Patent Description:
Conventionally, bipedal humanoid robots which carries a secondary battery as a power supply are known. For example, Patent Document <NUM> discloses a bipedal robot which carries a secondary battery on the back of an upper body. According to Patent Document <NUM>, the secondary battery is comprised of, for downsizing of the external shape of the secondary battery, a small-capacity secondary battery module at the center, and large-capacity secondary battery modules on both sides of the small-capacity secondary battery module.

<CIT> discloses a legged mobile robot including sensors which can measure contact pressure and which are distributed at corresponding portions of the entire body of the robot in order to determine the state of contact with the external world. In addition, modules which use shockabsorbing members for reducing shock are provided at the corresponding portions of the entire body of the robot. These modules cover their corresponding portions of the robot in order to further function as external parts for protecting the robot from shock. The modules can be constructed so as to be removable from the body of the robot, and may include batteries for supplying electrical power to terminal parts such as sensors. The resulting robot can operate while being subjected to external forces as a result of coming into contact with an obstacle or other external objects, and shock which is produced when the robot comes into contact with an external object can be reduced.

When the secondary battery for supplying the power to the robot is disposed on the back of the robot like the bipedal robot disclosed in Patent Document <NUM>, the heavy secondary battery projects greatly from the rear. For this reason, the center-of-gravity position of the robot carrying the secondary battery is offset greatly rearward from the center axis of the robot in an up-and-down direction. Therefore, a balance control in the posture of the robot becomes complicated and difficult.

Thus, one purpose of the present disclosure is to provide a secondary battery unit and a humanoid robot, capable of reducing an offset of the center-of-gravity position of the humanoid robot.

In order to achieve the purpose, the present invention provides a secondary battery unit according to claim <NUM> and a humanoid robot according to claim <NUM>.

According to the technique of the present disclosure, an offset of the center-of-gravity position of the humanoid robot can be reduced.

Hereinafter, one embodiment of the present disclosure is described with reference to the drawings. Note that any embodiment which will be described below illustrates a comprehensive or concrete example. Further, among components in the following embodiment, components that are not described in an independent claim that illustrates the top concept will be described as arbitrary components. Each of the accompanying drawings is a schematic drawing, and is not necessarily illustrated exactly. Further, in each drawing, the same reference characters are assigned to substantially the same components, and redundant explanation may be omitted or simplified. The term "device" as used herein and the claims may not only mean a sole device, but also mean a system comprised of a plurality of devices.

<FIG> is a perspective view illustrating one example of a humanoid robot <NUM> according to this embodiment, when seen from the front. <FIG> is a perspective view illustrating one example of a configuration of the humanoid robot <NUM> according to this embodiment, from a head <NUM> to a lower body <NUM>, when seen from the rear. As illustrated in <FIG> and <FIG>, the humanoid robot <NUM> according to this embodiment has the head <NUM>, a neck <NUM>, an upper body <NUM>, the lower body <NUM>, arms <NUM>, and legs <NUM>. The humanoid robot <NUM> is also referred to as a "humanoid" or "bipedal robot," which is configured to perform bipedal locomotion by controlling the drive of the legs <NUM>. The humanoid robot <NUM> can also perform a work etc. similar to a human, by driving the arms <NUM> and the legs <NUM> to move hand parts at tip ends of the arms <NUM> and foot parts at tip ends of the legs <NUM>.

Each of the arm <NUM> and the leg <NUM> has a plurality of links and joints which bendably connect the plurality of links, respectively. Each of the arm <NUM> and the leg <NUM> carry out the bending motion by adjacent links bending with respect to each other via the joint. The upper body <NUM> and the lower body <NUM> are connected to each other so as to be bendable via a joint <NUM>. The upper body <NUM> can carry out a forward bending motion, a rearward bending motion, and a circumnutating motion to the left and right, with respect to the lower body <NUM>. The lower body <NUM> may correspond to a human's pelvis, and the joint <NUM> may correspond to a human's waist. A drive is provided to each joint and it drives the bending motion or the circumnutating motion of the joint. The drive has a drive source, such as an electric motor such as a servomotor, and an actuator. In response to a control of operation thereof, the drive bends the link in a desired bending direction at a desired bending angle, or bends the upper body <NUM> in a desired bending direction at a desired bending angle and circumnutates the upper body <NUM> in a desired turning direction at a desired turning angle.

