Battery for robot manipulator and battery mounting structure for robot manipulator

Abstract

The application discloses a battery suitable for a robot mechanical arm and a battery mounting structure of a mechanical arm, which comprises a shell, an electrode assembly, a positive electrode external terminal and a negative electrode external terminal. The shell has an inner arc wall and an outer arc wall, and a containing cavity for containing the electrode assembly is formed between the inner arc wall and the outer arc wall. The shell is circular or arc-shaped. When the shell is circular, the inner arc wall surrounds a central passage which penetrates through the battery in the axial direction. When the shell is arc-shaped, the inner arc wall extends along the arc direction and forms an inner arc avoiding area on the inner arc side of the shell. The positive electrode external terminal and the negative electrode external terminal are respectively arranged at opposite ends in the axial direction of the shell. The application can adapt to the arc-shaped or ring-shaped space formed by the robot joint, the mechanical arm shell, the wire harness, the cooling pipe and the structural member, and an inner heat dissipation path is formed through the central passage or the inner arc avoiding area, so that the temperature rise performance under high-rate charging and discharging and repeated pulse working conditions is improved.

Description

Technical Field

[0001] This invention relates to the field of battery technology, and in particular to a battery suitable for a robotic arm and a battery mounting structure for the robotic arm. Background Technology

[0002] Robotic arms, joints, and end effectors require high short-term power from local energy storage units during rapid lifting, grasping, handling, braking, load lowering, starting, and short-term impact actions. Traditional 21700, 18650, or other cylindrical battery cells have mature technology, a well-established supply chain, and good rate performance, making them suitable for high-power output scenarios.

[0003] However, traditional cylindrical cells still have shortcomings in the local space of robot joints or robotic arms: on the one hand, the heat inside ordinary cylindrical cells is mainly conducted to the outer shell side, and the heat path from the center of the core to the outer shell is relatively long, which easily leads to heat accumulation during high-rate discharge or repetitive pulse discharge; on the other hand, the local installation space of robots is usually limited by joint shafts, reducers, brakes, encoders, wiring harnesses, cooling pipes, sensors and shell surfaces, presenting annular, arc-shaped, C-shaped, fan-shaped or discontinuous clearance spaces, which traditional cylindrical cell rectangular arrays, honeycomb arrays or linear arrays cannot make full use of the above spaces.

[0004] Furthermore, existing cylindrical battery cells are typically solid cylindrical wound core structures, making it difficult to use the central area as an installation clearance or internal heat dissipation interface. If ordinary cylindrical battery cells are grouped together in a robotic arm, additional supports, busbar structures, and thermal management structures are required, limiting volume utilization and local heat dissipation effectiveness.

[0005] Meanwhile, while elongated flat batteries achieve high structural integration through a large length-to-thickness ratio, their linear shape is not suitable for direct arrangement around robot joints, wiring harnesses, or cooling pipes. Therefore, it is necessary to transform the elongated, high length-to-thickness ratio dimensional concept into an arc-shaped elongated structure suitable for the robot's local space, while forming a central channel or inner arc avoidance area inside the battery cell, and enabling this channel or avoidance area to participate in internal heat dissipation.

[0006] Furthermore, traditional small-area terminals or centralized terminals at the same end may suffer from insufficient contact area, high contact resistance, significant localized heating, and problems with insulation and assembly crowding under peak current. Therefore, it is necessary to form a large-area, low-resistance external terminal structure at the individual cell level that facilitates local electrical connections by robotic arms. Summary of the Invention

[0007] The purpose of this invention is to provide a battery suitable for robot arms and a battery mounting structure for the robot arm, enabling it to adapt to the arc or annular space formed by robot joints, robot arm housing, wiring harness, cooling pipes, and structural components, and to form an inner heat dissipation path through a central channel or inner arc avoidance area, thereby improving temperature rise performance under high-rate charging and discharging and repetitive pulse conditions. Furthermore, it aims to increase the electrical connection contact area by respectively setting the positive and negative external terminals at the upper and lower ends of the cell axis, forming a large-area extended arc contact surface, reducing contact resistance and local heating under peak current, and improving the sustainable power capability in robot local high-power energy storage scenarios. In addition, it aims to provide a mounting structure so that after the battery cell is installed in the robot arm housing, the central channel can accommodate or avoid external heat-conducting cores, liquid cooling pipes, heat pipes, shafts, or wiring harnesses, and form an inner heat dissipation path through a thermally conductive insulating interface.

