Distributed battery system and humanoid robot

Abstract

The utility model discloses a distributed battery system and a humanoid robot. The distributed battery system comprises a bus bar, the power supply system comprises a plurality of battery assemblies, the battery assemblies are connected in parallel and electrically connected with the bus bar, each battery assembly comprises one or more battery modules connected in series, and each battery module comprises a plurality of battery units connected in series. Each battery unit comprises a plurality of single battery cells which are connected in parallel. The power supply system is formed by the multiple battery assemblies, and the battery assemblies can be designed into different shapes to be dispersedly arranged on the trunk, the four limbs and other parts of the robot, so that the space utilization rate of the power supply system is increased, and the overall energy reserve is greatly increased; and the risk of paralysis of the whole robot system caused by the fault of a single battery assembly is reduced, so that the reliability and the stability of the whole system are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of robot system design technology, specifically to a distributed battery system and a humanoid robot. Background Technology

[0002] In today's cutting-edge technology fields, humanoid robots generally rely on a single power battery as their energy storage foundation. Battery life has become a core element in measuring their practical application value. The power battery plays an irreplaceable and crucial role in the operating architecture of a humanoid robot. As the core energy source, it provides power to key components such as hydraulic pumps, motors, and the "brain" and "cerebellum" that handle computation and control functions, enabling the humanoid robot to move nimbly and freely, perform tasks accurately and flawlessly, and interact efficiently with its surrounding environment. Battery capacity is closely linked to the robot's battery life. Large-capacity power batteries can provide robots with longer-lasting power support, allowing them to operate stably for extended periods in service scenarios such as hotel services and home care, as well as rescue fields such as disaster search and rescue and hazardous environment detection, greatly improving the robot's practicality and reliability.

[0003] Currently, the power supply systems of humanoid robots generally adopt an integrated design, typically arranged in a relatively orderly manner and concentrated in the same part of the robot, such as the abdomen or back. However, given the humanoid design characteristics of humanoid robots, their internal structure is extremely complex, which significantly limits the space available to accommodate the power battery. This limitation directly hinders the effective improvement of the humanoid robot's endurance, becoming a major bottleneck restricting its development. Furthermore, since the power battery pack is a complete system, if any module or unit within it fails, it is highly likely to cause a power outage, and may even pose a safety hazard, seriously threatening the normal operation and safe use of the robot.

[0004] In summary, existing battery solutions for humanoid robots suffer from technical problems such as insufficient battery life and poor overall reliability and stability. Utility Model Content

[0005] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a distributed battery system and humanoid robot to solve the technical problems of insufficient battery life, poor overall reliability and stability in the prior art.

[0006] To achieve the above-mentioned technical objectives, this application adopts the following technical solution:

[0007] In a first aspect, this application provides a distributed battery system, including a busbar and a power supply system:

[0008] Busbar;

[0009] The power supply system comprises a plurality of battery assemblies, the plurality of battery assemblies are connected in parallel with each other and are electrically connected with the bus bar, each battery assembly comprises one or more battery modules connected in series with each other, each battery module comprises a plurality of battery units connected in series with each other, and each battery unit comprises a plurality of single battery cells connected in parallel with each other.

[0010] In some embodiments of the present application, a master control module and a plurality of slave control modules are further included, the master control module is connected in signal with the plurality of slave control modules, and each slave control module is connected in signal with one battery assembly.

[0011] In some embodiments of the present application, a bracket and an electric connecting sheet are further included, the bracket has a plurality of mounting slots, each mounting slot contains one single battery cell, and two adjacent single battery cells are connected through the electric connecting sheet.

[0012] In some embodiments of the present application, each slave control module further comprises a detection unit, each detection unit is electrically connected with one electric connecting sheet and connected in signal with the master control module, and the detection unit comprises at least one of a temperature control detection device, a current detection device and a voltage detection device.

[0013] In some embodiments of the present application, a constant current constant voltage equalization device and an equalization switch are further included, the constant current constant voltage equalization device and the equalization switch are connected in signal with the master control module, and each constant current constant voltage equalization device is electrically connected with one battery assembly through the equalization switch.

[0014] In some embodiments of the present application, a quick connecting plug is further included, and two adjacent battery modules are connected through the quick connecting plug.