The upper body <NUM> is covered with cladding <NUM>. For example, the cladding <NUM> is a plate-like cover. Note that, in <FIG>, the cladding <NUM> is illustrated in a state where it is partially cut off. The humanoid robot <NUM> has a secondary battery unit <NUM> in the upper body <NUM> inside the cladding <NUM>. The secondary battery unit <NUM> stores electricity, and supplies the power to devices which use power as a power source, such as the drive of the humanoid robot <NUM>. The secondary battery unit <NUM> receives the supply of the power by being connected with an external power supply of the humanoid robot <NUM>, and accumulates the power.

A configuration of the secondary battery unit <NUM> is described. <FIG> and <FIG> are perspective views illustrating one example of the upper body <NUM> in the state where the cladding <NUM> of the humanoid robot <NUM> according to this embodiment is removed, when seen from the rear. <FIG> is a side view illustrating one example of the upper body <NUM> in the state where the cladding <NUM> of the humanoid robot <NUM> according to this embodiment is removed, when seen from one side. <FIG> is a perspective view illustrating one example of the upper body <NUM> in the state where the secondary battery unit <NUM> is removed in <FIG>.

As illustrated in <FIG>, the secondary battery unit <NUM> is detachably attached to a back part of the upper body <NUM>. Here, back parts of the upper body <NUM> and the lower body <NUM> correspond to the back and the buttocks of the humanoid robot <NUM>, respectively, and is a part of the upper body <NUM> in the rearward bending direction. Front parts of the upper body <NUM> and the lower body <NUM> correspond to the chest and the abdomen of the humanoid robot <NUM>, respectively. Further, on the basis of the humanoid robot <NUM> in the upright position, the rearward bending direction is referred to as a "back direction BD," the forward bending direction is referred to as a "front direction FD," the right side with respect to the front direction FD is referred to as a "right direction RD," and the left side with respect to the front direction FD is referred to as a "left direction LD.

The secondary battery unit <NUM> includes secondary battery modules <NUM>-<NUM> and a base <NUM>. The secondary battery module <NUM> is a top secondary battery module disposed at an upper part of the upper body <NUM>. The secondary battery module <NUM> is a back secondary battery module disposed at a back part of the upper body <NUM>. The secondary battery module <NUM> is a side secondary battery module disposed at a side part of the upper body <NUM>. The base <NUM> couples the secondary battery modules <NUM>-<NUM> to each other, and is detachably attached to the upper body <NUM> together with the secondary battery modules <NUM>-<NUM>.

The top secondary battery module <NUM> and the side secondary battery module <NUM> are disposed around the upper body <NUM> in a direction which intersects with the front-and-rear direction of the upper body <NUM>. For example, the top secondary battery module <NUM> and the side secondary battery module <NUM> are disposed around the upper body <NUM> in a direction perpendicular to the front-and-rear direction of the upper body <NUM>. Such secondary battery modules <NUM>-<NUM> are disposed so as to surround the upper body <NUM>. The back secondary battery module <NUM> is one example of a "first secondary battery module," and the top secondary battery module <NUM> and the side secondary battery module <NUM> are examples of a "second secondary battery module.

