module 2 for installation positioning guidance of the battery pack module 2, and the remaining 8 are distributed on the outside of the battery pack module 2.

[0053] like Figure 5 As shown, the side of the battery pack module 2 is provided with a groove 22, such as Figure 17 As shown, after the guide post 41 and the first connecting post 51 are connected, they are located in the groove 22 to limit the installation position of the battery pack module 2; thus, the battery pack module 2 is located in the center position inside the outer shell module 1, and when the side of the outer shell module 1 is squeezed, the squeezing force will not affect the battery pack module 2, ensuring the safety of use.

[0054] like Figure 3 , Figure 6 , Figure 7 and Figure 12 As shown, in one embodiment, the first housing 4 is provided with a plurality of limiting posts 42, and the battery pack module 2 is provided with a plurality of second connecting posts 252 corresponding to the limiting posts 42. The limiting posts 42 and the second connecting posts 252 are connected by a fastener 9.

[0055] Among them, fastener 9 is a screw.

[0056] The side of the limiting post 42 is provided with at least one supporting rib, which is arranged along the length of the limiting post 42.

[0057] The number of 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 to the first housing 4;

[0058] like Figure 11 and Figure 12 As shown, the end of the limiting post 42 is provided with a threaded hole, and the second connecting post 252 is hollow and has a limiting ring inside. When connecting, the end of the limiting post 42 is inserted into the second connecting post 252, and then the fixing member 9 is inserted from the outside of the battery pack module 2 into the second connecting post 252 so that it connects with the threaded hole of the limiting post 42 to achieve fixation.

[0059] like Figure 7 and Figure 12As shown, in one embodiment, the battery pack module 2 includes: a plurality of battery cells 23, which are positioned between a first bracket 24 and a second bracket 25. The first bracket 24 is provided with a plurality of third connecting posts 241, and the second bracket 25 is provided with a plurality of fourth connecting posts 251 corresponding to the third connecting posts 241. The third connecting posts 241 and the fourth connecting posts 251 are connected by a fastener 9. The second bracket 25, which is located near the second housing 5, is provided with a second connecting post 252.

[0060] Among them, the fastener 9 is a screw; the third connecting post 241 and the fourth connecting post 251 are preferably set to 6, and are evenly arranged.

[0061] The third connecting post 241 and the fourth connecting post 251 are arranged in the gap between adjacent battery cells 23, and their connection point is located at the center of the distance between the first bracket 24 and the second bracket 25, that is, as shown in the figure. Figure 12 The location of fastener 9 is shown;

[0062] like Figure 7 As shown, both the first bracket 24 and the second bracket 25 are provided with grooves 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.

[0063] The end of the third connecting post 241 is provided with a threaded hole, and the fourth connecting post 251 is hollow. A limiting ring is provided 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 post 251. The fixing member 9 is limited by the limiting ring and connected to the threaded hole of the third connecting post 241, thereby realizing the connection between the first bracket 24 and the second bracket 25.

[0064] Assuming that when the first housing 4 is subjected to external pressure, the limiting post 42 will exert a force on the second bracket 25, but will not exert a force on the battery cell 23, thereby preventing damage to the battery cell 23; in addition, the second bracket 25 and the first bracket 24 are connected and fixed by six evenly arranged third connecting posts 241 and fourth connecting posts 251, which can better resist external forces and reduce the probability of damage to the battery cell 23.

[0065] like Figure 3 , Figure 8 and Figure 9 As shown, in one embodiment, the first bracket 24 is further provided with at least two abutment points 242, and the first housing 4 is provided with abutment posts 43 corresponding to the abutment points 242.

[0066] The contact point 242 is the bottom surface of the groove extending from the first support 24, and the cross section of the contact post 43 is cross-shaped.

[0067] The abutment point 242 corresponds to the gap between the adjacent battery cell 23. When installing the battery pack module 2, the abutment action between the abutment point 242 and the abutment post 43 can improve the stability of the connection between the battery pack module 2 and the first housing 4.

[0068] When the first housing 4 is subjected to external compressive force, the abutment post 43 exerts a force on the abutment point 242. The abutment post 43, which has 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 the deformation of the first support 24.

[0069] In addition, the abutment post 43 can also be set as an elastic post, which can form an elastic force between the battery pack module 2 and the first housing 4 during installation. When the first housing 4 is subjected to external compression, it can also prevent the elastic post from exerting force on the first bracket 24, thus ensuring the stability of the installation structure and the safety of the battery pack module 2.