[0015] In some embodiments of the present application, a plurality of circulating current cut-off devices are further included, each circulating current cut-off device is located between one battery assembly and the bus bar, and the circulating current cut-off device comprises two diodes connected in reverse parallel.

[0016] In some embodiments of the present application, the bus bar comprises a positive main branch, a negative main branch, a plurality of positive branch lines, a plurality of negative branch lines and electric contact terminals, the positive main branch and the negative main branch are oppositely arranged, the positive main branch is connected with the plurality of positive branch lines, the negative main branch is connected with the plurality of negative branch lines, and each battery assembly is connected with one positive branch line through one electric contact terminal and connected with one negative branch line through another electric contact terminal.

[0017] In some embodiments of the present application, the number of battery units connected in series with each other in different battery assemblies is equal.

[0018] In a second aspect, the application further provides a humanoid robot, comprising a plurality of component parts and the distributed battery system according to any one of the embodiments of the first aspect, each of the component parts being provided with a battery compartment, and each of the battery compartments accommodating a battery assembly.

[0019] Compared with the prior art, the technical scheme provided by the application has the beneficial technical effects including:

[0020] The power supply system is composed of a plurality of battery assemblies, each of which can fully consider the structural characteristics of the humanoid robot and be designed into different shapes for being arranged in various parts of the robot's trunk, limbs and the like, thereby improving the space utilization of the power supply system, and the plurality of modular battery assemblies can work in parallel to greatly increase the overall energy reserve; in the system, when a battery assembly fails, the remaining battery assemblies can still supply power to the load and the relay through the bus bar, thereby maintaining the basic functions of the humanoid robot. This design greatly reduces the risk of the entire robot system being paralyzed due to failure of a single battery assembly, thereby significantly improving the reliability and stability of the overall system. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the application, the drawings needed in the embodiments will be briefly introduced as follows:

[0022] Figure 1 is an electrical connection diagram of a distributed battery system provided by an embodiment of the application;

[0023] Figure 2 is a signal connection diagram of a distributed battery system provided by an embodiment of the application.

[0024] REFERENCE SIGNS:

[0025] Bus bar 1, positive dry way 11, negative dry way 12;

[0026] Battery assembly 2, battery module 21, battery unit 211, single battery cell 2111;

[0027] First battery module 21a, first battery unit 211a;

[0028] Second battery module 21b, second battery unit 211b;

[0029] Third battery module 21c, third battery unit 211c;

[0030] Master control module 22, slave control module 23, detection unit 231, protection unit 232, communication unit 233;

[0031] A circulation stopper 3, a quick connection plug 4, a load 5, a relay 6. DETAILED DESCRIPTION

[0032] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0033] Those skilled in the art can understand that, in the present specification, the word "comprising" is an open-ended expression, which means that the features are present but other features are not excluded. The terms "upper", "lower", "left", "right" and the like are based on the example directions shown in the drawings. The features with "first" and "second" are implicitly included one or more of the features. Singular form expressions can also be used for plural forms. The meaning of "a plurality of" is two or more. The terms "mounting", "connecting", "connecting" can be fixed connection, detachable connection or integral connection; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements. In addition, "connection" can include wireless connection.

[0034] The purpose of the present application is to overcome the above technical deficiencies, and to provide a distributed battery system and a humanoid robot, which solves the technical problems of insufficient endurance, poor overall reliability and stability in the prior art.

[0035] To achieve the above technical purposes, the present application adopts the following technical solutions:

[0036] In a first aspect, the present application provides a distributed battery system, as shown in Figure 1 Figure 1 is a schematic diagram of the electrical connection of the distributed battery system provided by the embodiments of the present application.

[0037] A distributed battery system, comprising a bus bar 1 and a power supply system:

[0038] The bus bar 1;

[0039] ​The power supply system includes multiple battery components 2, which are connected in parallel and electrically connected to the busbar 1. Each battery component 2 includes one or more battery modules 21 connected in series, each battery module 21 includes multiple battery cells 211 connected in series, and each battery cell 211 includes multiple individual battery cells 2111 connected in parallel. This allows all battery components 2 to jointly power the robot. The modular battery components 2 are easy to replace and maintain, reducing maintenance costs and cycles. When the robot is working, each battery component 2 provides power to the robot as needed. At the same time, the battery management system (BMS) monitors and manages each battery component 2 in real time to ensure that the battery components 2 operate within a safe and efficient range.