Each of the secondary battery modules <NUM>-<NUM> includes one or more secondary batteries <NUM>. Each of the secondary battery modules <NUM>-<NUM> may include one or more integrated secondary batteries <NUM>, or may include one or more separated secondary batteries <NUM>. The secondary battery <NUM> is also referred to as a "rechargeable battery" which is electrically chargeable and dischargeable. The secondary battery <NUM> may be comprised of a lead secondary battery, a lithium-ion rechargeable battery, a nickel-hydrogen secondary battery, or a nickel-cadmium secondary battery.

The top secondary battery module <NUM> is comprised of a pair of top secondary battery modules 110a and 110b. The top secondary battery modules 110a and 110b are disposed on left and right shoulders 32a and 32b of the upper body <NUM> of the humanoid robot <NUM>, respectively. Below, when distinguishing the two top secondary battery modules, they are expressed as "the top secondary battery module 110a" and "the top secondary battery module 110b," and when not distinguishing therebetween, each is expressed as "the top secondary battery module <NUM>.

As illustrated in <FIG> and <FIG>, the shoulders 32a and 32b are provided to the upper body <NUM>, and they are the joint parts between the left and right arms <NUM> and the upper body <NUM>, respectively. Each of the shoulders 32a and 32b includes a joint <NUM> to which the arm <NUM> is connected, and a drive <NUM> for the joint <NUM>. The drive <NUM> includes a servomotor 34a and a reduction gear 34b. The reduction gear 34b slows down a rotational speed of a rotational driving force of the servomotor 34a while increasing the rotational driving force, and transmits the rotational driving force to the joint <NUM>. For example, the rotational driving force of the reduction gear 34b may be transmitted to the joint <NUM> via a drive belt or a gear mechanism.

As illustrated in <FIG>, the side secondary battery module <NUM> is comprised of a pair of side secondary battery modules 130a and 130b. The side secondary battery modules 130a and 130b are disposed at the left and right side parts of the upper body <NUM> of the humanoid robot <NUM>, respectively. The side secondary battery modules 130a and 130b are disposed below the shoulders 32a and 32b, respectively. The side secondary battery modules 130a and 130b are disposed below the top secondary battery modules 110a and 110b, respectively. Note that the terms "up(ward)" and "above" as used herein refer to a direction from the legs <NUM> to the head <NUM> of the humanoid robot <NUM> in the upright position, and the terms "down(ward)" and "below" as used herein refer to a direction from the head <NUM> to the legs <NUM> of the humanoid robot <NUM>. Below, when distinguishing the two side secondary battery modules from each other, they are expressed as "the side secondary battery module 130a" and "the side secondary battery module 130b," and when not distinguishing therebetween, each are expressed as "the side secondary battery module <NUM>.

The single back secondary battery module <NUM> is disposed at a position between the pair of top secondary battery modules 110a and 110b, and between the pair of side secondary battery modules 130a and 130b. In this embodiment, the top secondary battery modules 110a and 110b are disposed at equidistance positions in the left direction LD and the right direction RD, centering on the back secondary battery module <NUM>. The side secondary battery modules 130a and 130b are disposed at equidistance positions in the left direction LD and the right direction RD, centering on the back secondary battery module <NUM>.

<FIG> is a perspective view illustrating one example of a configuration of the secondary battery module <NUM> according to this embodiment. As illustrated in <FIG>, the base <NUM> is a frame-like member. The base <NUM> detachably carries the top secondary battery modules 110a and 110b, the back secondary battery module <NUM>, and the side secondary battery modules 130a and 130b. Such a base <NUM> may be made of non-conductive material, such as plastic or resin.

The base <NUM> includes a top left accommodating part 141a, top left fixing parts 141aa, a top right accommodating part 141b, top right fixing parts 141ba, a back accommodating part <NUM>, back fixing parts 142a, a side left accommodating part 143a, side left fixing parts 143aa, a side right accommodating part 143b, and side right fixing parts 143ba. The back accommodating part <NUM> is one example of a "first accommodating part," and the back fixing part 142a is one example of a "first fixing part. " The top left accommodating part 141a, the top right accommodating part 141b, the side left accommodating part 143a, and the side right accommodating part 143b are examples of a "second accommodating part. " The top left fixing part 141aa, the top right fixing part 141ba, the side left fixing part 143aa, and the side right fixing part 143ba are examples of a "second fixing part.