[0070] like Figure 7 As 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. A temperature sensor 8 for detecting the temperature of the battery pack module 2 is connected to the first circuit board 26.

[0071] The groove extending from the first bracket 24 passes through the first circuit board 26, and the abutment post 43 does not come into contact with the first circuit board 26.

[0072] 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 realize the overall control of the battery pack module 2.

[0073] Temperature sensors 8 are preferably configured as two, with their detection ends arranged between adjacent battery cells 23, for detecting the operating temperature of the battery cells 23.

[0074] 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 via a fastener 9; the upper cover body 6 is provided with an elastic snap-fit ​​part 7 for detaching connection with the robot body, and the trigger 71 of the elastic snap-fit ​​part 7 extends out of the side of the upper cover body 6; when the trigger 71 is subjected to an external pressing force, the elastic snap-fit ​​part 7 disengages from the robot body.

[0075] Four fixing posts with threaded holes are set on the top outer side of the outer 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 fastened on the outer shell module 1, the fixing member 9 is inserted from the top of the upper cover body 6 to connect with the fixing post, thereby fixing the upper cover module 3 and the outer shell module 1.

[0076] The robot body has a mounting slot for accommodating the battery pack. The side of the mounting slot has a slot corresponding to the elastic locking part 7. When the entire battery pack is installed on the robot body, the elastic locking part 7 will engage with the slot on the robot body to limit the overall position of the battery pack. When the battery pack needs to be removed from the robot body, press the trigger 71 on both sides of the top cover body 6, and the elastic locking part 7 will disengage from the slot, allowing the entire battery pack to be easily removed quickly and conveniently.

[0077] like Figures 14-16 As shown, in one embodiment, the elastic snap-fit ​​part 7 includes: a support plate 72 connected to the upper cover body 6, a movable plate 73 slidably disposed on the upper limit of the support plate 72, a trigger member 71 disposed at one end of the movable plate 73, an elastic member 74 disposed at the other end of the movable plate 73, a baffle 75 disposed at the end of the support plate 72 away from the trigger member 71, the elastic member 74 disposed between the baffle 75 and the movable plate 73, and a snap-fit ​​plate 76 disposed below the movable plate 73.

[0078] The support plate 72 is provided with a limiting member 721, and the movable plate 73 is provided with a sliding groove 731 corresponding to the limiting member 721. The limiting member 721 and the sliding groove 731 are used to limit the movable plate 73 vertically and laterally. The movable plate 73 is provided with a limiting rod 732 at one end near the baffle 75. The baffle 75 is provided with a slot for accommodating the limiting rod 732. The elastic member 74 is sleeved on the outside of the limiting rod 732.

[0079] 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, which is used to limit the sliding direction of the movable plate 73.

[0080] 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 to slide on the support plate 72, and the trigger 71 is fixedly connected to the end of the movable plate 73 by screws; when the trigger 71 is pressed, the movable plate 73 is moved to the side closer to the baffle 75, and the locking plate 76 moves synchronously. The side of the locking plate 76 near the trigger 71 is provided with a locking block for locking with the slot. After the locking plate 76 moves, the locking block is disengaged from the slot.

[0081] The movement of the movable plate 73 is limited by the slide groove 731 and the limiting member 721. The limiting member 721 can be a screw, which limits the vertical position of the movable plate 73 by the head of the screw, and limits the lateral position of the movable plate 73 by the relative sliding between the slide groove 731 and the screw. Figure 16 The lateral position of the movable plate 73 shown can also be limited by the limiting groove 722 and the limiting plate 733.

[0082] 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 the gas released during thermal runaway of the battery pack module 2.

[0083] 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 inside of the housing 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.

[0084] The gas sensor is a gas concentration sensor used to detect the concentration of one or more gases released during thermal runaway of battery pack module 2. The gas concentration sensor includes, but is not limited to, one or more of carbon monoxide concentration sensors and hydrogen concentration sensors.

[0085] A voltage sensor for detecting the voltage of the battery cell 23 can also be optionally provided, and is provided on the first circuit board 26 or the second circuit board 27.

[0086] 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, a warning message is issued.

[0087] The 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 a single battery cell 23.

[0088] Furthermore, using the damage warning module for early warning includes:

[0089] The latest data detected by multiple sensors within a set time period is input into the trained anomaly detection model. The anomaly detection model then predicts the data from multiple sensors at the next moment and obtains multiple predicted values.