[0040] m individual battery cells 2111 are connected in parallel to form a battery unit 211. The voltage of the battery unit 211 is the same as the voltage of the individual battery cells 2111. The total capacity of the battery unit 211 becomes m times the capacity of the individual battery cells 2111. Multiple battery units 211 are connected in series to form a battery module 21. n battery modules 21 are connected in series to form one of the battery components 2 in the power supply system. The total voltage of each battery component 2 depends on the total number of battery modules 21 connected in series, and the total ampere-hour capacity depends on the number of individual battery cells 2111 connected in parallel in each battery unit 211.

[0041] This application utilizes a power supply system composed of multiple battery modules 2. Each battery module 2 is designed with different shapes to fully consider the structural characteristics of the humanoid robot, distributing them across various parts of the robot, such as the torso and limbs, thereby improving the space utilization of the power supply system. Multiple modular battery modules 2 can work collaboratively in parallel, significantly increasing the overall energy reserve. In this system, when one battery module 2 fails, the remaining battery modules 2 can still supply power to the load 5 and relay 6 through the busbar 1, maintaining the basic functions of the humanoid robot. This design greatly reduces the risk of the entire robot system failing due to the failure of a single battery module 2, thus significantly improving the overall system reliability and stability.

[0042] like Figure 2 As shown, Figure 2 This is a schematic diagram of the signal connection of a distributed battery system provided in an embodiment of this application.

[0043] In some embodiments of this application, a main control module 22 and a slave control module 23 are also included. The main control module 22 is signal-connected to a plurality of slave control modules 23, and each slave control module 23 is signal-connected to one of the battery components 2.

[0044] The master control unit is an important component of the battery management system, mainly responsible for current collection, battery total voltage detection, insulation detection, relay 6 control, communication, and a series of monitoring and control functions.

[0045] The battery management system (BMS) runs in the master control module 22, which is used for power battery monitoring, control, state estimation and early warning, to reduce safety risks and improve system operation efficiency and safety. The master control module 22 regularly collects state data of the battery assembly 2 from each slave control module 23, such as voltage, current, temperature and other information, and performs comprehensive analysis. At the same time, the master control module 22 can send control instructions to the slave control module 23 to adjust the working state of the battery assembly 2.

[0046] The slave control unit integrates battery voltage collection, temperature collection, balance management, communication unit 233, protection unit 232 and other functions into an electrical system.

[0047] The battery management system can also use the slave control module 23 to perform power-on and power-off operations on the distributed power battery of the humanoid robot. When the slave control module 23 detects an abnormality in the battery assembly 2 it manages, it will immediately report to the master control module 22. The master control module 22 takes appropriate measures according to the fault condition, such as adjusting the working mode of the battery assembly 2, isolating the faulty battery assembly 2, etc., to finely control the battery assembly 2 it manages.

[0048] In some embodiments of the present application, a bracket and an electrical connection sheet are also included. The bracket has a plurality of mounting slots, each of which contains a single battery cell 2111. The adjacent two single battery cells 2111 are connected by the electrical connection sheet.

[0049] The bracket is used to fix and support the single battery cell 2111, reducing the vibration and displacement of the battery cell during the movement of the robot, and improving the mechanical stability of the battery system. The single battery cell 2111 is installed one by one into the mounting slot of the bracket, ensuring that each single battery cell 2111 is fixed in the appropriate position, reducing the difficulty and time cost of assembly and maintenance. The electrical connection sheet is used to electrically connect adjacent two single battery cells 2111. The electrical connection sheet can be a metal sheet, an elastic contact sheet or other conductive materials, used to ensure good electrical connection between the single battery cells 2111. The design of the bracket and the electrical connection sheet can be adjusted according to different shapes and sizes of the battery assembly 2, to adapt to the structure requirements of different humanoid robots. Through the compact design of the bracket, more single battery cells 2111 can be accommodated in a limited space, improving the energy density and space utilization of the battery system.

[0050] Through the above installation and connection, a plurality of single battery cells 2111 are connected in parallel to form a battery unit 211, a plurality of battery units 211 are connected in series to form a battery module 21, and finally a plurality of battery modules 21 are connected in parallel to form a battery assembly 2.