[0008] To achieve the above objectives, the following technical solution is adopted: A battery suitable for a robotic arm includes a housing, an electrode assembly, a positive external terminal, and a negative external terminal. The housing has an inner arc wall and an outer arc wall, and a receiving cavity for accommodating the electrode assembly is formed between the inner and outer arc walls. The housing is annular or arc-shaped. When the housing is annular, the inner arc wall forms a central channel extending along the axial direction of the battery. When the housing is arc-shaped, the inner arc wall extends along the arc direction and forms an inner arc clearance area on the inner arc side of the housing. The positive and negative external terminals are respectively disposed at opposite ends in the axial direction of the housing. The positive and negative external terminals have an arc-shaped structure extending along the circumference or arc direction of the housing. The positive and negative external terminals are electrically connected to the positive and negative terminals of the electrode assembly, respectively.

[0009] Furthermore, the housing includes an outer shell, an inner shell, a first end cap, and a second end cap; the outer arc wall is formed in the outer shell, and the inner arc wall is formed in the inner shell; the first end cap and the second end cap are respectively disposed at both ends between the outer shell and the inner shell, and together with the outer shell and the inner shell, they form the receiving cavity; the positive external terminal and the negative external terminal are respectively mounted on the first end cap and the second end cap.

[0010] Furthermore, the electrode assembly is formed by winding several positive electrode plates, negative electrode plates, and a separator; the electrode assembly is annular or arc-shaped; the positive electrode plate is provided with a positive electrode tab, and the negative electrode plate is provided with a negative electrode tab; one side of the external terminal of the positive electrode is provided with a positive end face current collector with an arc-shaped structure, which is inserted into the receiving cavity through the first end cap; the positive electrode tab of each positive electrode plate is connected to the positive end face current collector; one side of the external terminal of the negative electrode is provided with a negative end face current collector with an arc-shaped structure, which is inserted into the receiving cavity through the second end cap; the negative electrode tab of each negative electrode plate is connected to the negative end face current collector.

[0011] Furthermore, the cavity is also provided with an inner heat-conducting element in the form of a ring or arc, and the inner heat-conducting element is in contact with the inner wall of the inner shell.

[0012] Furthermore, the outer wall of the outer casing is also provided with an outer heat-conducting element in the form of a ring or arc.

[0013] Furthermore, both the first end cap and the second end cap are provided with an insulating isolation element with an arc-shaped structure; one of the insulating isolation elements is located between the inner side of the positive electrode outer terminal and the central channel or the inner arc clearance area, and the other insulating isolation element is located between the inner side of the negative electrode outer terminal and the central channel or the inner arc clearance area.

[0014] A battery mounting structure for a robotic arm includes a robotic arm housing, an inner heat-conducting component, and the aforementioned battery. The robotic arm housing has a mounting cavity, and the battery is mounted in the mounting cavity. Each end of the inner wall of the mounting cavity is provided with an axial positioning ring with a circular or arc-shaped structure, and the battery is located between the two axial positioning rings. The inner heat-conducting component passes through the central channel or inner arc clearance area of ​​the battery.

[0015] Furthermore, the inner heat-conducting component includes at least one of a metal heat-conducting core, a liquid cooling pipe, and a heat pipe.

[0016] Furthermore, the central channel or inner arc clearance area of ​​the battery is also used to accommodate or avoid at least one of the robotic arm's pivot, wiring harness, sensor, and mounting positioning component.

[0017] Furthermore, the robotic arm housing is also provided with a first conductive connector and a second conductive connector; the first conductive connector and the second conductive connector are respectively connected to the positive terminal and the negative terminal of the battery.