In addition, the base <NUM> includes a first left accommodation connecting part 144a which couples the top left accommodating part 141a to the side left accommodating part 143a, a second left accommodation connecting part 145a which couples the top left accommodating part 141a to the back accommodating part <NUM>, a third left accommodation connecting part 146a which couples the back accommodating part <NUM> to the side left accommodating part 143a, a first right accommodation connecting part 144b which couples the top right accommodating part 141b to the side right accommodating part 143b, a second right accommodation connecting part 145b which couples the top right accommodating part 141b to the back accommodating part <NUM>, and a third right accommodation connecting part 146b which couples the back accommodating part <NUM> to the side right accommodating part 143b.

In this embodiment, although the first left accommodation connecting part 144a, the second left accommodation connecting part 145a, the first right accommodation connecting part 144b, and the second right accommodation connecting part 145b extend in the up-and-down direction, while the secondary battery unit <NUM> is attached to the upper body <NUM> in the upright position, their extending direction may be directions other than the up-and-down direction. Although the third left accommodation connecting part 146a and the third right accommodation connecting part 146b extend in the left-and-right direction, their extending direction may be directions other than the left-and-right direction.

Each of the accommodating parts 141a, 141b, <NUM>, 143a, and 143b has a rectangular cylindrical shape with a bottom (i.e., has a box shape which opens at one face), which accommodates the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b of a rectangular parallelepiped shape. Further, each of the accommodating parts 141a, 141b, <NUM>, 143a, and 143b opens outwardly from the upper body <NUM> in the state where the secondary battery unit <NUM> is attached to the upper body <NUM>. Thus, in the state where the secondary battery unit <NUM> is attached to the upper body <NUM>, the secondary battery <NUM> can be accommodated into the accommodating part from outside the upper body <NUM>, and can be removed as well (i.e., a replacement is possible).

The fixing parts 141aa, 141ba, 142a, 143aa, and 143ba are disposed at the accommodating parts 141a, 141b, <NUM>, 143a, and 143b, respectively. The fixing parts 141aa, 141ba, 142a, 143aa, and 143ba fix the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b which are accommodated in the accommodating parts 141a, 141b, <NUM>, 143a, and 143b to the accommodating parts, respectively. In this embodiment, although each of the fixing parts 141aa, 141ba, 142a, 143aa, and 143ba includes a belt-like Hook-and-Loop fastener which detachably fixes the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b to the accommodating parts 141a, 141b, <NUM>, 143a, and 143b, respectively, they may have any configuration as long as the above-described fixation is possible. One example of the Hook-and-Loop fastener is Velcro®. The belt-like Hook-and-Loop fastener fixes the secondary battery module to the accommodating part by being wound around the external surface of the secondary battery module.

In this embodiment, the top left accommodating part 141a can accommodate the top secondary battery module 110a including one secondary battery <NUM>. The top right accommodating part 141b can accommodate the top secondary battery module 110b including one secondary battery <NUM>. The back accommodating part <NUM> can accommodate the back secondary battery module <NUM> including two secondary batteries <NUM>. In the state where the secondary battery unit <NUM> is attached to the upper body <NUM>, the two secondary batteries <NUM> accommodated in the back accommodating part <NUM> are lined up in the left-and-right direction along the cladding <NUM> of the upper body <NUM> so as not to project in the back direction BD. The side left accommodating part 143a can accommodate the side secondary battery module 130a including two secondary batteries <NUM>. The side right accommodating part 143b can accommodate the side secondary battery module 130b including two secondary batteries <NUM>. In the state where the secondary battery unit <NUM> is attached to the upper body <NUM>, the two secondary batteries <NUM> which are accommodated in the side accommodating parts 143a and 143b are lined up in the front-and-rear direction along the cladding <NUM> of the upper body <NUM>, so as not to project in the left direction LD and the right direction RD, respectively. The center of gravity in the state where it is attached to the upper body <NUM> in such a secondary battery unit <NUM> is located at a position which is offset downwardly. But, the offset in the back direction BD is suppressed.