[0090] The trained anomaly detection model can be trained using an existing LSTM (Long Short-Term Memory) neural network model, employing historical data from multiple sensors in the battery pack module 2 under normal operating conditions. For example, continuous data detected every 60 seconds can be considered as a sample, with each sample containing parameters corresponding to multiple sensors. Through repeated training, the prediction error of the anomaly detection model is minimized, resulting in a well-trained anomaly detection model. The trained anomaly detection model can accurately predict data from multiple sensors under normal conditions; however, if abnormal data (such as a sudden increase in temperature) is input, the prediction error will significantly increase.

[0091] The time period can be set to, for example, 60 seconds. The model's input data can be updated every 0.1 seconds, that is, the latest multiple sensor data within the last 60 seconds are input into the trained anomaly detection model.

[0092] Calculate the absolute value of the error between the predicted value and the actual value for each sensor, and standardize the absolute value of the error to obtain the standard error score for each sensor.

[0093] The standardization formula is: ,in, For the first The standard error score of each sensor. For the first The absolute value of the error of each sensor. and The first The mean and standard deviation of the absolute values ​​of the errors in the normal data of each sensor, the th Normal data from each sensor can be obtained from the data during the final training phase of the anomaly detection model, or from data within any set time period under normal operating conditions.

[0094] The error standard score for each sensor is determined;

[0095] Each sensor has a pre-set score; for example, the temperature sensor 8 has a pre-set score of 2-2.5, while the gas sensor, pressure sensor, and voltage sensor all have pre-set scores of 2-3. A maximum pre-set score can also be set for each sensor; for example, the maximum pre-set scores for multiple sensors can all be set to 5-8. The pre-set scores can also use dynamic thresholds, such as calculating the pre-set scores in real time based on historical normal data, using the following formula: , The value is a constant, preferably 3; however, to accommodate the performance degradation of individual battery cells 23 over time, the performance can be recalculated every certain period, such as one month, using data from the latest set time period under normal operating conditions. and Improve the accuracy of judging the standard score of error;

[0096] If the error standard score of one of the multiple sensors is greater than its corresponding set score, it will be recorded and no warning will be issued.

[0097] If, among multiple sensors, the error standard score of the same sensor is greater than its corresponding set score for three consecutive times, but less than the set maximum score, a level one warning will be issued; it will be determined that there is a potential abnormality in battery pack module 2.

[0098] If at least half of the sensors have an error standard score that is greater than their corresponding set score but less than the set maximum score, a level 2 warning will be issued; the battery pack module 2 will be deemed damaged.

[0099] If the error standard score of any critical sensor among multiple sensors exceeds the set maximum score, a level two warning will be issued; the battery pack module 2 will be deemed damaged; among them, the critical sensors are temperature sensor 8 and gas sensor.

[0100] Multiple sensors can detect the working status of the battery pack module 2, thereby accurately determining whether it is damaged and issuing early warnings. The graded early warning can accurately indicate the extent of damage to the battery pack module 2 to the user, so that corresponding measures can be taken to further improve the safety of use.

[0101] Furthermore, it also includes an electronic identification module disposed on the first circuit board 26 or the second circuit board 27, which is used to distinguish each battery pack when multiple battery packs are connected to the robot body.

[0102] For example, the robot body needs three battery packs as described in this invention to form a battery pack. When the damage warning module of one of the battery packs issues a warning, the robot body will push the electronic tag of the battery pack that has issued the warning through its screen or software and display its location.

[0103] For example, the three mounting slots on the robot body are numbered 1, 2, and 3. When a battery pack is installed in a mounting slot, the electronic identifier of the battery pack corresponds to the number of the mounting slot. When the damage warning module of one of the battery packs issues a warning, it will display the number of the mounting slot and the corresponding electronic identifier of the battery pack, thereby quickly locating the faulty battery pack and facilitating the replacement by maintenance personnel.

[0104] Furthermore, it also includes:

[0105] A battery capacity detection module installed on the first circuit board 26 or the second circuit board 27 is used to detect the current actual capacity of the battery pack.

[0106] The discharge control module, located on the first circuit board 26 or the second circuit board 27, is used to enable the robot's automatic balancing module to obtain the actual capacity of the new battery pack when it 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.

[0107] The adjustment of the discharge weight of each battery pack is achieved through a dynamic load allocation method. This method obtains the discharge current allocation value of each battery pack based on its current actual capacity, thus achieving load balancing. The specific formula is as follows:

[0108]

[0109] in, For the first Discharge current distribution values ​​for each battery pack For the first The current actual capacity of the battery pack. This is the total output current required by the battery pack. This represents the total number of battery packs.