[0051] In some embodiments of the present application, the slave control module 23 further comprises a detection unit 231, each detection unit 231 is electrically connected to one of the electric connection pieces and is signal connected to the master control module 22, and the detection unit 231 comprises at least one of a temperature control detection device, a current detection device and a voltage detection device.

[0052] The detection unit 231 is responsible for monitoring the current and voltage flowing through the electric connection piece, thereby monitoring the current and voltage of the single battery cell 2111 to evaluate the charging and discharging state and health of the battery assembly 2 and to determine the charging state of the battery and whether there is a voltage imbalance problem. The current data and voltage data are sent to the slave control module 23 for processing.

[0053] The detection unit 231 can also monitor the temperature of the single battery cell 2111 and ensure that the battery works within a safe temperature range. When the temperature exceeds the preset range, the detection unit 231 sends a signal to the slave control module 23.

[0054] When abnormal data is detected, the slave control module 23 will immediately take corresponding measures, such as limiting the current, disconnecting the faulty battery unit 211 or starting the alarm system, to protect the battery system from damage.

[0055] In some embodiments of the present application, a constant current constant voltage equalization device and an equalization switch are further included, the constant current constant voltage equalization device and the equalization switch are signal connected to the master control module 22, and each constant current constant voltage equalization device is electrically connected to one of the battery assemblies 2 through the equalization switch.

[0056] The battery management system adopts a distributed battery management system. The output end of the power battery pack is connected to a master control unit, each battery assembly 2 is connected to a slave control unit, each slave control unit collects the output voltage signal of the corresponding battery in real time and sends it to the master control unit, the master control unit obtains the maximum voltage signal and the minimum voltage signal in the multiple batteries, and when the voltage difference between the maximum voltage signal and the minimum voltage signal is greater than a preset threshold, the master control unit controls the constant current / constant voltage equalization device and the equalization switch to perform equalization operation on the battery corresponding to the minimum voltage signal.

[0057] The constant current constant voltage equalization device is used to realize constant current or constant voltage equalization between each single battery cell 2111 in the battery assembly 2, to ensure that the voltages or capacities of all single battery cells 2111 are consistent, and to avoid performance degradation or damage of the battery due to imbalance between the single battery cells 2111.

[0058] The equalization switch is used to control the electrical connection between the constant current and constant voltage equalization device and each battery module 2. When the main control module 22 detects that there is voltage or capacity imbalance in a single cell 2111 in a certain battery module 2, it will control the corresponding equalization switch through a signal to connect the constant current and constant voltage equalization device with the battery module 2.

[0059] In some embodiments of the present application, a quick connection plug 4 is also included, and adjacent two battery modules 21 are connected through the quick connection plug 4.

[0060] Each battery module 2 is designed with a quick connection plug 4, which is used for electrical connection between battery modules 21. Adjacent two battery modules 21 are connected with each other through the quick connection plug 4. This connection allows quick and simple electrical connection between battery modules 21 without complex wiring process.

[0061] Due to the use of the quick connection plug 4, the assembly and disassembly of the battery module 2 become very convenient, realizing the modular design concept. The use of the quick connection plug 4 allows the battery module 21 to be plug and play, reducing downtime during installation and maintenance.

[0062] In some embodiments of the present application, a plurality of circulating current cut-off devices 3 are also included, each of which is located between one of the battery modules 2 and the bus bar 1, and the circulating current cut-off device 3 includes two diodes connected in reverse parallel.

[0063] Each circulating current cut-off device 3 is located between one of the battery modules 2 and the bus bar 1, and is used to control the current flow direction between the battery module 2 and the bus bar 1. The circulating current cut-off device 3 is composed of two diodes connected in reverse parallel. This configuration allows the current to flow freely in one direction, while being blocked in the opposite direction.

[0064] When the battery module 2 is working normally, the current can flow through the circulating current cut-off device 3 to the bus bar 1, providing power for the load 5 and the relay 6. If the battery module 2 has an abnormality, such as a short circuit of the battery unit 211 or the module, the circulating current cut-off device 3 can prevent the current from flowing in the opposite direction, thereby protecting the battery module 2 from damage.