The base <NUM> includes attaching parts 147a and 147b in the first accommodation connecting parts 144a and 144b. The attaching parts 147a and 147b are configured so as to detachably fit onto the shoulders 32a and 32b, respectively. In this embodiment, although the attaching parts 147a and 147b is comprised of a U-shaped member which opens in the front direction FD, they may have any configuration as long as they are detachably fixed to the shoulders 32a and 32b. The attaching parts 147a and 147b are examples of a "fitting part.

The attaching parts 147a and 147b are configured to be fitted onto to the drives <NUM> of the shoulders 32a and 32b in the front direction FD from the rear, respectively. The attaching parts 147a and 147b fit onto outer circumferential surfaces of the drives <NUM> of the shoulders 32a and 32b from outside, and they are fixed to the shoulders 32a and 32b, respectively. In this embodiment, each of the attaching parts 147a and 147b fits onto upper and lower outer circumferential surfaces of the drive <NUM>. Further, a recess 147c formed in a lower part of each of the attaching parts 147a and 147b may be configured to engage or fit onto a protrusion 34c (see <FIG>) formed in the lower outer circumferential surface of the drive <NUM>. Therefore, each of the attaching parts 147a and 147b is positioned with respect to the drive <NUM>. Further, the recess 147c and the protrusion 34c may be configured to fit or engage by snap fit etc. so that they are not easily escaped from the fitting or engagement state. The base <NUM> is fixed to the upper body <NUM> in the up-and-down direction, the left-and-right direction, and the front-and-rear direction by fitting the attaching parts 147a and 147b onto the shoulders 32a and 32b, respectively. The fitting of the attaching parts 147a and 147b is released by pulling the attaching parts 147a and 147b in the back direction BD, respectively, and thereby, the base <NUM> is removed from the upper body <NUM>.

Such a base <NUM> may be comprised of a single member in which parts continue so as to be integrated, or may be formed by connecting a plurality of members. The secondary battery unit <NUM> constitutes a single module in which all the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b, and the base <NUM> are integrated. Since the base <NUM> is attachable to and detachable from the upper body <NUM>, the secondary battery unit <NUM> makes it possible to attach and detach the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b to/from the upper body <NUM> all at once. Further, the base <NUM> is configured to arrange the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b so as not to interfere with the head <NUM>, the neck <NUM>, the shoulders 32a and 32b, and the joint <NUM>, avoiding their operating areas.

By connecting a terminal <NUM> extending from each of the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b via a cable (not illustrated) with a given terminal (not illustrated) of the upper body <NUM>, each of the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b is electrically connected with the humanoid robot <NUM>. Although in this embodiment a movable terminal of the upper body <NUM> is connected to the terminal <NUM> fixed to the base <NUM>, a terminal <NUM> movable to the base <NUM> may be connected to the terminal of the upper body <NUM>.

Note that a fastener such as the Hook-and-Loop fastener may be disposed at the terminal <NUM>. Further, each terminal <NUM> may be held by the fixing part 141aa, 141ba, 142a, 143aa, or 143ba, or other constituent members via the fastener. Therefore, it becomes possible to smoothly perform the attachment and detachment of the secondary battery unit <NUM> to/from the upper body <NUM>, without being influenced by the terminal <NUM>, the cable (not illustrated), etc..

As illustrated in <FIG>, the upper body <NUM> includes an electrical equipment box <NUM> inside a skeleton frame <NUM> which constitutes the frame of the upper body <NUM>. The electrical equipment box <NUM> includes, therein, the electrical equipment including a circuit board which controls operation of each drive etc. of the humanoid robot <NUM>.