[0018] By adopting the above solution, the beneficial effects of the present invention are: 1) This invention can adapt to the arc or ring space formed by robot joints, robotic arm housings, wiring harnesses, cooling pipes and structural components, and form an inner heat dissipation path through the central channel or inner arc avoidance area, thereby improving the temperature rise performance under high-rate charging and discharging and repetitive pulse conditions. 2) This invention sets the positive and negative external terminals at the upper and lower ends of the cell axis respectively, forming a large-area extended arc-shaped contact surface, increasing the electrical connection contact area, reducing contact resistance and local heating under peak current, and improving the sustainable power capability of robots in local high-power energy storage scenarios. 3) After the battery cell of the present invention is installed into the housing of the robotic arm, the central channel can accommodate or avoid external heat-conducting cores, liquid cooling pipes, heat pipes, rotating shafts or wire harnesses, and form an internal heat dissipation path through the heat-conducting and insulating interface to improve the heat dissipation effect. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of one embodiment of the present invention; Figure 2 for Figure 1 Exploded view; Figure 3 for Figure 1 A sectional view; Figure 4 This is a schematic diagram of the structure of the present invention mounted on the robotic arm housing; Figure 5 for Figure 4 Exploded view; Figure 6 A comparison chart of temperature rise reduction and rate capability in actual embodiments; The following are explanations of the labels in the attached diagram: 1. Housing; 2. Electrode assembly; 3. Positive external terminal; 4. Negative external terminal; 5. Inner heat-conducting component; 6. Outer heat-conducting component; 7. Insulating component; 8. Robotic arm housing; 9. Inner heat-conducting component; 11. Outer housing; 12. Inner housing; 13. First end cap; 14. Second end cap; 21. Positive electrode plate; 22. Negative electrode plate; 23. Diaphragm; 24. Positive electrode tab; 25. Positive end face current collector; 26. Negative end face current collector; 81. Mounting cavity; 82. Axial positioning ring; 101. Receiving cavity; 102. Central channel. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0021] The axial direction referred to below in this application refers to the direction of the battery height or the direction in which the two end caps are arranged opposite each other; the radial direction refers to the direction from the inner arc side of the battery to the outer arc side; the arc direction refers to the direction in which the battery extends along the circumference or arc; when the battery is annular, its casing 1 is closed circumferentially; when the battery is arc-shaped, its casing 1 extends along the arc direction and forms an open arc-shaped structure with a central angle of less than 360°, wherein the arc-shaped battery can be a fan-shaped ring, C-shaped, scimitar-shaped or other arc-shaped structure with an inner arc side and an outer arc side.

[0022] In one embodiment, reference is made to Figures 1 to 6 As shown, the present invention provides a battery suitable for a robot arm, including a housing 1, an electrode assembly 2, a positive external terminal 3 and a negative external terminal 4; the housing 1 is generally annular and has an inner arc wall and an outer arc wall, and an annular receiving cavity 101 is formed between the inner arc wall and the outer arc wall, and the inner arc wall surrounds a central channel 102 that runs through the battery axis.

[0023] The housing 1 includes an outer shell 111, an inner shell 121, a first end cap 13, and a second end cap 14. The outer shell 111 is a hollow cylindrical shape, and the peripheral wall of the outer shell 111 forms the outer arc wall of the battery. The inner shell 121 is an annular cylindrical shape and is disposed inside the outer shell 111, and the peripheral wall of the inner shell 121 forms the inner arc wall of the battery. The first end cap 13 and the second end cap 14 are respectively disposed at the two ends of the outer shell 111 and the inner shell 121 in the axial direction, and are respectively sealed to the outer shell 111 and the inner shell 121, thereby forming a closed receiving cavity 101 for accommodating the electrode assembly 2 and the electrolyte.

[0024] The electrode assembly 2 is generally in the shape of a ring that fits the receiving cavity 101. The electrode assembly 2 includes a positive electrode 21, a negative electrode 22 and a diaphragm 23 disposed between the positive electrode 21 and the negative electrode 22. The positive electrode 21, the diaphragm 23 and the negative electrode 22 are wound around the central channel 102 in a predetermined stacking order to form a ring-shaped winding structure with an inner arc side and an outer arc side.

[0025] The positive electrode 21 includes a positive current collector and a positive active material layer disposed on the surface of the positive current collector, and the negative electrode 22 includes a negative current collector and a negative active material layer disposed on the surface of the negative current collector; the positive current collector and the negative current collector may each have multiple areas without active material coating, and the uncoated areas extend outward along the edge of the corresponding current collector to form a positive electrode tab 24 and a negative electrode tab.