[0065] In some embodiments of the present application, the bus bar 1 includes a positive main circuit 11, a negative main circuit 12, a positive branch circuit, a negative branch circuit, and an electrical contact terminal, the positive main circuit 11 and the negative main circuit 12 are oppositely arranged, the positive main circuit 11 is connected with a plurality of positive branch circuits, the negative main circuit 12 is connected with a plurality of negative branch circuits, and each battery module 2 is connected with one positive branch circuit through one electrical contact terminal and with one negative branch circuit through another electrical contact terminal.

[0066] The positive busbar 11 and the negative busbar 12 are the main trunk portions of the busbar 1, and are responsible for collecting and distributing the current of the positive and negative electrodes, respectively. The positive busbar 11 is connected with a plurality of positive branches, and the negative busbar 12 is connected with a plurality of negative branches. These branches distribute the current from the main trunk to each battery assembly 2. Each battery assembly 2 is connected with a positive branch through one electrical contact terminal, and is connected with a negative branch through another electrical contact terminal. In this way, all the battery assemblies 2 are connected in parallel between the positive and negative electrodes.

[0067] The parallel connection of the battery assemblies 2 means that the positive and negative electrodes of each battery assembly 2 are connected to the positive busbar 11 and the negative busbar 12, respectively, so that all the battery assemblies 2 collectively provide the current for the load 5 and the relay 6.

[0068] In the second aspect, the application also provides a humanoid robot, comprising a plurality of component parts and a distributed battery system as described in any one of the embodiments of the first aspect, each of the component parts is provided with a battery compartment, and each of the battery compartments contains a battery assembly 2.

[0069] In some embodiments of the application, the component parts include a torso and four limbs, the battery assembly 2 in the torso includes a first battery module 21a, the first battery module 21a includes twelve first battery units 211a connected in series, each of the first battery units 211a includes three single battery cells 2111 connected in parallel;

[0070] The battery assembly 2 in the limbs includes a second battery module 21b and a third battery module 21c connected in series, the second battery module 21b includes eight second battery units 211b connected in series, each of the second battery units 211b includes three single battery cells 2111 connected in parallel, and the third battery module 21c includes four third battery units 211c connected in series, each of the third battery units 211c includes three single battery cells 2111 connected in parallel.

[0071] The first battery assembly 2 is a 12S3P battery module 21, arranged and installed in the abdomen of the humanoid robot, each series branch includes 3 battery modules 21 connected in parallel, the battery modules 21 internally include cylindrical single battery cells 2111, which can be directly connected in parallel to the busbar 1, the positive electrode of the first battery assembly 2 is connected to the positive electrode of the busbar 1, and the negative electrode of the first battery assembly 2 is connected to the negative electrode of the busbar 1.

[0072] The second battery assembly 2 is formed by connecting the second battery module 21b and the third battery module 21c in series, the negative electrode of the second battery module 21b is connected to the positive electrode of the third battery module 21c, the negative electrode of the third battery module 21c (i.e. the negative electrode of the second battery assembly 2) is connected to the negative electrode of the busbar 1, and the positive electrode of the second battery module 21b (i.e. the negative electrode of the second battery assembly 2) is connected to the positive electrode of the busbar 1.

[0073] The second battery module 21b is an 8-series 3-parallel battery module 21 arranged and installed at the thigh of the humanoid robot, each series branch includes three battery modules 21 connected in parallel, and the battery module 21 is internally provided with a cylindrical single cell 2111.

[0074] The third battery module 21c is a 4-series 3-parallel battery module 21 arranged and installed at the lower leg of the humanoid robot, each series branch includes three battery modules 21 connected in parallel, and the battery module 21 is internally provided with a cylindrical single cell 2111.

[0075] In the present application, each battery assembly 2 is divided into a plurality of independent battery modules 21 distributed at different positions of the humanoid robot, each battery module 21 can be individually installed and used, the modules are combined in series to form the battery assembly 2, and then the input and output are performed in the form of bus connection. Since the size of the battery module 21 is much smaller than that of the entire battery pack, the idle space inside the humanoid robot can be used very fully, thereby effectively increasing the overall energy reserve.

[0076] In some embodiments of the present application, the number of battery cells 211 connected in series in different battery assemblies 2 is equal.

[0077] Since all the battery assemblies 2 are connected to the busbar 1 with the same number of series-connected cells, have the same voltage, and the failure of a certain battery assembly 2 does not affect the power supply function of other battery assemblies 2, the remaining assemblies can still maintain the basic functions, thereby improving the reliability of the overall system.