As illustrated in <FIG>, <FIG>, and <FIG>, in the secondary battery unit <NUM> attached to the upper body <NUM>, the back secondary battery module <NUM> is adjacent to the electrical equipment box <NUM> via the back accommodating part <NUM> in the back direction BD from the electrical equipment box <NUM>. The side secondary battery module 130a is adjacent to the electrical equipment box <NUM> via the side left accommodating part 143a in the left direction LD from the electrical equipment box <NUM>. The side secondary battery module 130b is adjacent to the electrical equipment box <NUM> via the side right accommodating part 143b in the right direction RD from the electrical equipment box <NUM>.

The back secondary battery module <NUM> and the side secondary battery modules 130a and 130b also function as a protection member of the electrical equipment box <NUM>. Further, by making the base <NUM> from a resin with low thermal conductivity etc., heat transfer between the electrical equipment box <NUM> and the back secondary battery module <NUM> is suppressed, and heat transfer between the electrical equipment box <NUM> and the side secondary battery modules 130a and 130b is suppressed. Therefore, the electrical equipment inside the electrical equipment box <NUM> is suppressed from being high in the temperature.

Moreover, the shoulders 32a and 32b project from the electrical equipment box <NUM> in the left direction LD and the right direction RD, respectively. The side secondary battery modules 130a and 130b are fitted below the shoulders 32a and 32b so that they do not project from the shoulders 32a and 32b in the left direction LD and the right direction RD, respectively. That is, the side secondary battery modules 130a and 130b are fitted in hollows formed in the left and right flanks of the upper body <NUM>, respectively. Therefore, it is suppressed that the side secondary battery modules 130a and 130b interfere with the left and right arms <NUM>.

The secondary battery unit <NUM> according to the above embodiment includes the back secondary battery module <NUM> disposed on the back part which is at least either one of the front part or the back part of the upper body <NUM> of the humanoid robot <NUM>, the top secondary battery module <NUM> and the side secondary battery module <NUM> disposed around the upper body <NUM> in the direction which intersects with the front-and-rear direction of the upper body <NUM>, the base <NUM> which couples the secondary battery modules <NUM>-<NUM> to each other. The base <NUM> is detachably attached to the upper body <NUM> along with the secondary battery modules <NUM>-<NUM>.

According to the above configuration, the secondary battery modules <NUM>-<NUM> are disposed so as to be distributed around the upper body <NUM>. Therefore, in the humanoid robot <NUM> carrying the secondary battery unit <NUM>, it may be suppressed that the center-of-gravity position of the humanoid robot <NUM> is deviated and offset from the center axis of the humanoid robot <NUM> (i.e., the balance of the center of gravity is offset). For example, the center axis of the humanoid robot <NUM> may be the axis which passes through the head <NUM> and the neck <NUM> and extends in the up-and-down direction, or may be the center axis when the humanoid robot <NUM> turns left and right. Further, the secondary battery modules <NUM>-<NUM> are collectively attached and detached to/from the upper body <NUM>, together with the base <NUM>. Therefore, the attachment and detachment of the secondary battery modules <NUM>-<NUM> become easier.

The secondary battery modules <NUM>-<NUM> may be disposed so as to surround the upper body <NUM>. According to this configuration, the secondary battery modules <NUM>-<NUM> can be disposed so as to be distributed around the upper body <NUM>.

The secondary battery modules <NUM> and <NUM> may be disposed at the upper part and the side part of the upper body <NUM>. According to this configuration, the secondary battery modules <NUM>-<NUM> can be disposed so as to be distributed to the upper part, the back part, and the side part of the upper body <NUM>.