[0026] Positive and negative electrode tabs 24 are located at opposite ends of the electrode assembly 2 along its axial direction. Multiple positive electrode tabs 24 are distributed and converge to form a group of positive electrode tabs 24, and multiple negative electrode tabs are distributed and converge to form a group of negative electrode tabs. Tabs of the same polarity can be bent, pressed, or stacked to form an arc-shaped convergence area, so that the current generated in various parts of the electrode assembly 2 can converge along a shorter conductive path.

[0027] The positive external terminal 3 is provided on the first end cover 13, and the negative external terminal 4 is provided on the second end cover 14. The positive external terminal 3 and the negative external terminal 4 are located at opposite ends of the battery axis, so as to avoid the positive and negative terminals being concentrated at the same end of the battery. The specific upper and lower positions of the positive external terminal 3 and the negative external terminal 4 can be interchanged. That is, the positive external terminal 3 can be located at the upper end of the battery or at the lower end of the battery, as long as the positive external terminal 3 and the negative external terminal 4 are located at opposite ends of the axis.

[0028] The positive external terminal 3 and the negative external terminal 4 are respectively arc-shaped structures that extend continuously along the circumference. The arc-shaped external terminal can cover part of the circumferential area on the corresponding end cover, or it can extend along most of the circumferential area of ​​the end cover. Compared with point terminals or sheet terminals with smaller width, the arc-shaped external terminal can provide a larger external connection area, so that the external conductive connector can form a surface contact with the external terminal, thereby reducing the current density per unit area and the local contact resistance.

[0029] A positive terminal current collector 25 is provided on the side of the positive external terminal 3 facing the receiving cavity 101. The positive terminal current collector 25 passes through the first end cover 13 and extends into the receiving cavity 101. The positive terminal current collector 25 is arc-shaped to match the positive electrode tab 24 group and is fixed and electrically connected to the positive electrode tab 24 group. A negative terminal current collector 26 is provided on the side of the negative external terminal 4 facing the receiving cavity 101. The negative terminal current collector 26 passes through the second end cover 14 and extends into the receiving cavity 101. The negative terminal current collector 26 is arc-shaped to match the negative electrode tab group and is fixed and electrically connected to the negative electrode tab group. The positive terminal current collector 25 and the positive external terminal 3, and the negative terminal current collector 26 and the negative external terminal 4 can be integrally formed, or they can be processed separately and combined by welding, riveting or other conductive connection methods.

[0030] Furthermore, the first end cap 13 and the second end cap 14 are respectively provided with insulating isolation members 7. The insulating isolation member 7 corresponding to the positive external terminal 3 is located between the inner side of the positive external terminal 3 and the central channel 102, and the insulating isolation member 7 corresponding to the negative external terminal 4 is located between the inner side of the negative external terminal 4 and the central channel 102. The insulating isolation member 7 can be an arc-shaped insulating pad, an annular insulating pad, an insulating isolation groove, an insulating end cap part, or an insulating layer covering the edge of the external terminal. It is used to increase the creepage distance between the external terminal and the internal components of the central channel 102, and to prevent short circuits between the external terminal and the inner shell 121 or the conductive components passing through the central channel 102.

[0031] In some embodiments, an inner heat-conducting element 5 is also provided inside the receiving cavity 101. The inner heat-conducting element 5 is annular and is disposed between the electrode assembly 2 and the inner housing 121. One side of the inner heat-conducting element 5 is thermally conductively engaged with the inner arc side of the electrode assembly 2, and the other side is in contact with the surface of the inner housing 121 facing the receiving cavity 101, so that the heat generated by the electrode assembly 2 can be transferred to the inner housing 121 through the inner heat-conducting element 5, and then transferred from the inner housing 121 to the central channel 102. The inner heat-conducting element 5 can be made of thermally conductive and insulating materials, such as thermally conductive silicone, thermally conductive ceramic, insulating and thermally conductive film or composite material containing thermally conductive filler. The inner heat-conducting element 5 can also be a metal ring with an electrically insulating layer on its surface to simultaneously meet the requirements of radial heat conduction, core support and electrical insulation. At the same time, the inner heat-conducting element 5 can also fill the assembly gap between the electrode assembly 2 and the inner housing 121 and restrict the radial movement of the electrode assembly 2.