[0110] By combining the automatic balancing module of the robot body with the discharge control module of the battery pack, 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. This prevents increased battery loss when replacing a faulty battery pack with a new one, and ensures the overall lifespan of the battery pack.

[0111] In addition, battery packs can be classified according to their capacity decay rate: Grade A: capacity decay rate less than or equal to 10%; Grade B: capacity decay rate between 10% and 20%, only to be used in combination with Grade B or Grade C battery packs; Grade C: requires complete replacement or combination with the same grade.

[0112] When a battery pack on the robot body is damaged and needs to be replaced, the following replacement strategy can be adopted:

[0113] When a single battery pack fails, it is replaced with a Class A battery pack first. The robot body automatically adjusts the discharge weight according to the actual capacity of each battery pack, and then uses the discharge control module of each battery pack to control the discharge.

[0114] If two or more of the replaced battery packs are Class C, then the entire pack should be replaced with Class B or higher battery packs (e.g., all replaced with Class B or all replaced with Class A, without equalization processing) to avoid frequent adjustments to the discharge weight of each battery pack and resulting in efficiency loss.

[0115] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0116] 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.

[0117] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. 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) has a battery pack module (2) detachably connected inside it, and a gap is formed between the battery pack module (2) and any side wall of the outer shell module (1); the outer shell module (1) has a top cover module (3) detachably connected to one side, and the top cover module (3) is detachably connected to the robot body. The outer shell module (1) includes: a first shell (4) and a second shell (5). The first shell (4) is provided with a plurality of guide posts (41), and the second shell (5) is provided with a plurality of first connecting posts (51) corresponding to the guide posts (41). The guide posts (41) and the first connecting posts (51) are connected by fasteners (9). The side of the battery pack module (2) is provided with at least two grooves (22) that can accommodate the guide post (41) and the first connecting post (51). The first housing (4) is provided with multiple limiting posts (42); The battery pack module (2) includes: multiple battery cells (23), which are positioned between the first bracket (24) and the second bracket (25); The first bracket (24) is provided with at least two abutment points (242), and the first housing (4) is provided with abutment posts (43) corresponding to the abutment points (242).

2. The modular battery pack for the humanoid robot according to claim 1, characterized in that, Of the multiple guide posts (41), at least two guide posts (41) are arranged to pass through the battery pack module (2); The battery pack module (2) is provided with at least two through holes (21) through which the guide post (41) and the first connecting post (51) can pass.

3. The modular battery pack for the humanoid robot according to claim 1, characterized in that, The battery pack module (2) is provided with a plurality of second connecting posts (252) corresponding to the limiting posts (42), and the limiting posts (42) and the second connecting posts (252) are connected by fasteners (9).

4. The modular battery pack for the humanoid robot according to claim 3, characterized in that, The first bracket (24) is provided with a plurality of third connecting posts (241), and the second bracket (25) is provided with a plurality of fourth connecting posts (251) corresponding to the third connecting posts (241). The third connecting posts (241) and the fourth connecting posts (251) are connected by fasteners (9); the second bracket (25) located near the second housing (5) is provided with a second connecting post (252).

5. The modular battery pack for the humanoid robot according to claim 4, characterized in that, The first bracket (24) has a first circuit board (26) on its outer side, and the second bracket (25) has a second circuit board (27) on its outer side that is electrically connected to the first circuit board (26). The first circuit board (26) is connected to a temperature sensor (8) for detecting the temperature of the battery pack module (2).

6. The modular battery pack for the humanoid robot according to claim 1, characterized in that, The upper cover module (3) includes: an upper cover body (6), which is detachably connected to the outer shell module (1) by a fastener (9); the upper cover body (6) is provided with an elastic snap-fit ​​part (7) for detaching connection with the robot body, and the trigger part (71) of the elastic snap-fit ​​part (7) extends out of the side of the upper cover body (6); when the trigger part (71) is subjected to a pressing external force, the elastic snap-fit ​​part (7) disengages from the robot body.

7. The modular battery pack for the humanoid robot according to claim 6, characterized in that, The elastic snap-fit ​​part (7) includes: a support plate (72) connected to the upper cover body (6), a movable plate (73) is slidably provided on the upper limit of the support plate (72), a trigger (71) is provided at one end of the movable plate (73), 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 (71), the elastic member (74) is provided between the baffle (75) and the movable plate (73), and a snap-fit ​​plate (76) is provided below the movable plate (73).

8. The modular battery pack for the humanoid robot according to claim 5, characterized in that, 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 outer casing module (1) and a gas sensor for detecting the gas released by thermal runaway of the battery pack module (2).

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