The base <NUM> may include the attaching parts 147a and 147b as the fitting parts which detachably fit onto the upper body <NUM> of the humanoid robot <NUM>. For example, the attaching parts 147a and 147b may be configured so as to fit onto the shoulders 32a and 32b of the upper body <NUM>, respectively. Further, the attaching parts 147a and 147b may be disposed at the first accommodation connecting parts 144a and 144b of the base <NUM> which couple the top secondary battery modules 110a and 110b and the side secondary battery modules 130a and 130b, respectively. According to this configuration, the attachment and detachment of the base <NUM> to/from the upper body <NUM> become easier.

Moreover, the top secondary battery modules 110a and 110b may be disposed so as to be placed on the shoulders 32a and 32b of the upper body <NUM>. Note that the shoulders 32a and 32b may be joint parts between the left and right arms <NUM> and the upper body <NUM> of the humanoid robot <NUM>. According to this configuration, the layout of top secondary battery modules 110a and 110b to the upper body <NUM> becomes easier. In addition, the top secondary battery modules 110a and 110b are stably supported by the shoulders 32a and 32b from below.

The base <NUM> may include the top accommodating parts 141a and 141b which accommodate the top secondary battery modules 110a and 110b, and the top fixing parts 141aa and 141ba which fix the top secondary battery modules 110a and 110b to the top accommodating parts 141a and 141b. Further, the base <NUM> may include the back accommodating part <NUM> which accommodates the back secondary battery module <NUM>, and the back fixing part 142a which fixes the back secondary battery module <NUM> to the back accommodating part <NUM>. The base <NUM> may include the side accommodating parts 143a and 143b which accommodate the side secondary battery modules 130a and 130b, and the side fixing parts 143aa and 143ba which fix the side secondary battery modules 130a and 130b to the side accommodating parts 143a and 143b. According to this configuration, it becomes easy to attach the top secondary battery modules 110a and 110b, the back secondary battery module <NUM>, and the side secondary battery modules 130a and 130b to the given positions of the base <NUM>.

In the state where the secondary battery unit <NUM> is attached to the upper body <NUM>, the top accommodating parts 141a and 141b may be disposed so that they open outwardly from the upper body <NUM> so that accommodation and removal of the top secondary battery modules 110a and 110b from outside the upper body <NUM> are possible, respectively. The back accommodating part <NUM> may be disposed so that they open outwardly from the upper body <NUM> so that accommodation and removal of the back secondary battery module <NUM> from outside the upper body <NUM> are possible. The side accommodating parts 143a and 143b may be disposed so that they open outwardly from the upper body <NUM> so that accommodation and removal of the side secondary battery modules 130a and 130b from outside the upper body <NUM> are possible, respectively. According to this configuration, the replacement of the secondary battery module in the state where the secondary battery unit <NUM> is attached to the upper body <NUM> is possible, and therefore, the replacement of the secondary battery module becomes easier.

Further, the base <NUM> may include the first accommodation connecting parts 144a and 144b which couple the top accommodating parts 141a and 141b to the side accommodating parts 143a and 143b, respectively, the second accommodation connecting parts 145a and 145b which couple the top accommodating parts 141a and 141b to the back accommodating part <NUM>, respectively, and the third accommodation connecting parts 146a and 146b which couple the back accommodating part <NUM> to the side accommodating parts 143a and 143b, respectively. According to this configuration, since the accommodating parts 141a, 141b, <NUM>, 143a, and 143b are connected mutually, it becomes possible to hold the position of each accommodating part on the base <NUM> (i.e., a relative position of each accommodating part).

Further, the fixing parts 141aa, 141ba, 142a, 143aa, and 143ba may include a Hook-and-Loop fastener which detachably fixes the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b to the accommodating parts 141a, 141b, <NUM>, 143a, and 143b, respectively. According to this configuration, operation for fixing and releasing the secondary battery modules 110a, 110b, <NUM>, 130a, and 130b becomes simpler.