[0032] Meanwhile, the outer wall of the outer shell 111 is provided with an outer heat-conducting component 6. The outer heat-conducting component 6 can be a flexible thermally conductive insulating pad or a thermally conductive insulating layer that covers or adheres to the outer wall of the outer shell 111. When the battery is installed in the robotic arm housing 81, the flexible thermally conductive insulating pad can compensate for the assembly tolerance between the outer shell 111 and the robotic arm housing 81, and adhere to the robotic arm housing 81 to form an outer heat dissipation path.

[0033] When the toroidal battery is in operation, part of the heat generated by the electrode assembly 2 is transferred sequentially to the central channel 102 side via the inner heat conductor 5 and the inner shell 121, while another part of the heat is transferred sequentially to the outside of the battery via the outer shell 111 and the outer heat conductor 6. Therefore, the battery no longer relies solely on the outer shell 111 for unidirectional heat dissipation, but instead has bidirectional heat conduction conditions towards the central channel 102 and towards the outside of the outer shell 111.

[0034] In another embodiment, an open arc-shaped battery suitable for robotic arms is provided. Its main structure is basically the same as that of the above embodiment, except that the shell 1 is not completely closed circumferentially, but extends along the arc to form an open arc-shaped structure with a central angle of less than 360°.

[0035] The open arc-shaped battery also includes an outer shell 111, an inner shell 121, a first end cap 13, and a second end cap 14; the outer shell 111 forms the outer arc wall of the battery, the inner shell 121 forms the inner arc wall of the battery, and a receiving cavity 101 extending along the arc direction is formed between the outer shell 111 and the inner shell 121; closed end walls can be respectively provided at the two ends of the battery in the arc direction, and the closed end walls are sealed to the outer shell 111, the inner shell 121, the first end cap 13, and the second end cap 14 to ensure the sealing of the receiving cavity 101.

[0036] An inner arc clearance area is formed on the inner side of the inner housing 121. The inner arc clearance area can extend continuously along the entire arc length of the battery, or it can form a clearance space with varying width according to the shape of the internal components of the robotic arm. The inner arc clearance area can be used to arrange or avoid wiring harnesses, cooling pipes, heat pipes, heat-conducting cores, rotating shafts, sensors, or mounting and positioning components inside the robotic arm, so that the battery can be arranged along the arc-shaped inner surface of the robotic arm housing 81. Other structures are similar to those in the above embodiment and will not be described again here.

[0037] In another embodiment, a battery mounting structure for a robotic arm is provided, including a robotic arm housing 81, an inner heat-conducting component 9, and the aforementioned battery. The robotic arm housing 81 has a mounting cavity 81, and the battery is mounted in the mounting cavity 81. Each end of the inner wall of the mounting cavity 81 is provided with an axial positioning ring 82 with a circular or arc-shaped structure, and the battery is located between the two axial positioning rings 82. The inner heat-conducting component 9 passes through the central channel 102 or the inner arc avoidance area of ​​the battery.

[0038] The inner heat-conducting component 9 includes at least one of a metal heat-conducting core, a liquid cooling pipe, and a heat pipe; the central channel 102 or the inner arc clearance area of ​​the battery is also used to accommodate or avoid at least one of the rotating shaft, wiring harness, sensor, and mounting positioning component of the robotic arm; the robotic arm housing 81 is also provided with a first conductive connector and a second conductive connector; the first conductive connector and the second conductive connector are respectively connected to the positive external terminal 3 and the negative external terminal 4 of the battery.

[0039] In this embodiment, the robotic arm housing 81 has a mounting cavity 81 that is adapted to the shape of the battery. When installing a ring-shaped battery, the mounting cavity 81 can be located at the position of the robot joint or robotic arm near the pivot, so that the ring-shaped battery is arranged around the pivot, pipeline or wiring harness. When installing an open arc-shaped battery, the mounting cavity 81 can extend along the arc-shaped inner wall of the robotic arm housing 81, so that the open arc-shaped battery is arranged in close contact with the robotic arm housing 81, and avoids maintenance ports, connectors or other mechanical structures through the opening area of ​​the battery.