[0078] Compared with the prior art, the technical scheme provided by the present application has the beneficial technical effects including:

[0079] The application forms a power supply system by a plurality of battery assemblies 2. Each battery assembly 2 can fully consider the structural characteristics of the humanoid robot, and is designed into different shapes to be arranged at each part of the robot's trunk, limbs and the like, thereby improving the space utilization of the power supply system. The plurality of modular battery assemblies 2 can work in parallel to greatly increase the overall energy reserve. In the system, when a certain battery assembly 2 fails, the remaining battery assemblies 2 can still supply power to the load 5 and the relay 6 through the bus bar 1, maintaining the basic functions of the humanoid robot. This design greatly reduces the risk of the entire robot system being paralyzed due to the failure of a single battery assembly 2, thereby significantly improving the reliability and stability of the overall system.

[0080] Those skilled in the art can understand that the steps, measures, schemes in the various operations, methods and processes discussed in the application can be alternated, changed, rearranged, decomposed, combined or deleted.

[0081] The specific embodiments of the application described above do not constitute a limitation on the scope of protection of the application. Any various other corresponding changes and modifications made according to the technical concept of the application should be included in the scope of protection of the claims of the application.

Claims

1. A distributed battery system, characterized by, The distribution type battery system comprises a busbar and a power supply system, wherein the power supply system comprises a plurality of battery assemblies which are connected in parallel with each other and are electrically connected with the busbar, each of the battery assemblies comprises one or more battery modules which are connected in series with each other, each of the battery modules comprises a plurality of battery units which are connected in series with each other, and each of the battery units comprises a plurality of single battery cells which are connected in parallel with each other. The distribution type battery system further comprises a master control module and a plurality of slave control modules, wherein the master control module is connected in signal communication with the plurality of slave control modules, and each of the slave control modules is connected in signal communication with one of the battery assemblies. The distribution type battery system further comprises a bracket and a plurality of electric connection pieces, wherein the bracket is provided with a plurality of mounting grooves, each of the mounting grooves contains one of the single battery cells, and two adjacent single battery cells are connected by one of the electric connection pieces.

2. The distributed battery system of claim 1, wherein, Each of the slave control modules further comprises a detection unit, wherein each of the detection units is electrically connected with one of the electric connection pieces and is connected in signal communication with the master control module, and the detection unit comprises at least one of a temperature control detection device, a current detection device and a voltage detection device.

3. The distributed battery system of claim 2, wherein, The distribution type battery system further comprises a plurality of constant current and constant voltage equalization devices and a plurality of equalization switches, wherein the constant current and constant voltage equalization devices and the equalization switches are connected in signal communication with the master control module, each of the constant current and constant voltage equalization devices is electrically connected with one of the battery assemblies through one of the equalization switches.

4. The distributed battery system of claim 3, wherein, The distribution type battery system further comprises a plurality of quick connection plugs, wherein two adjacent battery modules are connected by one of the quick connection plugs.

5. The distributed battery system of claim 2, wherein, The distribution type battery system further comprises a plurality of circulating current cut-off devices, wherein each of the circulating current cut-off devices is located between one of the battery assemblies and the busbar, and each of the circulating current cut-off devices comprises two diodes which are connected in anti-parallel.

6. The distributed battery system of claim 1, wherein, The busbar comprises a positive main branch, a negative main branch, a plurality of positive branch lines, a plurality of negative branch lines and a plurality of electric contact terminals, wherein the positive main branch and the negative main branch are arranged oppositely, the positive main branch is connected with the plurality of positive branch lines, the negative main branch is connected with the plurality of negative branch lines, each of the battery assemblies is connected with one of the positive branch lines through one of the electric contact terminals and is connected with one of the negative branch lines through another one of the electric contact terminals.

7. The distributed battery system of claim 1, wherein, The number of the battery units which are connected in series with each other in different battery assemblies is equal.

8. The distributed battery system of claim 1, wherein, The distribution type battery system further comprises a plurality of component parts and a battery system as claimed in any one of claims 1 to 9, wherein each of the component parts is provided with a battery compartment, and each of the battery compartments contains one of the battery assemblies.

9. The distributed battery system of claim 1, wherein, ​ 10. A humanoid robot, characterized by, ​

Images