[0040] Two axial positioning rings 82 abut against the two axial ends of the battery to restrict the battery's axial movement. The axial positioning rings 82 can be a continuous circular ring structure, an arc-shaped structure extending along the arc direction, or a combination of multiple spaced positioning blocks. Meanwhile, an insulating buffer pad can be provided between the axial positioning rings 82 and the battery ends to reduce rigid collisions between the battery and the axial positioning rings 82 when the robotic arm moves, starts, stops, or is impacted. The robotic arm housing 81 can also be provided with limiting parts at the circumferential or arc-shaped ends of the battery to restrict the battery from circumferential rotation or arc-shaped movement.

[0041] The heat generated by the electrode assembly 2 is sequentially transferred to the inner heat-conducting component 9 via the inner heat-conducting component 5 and the inner shell 121. Thus, while keeping the battery housing cavity 101 sealed, an inner heat dissipation path can be formed using the central channel 102 or the inner arc clearance area, thereby improving heat dissipation efficiency. Another part of the heat generated by the electrode assembly 2 is sequentially transferred to the robotic arm housing 81 via the outer shell 111 and the outer heat-conducting component 6. The robotic arm housing 81 can directly dissipate heat to the external environment or connect to the cooling system inside the robot. The outer heat dissipation path and the inner heat dissipation path on the side of the central channel 102 or the inner arc clearance area together form an inner and outer double-sided heat dissipation structure.

[0042] Meanwhile, in addition to being used to house the inner heat-conducting component 9, the central channel 102 or the inner arc clearance area can also be used to accommodate or avoid at least one of the following: robotic arm shaft, wiring harness, sensor, and mounting and positioning components. Specifically, the inner heat-conducting component 9 can be configured as a hollow structure, allowing the wiring harness or sensor connection wire to pass through the interior of the inner heat-conducting component 9. The inner heat-conducting component 9 can also be arranged radially or arc-shaped intervals with the shaft, so that the central channel 102 or the inner arc clearance area can simultaneously achieve heat dissipation and structural clearance.

[0043] The following are some specific embodiments for further explanation: Example 1: Equal-capacity toroidal high-power battery cell The specific size combination used in this embodiment is as follows: the height of the annular single unit is about 70mm, the outer diameter is about 23.5mm, the diameter of the central channel 102 is about 10mm, and the thickness of the outer shell 111 is 0.3mm–1.0mm; the battery cell body includes the outer shell 111, the inner shell 121, the central channel 102, the annular electrode assembly 2, the upper and lower end caps, the upper positive external terminal 3 and the lower negative external terminal 4.

[0044] When the robotic arm is installed, a metal heat-conducting core, liquid cooling pipe or heat pipe with an outer diameter of about 6mm-8mm can be installed in the central channel 102. The metal heat-conducting core, liquid cooling pipe or heat pipe is an external mounting component of the battery cell. A thermally conductive insulating interface layer with a thickness of 0.1mm-0.5mm can be provided between the inner wall of the central channel 102 and the above-mentioned external mounting component to form an inner ring cooling or heat-conducting interface.

[0045] The effective cross-sectional area of ​​this structure is close to that of a typical 21.3mm×70mm, 4000mAh high-power 21700 cylindrical battery cell. At the same time, an internal heat dissipation or installation avoidance interface is formed through the central channel 102. When using a typical high-power 21700 cylindrical battery cell with a 5-minute thermal limit power of about 108W as a comparison benchmark, the internal ring cooling path formed by the heat-conducting core or liquid cooling pipe in the central channel 102 can reduce the equivalent thermal resistance by about 20%, reduce the temperature rise at the same power by about 20%, and increase the 5-minute thermal limit power to about 135W.

[0046] Example 2: Scimitar-shaped high-power battery cell This embodiment uses a curved cell with an arc length L of 240mm, a radial thickness T of 16mm, a height H of 70mm, and a central angle θ of 210°. The L / T ratio is 15. The term "curved cell" does not refer to a cutting tool, but rather to an arc-shaped battery cell with a central angle smaller than that of a near-closed circle.

[0047] The inner arc side forms a continuous clearance area with a width of about 12mm, which is used to arrange or avoid wire harnesses, cooling flat tubes, heat-conducting components or structural components; the outer arc side is connected to the robotic arm housing 81 through a heat-conducting insulation layer; the upper end is provided with a positive extended arc external terminal and the lower end is provided with a negative extended arc external terminal, which are placed separately in the axial direction.

[0048] The curved unit forms a double-sided heat dissipation path through the inner arc cooling component and the outer arc shell 1, reducing the equivalent thermal resistance by about 30%, the temperature rise at the same power by about 30%, and increasing the 5-minute thermal limitation power to about 154W. This embodiment is suitable for fitting along the arc surface of the robot's upper arm or forearm shell 1.

[0049] Example 3: Enhanced Inner Ring Cooling for Arc-Shaped High-Power Battery Cells This embodiment uses a long arc segment circular arc-shaped unit with an arc length L of 600mm, a radial thickness T of 20mm, and a height H of 80mm, with an L / T ratio of 30. The unit is arranged along the inner arc surface of the upper arm or forearm shell 1, forming a large area heat conduction interface on the outer arc side, and a continuous liquid-cooled flat tube or heat pipe structure is provided on the inner arc side, while retaining a continuous avoidance channel.

[0050] Under enhanced inner ring cooling or liquid cooling conditions, this embodiment reduces the equivalent thermal resistance by approximately 45%, reduces the temperature rise at the same power by approximately 45%, and increases the 5-minute thermal limit power to approximately 196W. This embodiment is suitable for high-power energy storage modules or high-power power nodes in robotic arms with ample space.

[0051] Example 4: Segmented composite unit with fan-shaped ring This embodiment uses multiple fan-shaped annular units, each with a central angle of approximately 45°, an arc length of approximately 90 mm, a radial thickness of approximately 14 mm, a height of approximately 70 mm, and a central channel 102 or inner arc clearance width of approximately 10 mm; inter-segment gaps are provided between adjacent fan-shaped annular units, and aerogel heat insulation sheets and radial pressure relief gaps can be provided between the segments.

[0052] Each ring-shaped cell still has a cell-level structure, with its own upper positive arc-shaped external terminal and lower negative arc-shaped external terminal; adjacent cells can be connected in series or in parallel through an external connection structure, but this external connection structure is not a necessary component of the cell body.

[0053] This segmented assembly structure creates segmented heat dissipation and segmented thermal paths within a non-closed annular installation space. Compared to a typical high-power 21700 cylindrical cell assembly structure, the equivalent thermal resistance is reduced by approximately 25%, the maximum temperature rise of a single cell at the same power is reduced by approximately 25%, and the 5-minute thermal limitation power is increased from approximately 108W to approximately 144W. This embodiment is suitable for localized energy storage scenarios in robot joints or robotic arms where there are discontinuous arcuate spaces, screw avoidance areas, or maintenance ports.

[0054] Example 5: Transition structure between large-area arc-shaped external terminals at both ends and the tab layer. This embodiment uses an arc-shaped cell with an arc length of about 240mm, a radial thickness of about 16mm, and a height of about 70mm. The upper end of the cell is provided with a positive electrode extended arc-shaped external terminal, and the lower end is provided with a negative electrode extended arc-shaped external terminal. The two are connected by an end cap, an insulating isolation layer, an insulating isolation groove, or an insulating washer to form an axial insulating isolation structure between the terminals.

[0055] The uncoated area of ​​the current collector of the positive electrode 21 or negative electrode 22 is formed into multiple electrode tabs by die cutting, punching or leaving blank; multiple electrode tabs of the same polarity are gathered, stacked and welded to form an electrode tab group; the positive electrode tab group 24 is connected to the upper positive electrode external terminal 3, and the negative electrode tab group is connected to the lower negative electrode external terminal 4, thereby forming a hierarchical transition structure from the internal electrode sheet to the external large-area arc-shaped contact surface.

[0056] Under 80A short-time pulse output conditions, the heating power of the arc-shaped contact surface connection area can be controlled within about 1.3W; compared with the small-area terminal connection structure with a contact resistance of 0.5mΩ, the heating of the connection area can be reduced by about 60%, and the local temperature rise of the terminal can be reduced by about 40%. This embodiment mainly improves the low-resistance output capability and assembly contact area of ​​the positive and negative external terminals 4.

[0057] In summary, this application enables the battery to directly fit into the annular or arc-shaped space inside the robot arm by forming the battery body into a circular or open arc shape; it achieves the reuse of heat dissipation, wiring, shaft passing, and structural avoidance functions through the central channel 102 or the inner arc avoidance area; it increases the external connection area through the arc-shaped positive and negative external terminals 4 arranged axially opposite each other; and it improves the battery's heat dissipation capacity and continuous power output capacity under high-rate output and repetitive pulse conditions by forming inner and outer double-sided heat dissipation paths through the inner heat-conducting component 5, inner heat-conducting component 9, and outer heat-conducting component 6.

[0058] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A battery suitable for a robotic arm, comprising a housing, an electrode assembly, a positive external terminal, and a negative external terminal; the housing having an inner arc wall and an outer arc wall, and forming a receiving cavity between the inner arc wall and the outer arc wall for accommodating the electrode assembly, characterized in that, The housing is annular or arc-shaped; when the housing is annular, the inner arc wall forms a central channel that runs through the battery axis; when the housing is arc-shaped, the inner arc wall extends along the arc direction and forms an inner arc clearance area on the inner arc side of the housing; the positive electrode external terminal and the negative electrode external terminal are respectively disposed at opposite ends in the axial direction of the housing; the positive electrode external terminal and the negative electrode external terminal have an arc-shaped structure that extends along the circumference or arc direction of the housing; the positive electrode external terminal and the negative electrode external terminal are electrically connected to the positive and negative electrodes of the electrode assembly, respectively.

2. The battery for a robotic arm according to claim 1, characterized in that, The housing includes an outer shell, an inner shell, a first end cap, and a second end cap; the outer arc wall is formed on the outer shell, and the inner arc wall is formed on the inner shell; the first end cap and the second end cap are respectively disposed at both ends between the outer shell and the inner shell, and together with the outer shell and the inner shell, they form the receiving cavity; the positive external terminal and the negative external terminal are respectively mounted on the first end cap and the second end cap.

3. The battery for a robotic arm according to claim 2, characterized in that, The electrode assembly is formed by winding several positive electrode plates, negative electrode plates, and a separator; the electrode assembly is circular or arc-shaped; the positive electrode plate is provided with a positive electrode tab, and the negative electrode plate is provided with a negative electrode tab; one side of the external terminal of the positive electrode is provided with a positive end face current collector with an arc-shaped structure, which is inserted into the receiving cavity through the first end cap; the positive electrode tab of each positive electrode plate is connected to the positive end face current collector; one side of the external terminal of the negative electrode is provided with a negative end face current collector with an arc-shaped structure, which is inserted into the receiving cavity through the second end cap; the negative electrode tab of each negative electrode plate is connected to the negative end face current collector.

4. The battery for a robotic arm according to claim 2, characterized in that, The cavity is also provided with an inner heat-conducting component in the form of a ring or arc, and the inner heat-conducting component is in contact with the inner wall of the inner shell.

5. The battery for a robotic arm according to claim 4, characterized in that, The outer wall of the outer casing is also provided with an outer heat-conducting component in the form of a ring or arc.

6. The battery for a robotic arm according to claim 1, characterized in that, Both the first end cap and the second end cap are provided with an insulating isolation element with an arc-shaped structure; one of the insulating isolation elements is located between the inner side of the positive electrode external terminal and the central channel or the inner arc clearance area, and the other insulating isolation element is located between the inner side of the negative electrode external terminal and the central channel or the inner arc clearance area.

7. A battery mounting structure for a robotic arm, comprising a robotic arm housing, an inner heat-conducting component, and a battery as described in any one of claims 1 to 6, characterized in that, The robotic arm housing has an installation cavity, in which the battery is installed. Each end of the inner wall of the installation cavity has an axial positioning ring with a circular or arc-shaped structure, and the battery is located between the two axial positioning rings. The inner heat-conducting component passes through the central channel or inner arc avoidance area of ​​the battery.

8. The battery mounting structure for the robotic arm according to claim 7, characterized in that, The inner heat-conducting component includes at least one of a metal heat-conducting core, a liquid cooling pipe, and a heat pipe.

9. The battery mounting structure for the robotic arm according to claim 8, characterized in that, The central channel or inner arc clearance area of ​​the battery is also used to accommodate or avoid at least one of the robotic arm's pivot, wiring harness, sensor, and mounting positioning components.

10. The battery mounting structure for the robotic arm according to claim 9, characterized in that, The robotic arm housing is also provided with a first conductive connector and a second conductive connector; the first conductive connector and the second conductive connector are respectively connected to the positive terminal and the negative terminal of the battery.

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