Further, the secondary battery unit <NUM> may be provided with a pair of top secondary battery modules 110a and 110b, and a pair of side secondary battery modules 130a and 130b. Further, the top secondary battery modules 110a and 110b may be disposed so as to be placed on the left and right shoulders 32a and 32b of the humanoid robot <NUM>, respectively. Further, the side secondary battery modules 130a and 130b may be disposed at the left and right side parts of the upper body <NUM>, below the joint parts between the left and right arms <NUM> and the upper body <NUM> of the humanoid robot <NUM>, respectively. Further, the back secondary battery module <NUM> may be disposed at the position between the pair of top secondary battery modules 110a and 110b, and between the pair of side secondary battery modules 130a and 130b. According to this configuration, it becomes possible to symmetrically dispose the top secondary battery modules 110a and 110b, the side secondary battery modules 130a and 130b, and the back secondary battery module <NUM> in the left-and-right direction with respect to the center axis of the humanoid robot <NUM>. Therefore, it is suppressed that the center of gravity of the humanoid robot <NUM> is located at the position which is offset in the left-and-right direction.

The humanoid robot <NUM> according to this embodiment is provided with the secondary battery unit <NUM> and the upper body <NUM>. According to this configuration, similar effects to the secondary battery unit <NUM> according to the above embodiment can be acquired.

Although the example of the embodiment of the present disclosure is described above, the present disclosure is not limited to the above embodiment. That is, various modifications and improvements are possible without departing from the scope of the present disclosure. For example, those in which various modifications are applied to the embodiment, and the modes established by combining components in different embodiments, are also encompassed within the scope of the present disclosure.

For example, although the secondary battery unit <NUM> according to the above embodiment is provided with the top secondary battery modules 110a and 110b, the back secondary battery module <NUM>, and the side secondary battery modules 130a and 130b, it is not limited to this configuration. For example, the secondary battery unit <NUM> may not be provided with the top secondary battery modules 110a and 110b, the back secondary battery module <NUM>, or the side secondary battery modules 130a and 130b.

For example, the secondary battery unit <NUM> may be provided with the back secondary battery module <NUM> disposed at the back part of the upper body <NUM>, and the side secondary battery modules 130a and 130b disposed at the side parts of the upper body <NUM>. According to the above configuration, it becomes possible to lower the center-of-gravity position of the humanoid robot <NUM> to which the secondary battery unit <NUM> is attached. Alternatively, the secondary battery unit <NUM> may be provided with the top secondary battery modules 110a and 110b and the back secondary battery module <NUM>.

Further, the secondary battery unit <NUM> may be provided with a front secondary battery module disposed at the front part of the upper body <NUM>, instead of the back secondary battery module <NUM>. In this case, the secondary battery unit <NUM> may be provided with the front secondary battery module, the top secondary battery modules 110a and 110b, and the side secondary battery modules 130a and 130b, or may be provided with the front secondary battery module, and the side secondary battery modules 130a and 130b, or may be provided with the front secondary battery module, and the top secondary battery modules 110a and 110b.

Moreover, the secondary battery unit <NUM> may be provided with further secondary battery module(s). For example, the further secondary battery modules may be disposed at the front part of the upper body <NUM> and the lower body <NUM>.

In the secondary battery unit <NUM> according to the above embodiment, although the top secondary battery modules 110a and 110b are disposed so as to be separated from each other, they may be integrated. Alternatively, the top secondary battery module <NUM> may include three or more separately-disposed secondary battery modules. Similarly, although the side secondary battery modules 130a and 130b are disposed so as to be separated from each other, they may be integrated. Alternatively, the side secondary battery module <NUM> may include three or more separately-disposed secondary battery modules. Further, the back secondary battery module <NUM> may include two or more separately-disposed secondary battery modules.

Moreover, although in the secondary battery unit <NUM> according to the above embodiment, the base <NUM> is attached to the upper body <NUM> by fitting onto the shoulders 32a and 32b, it is not limited to this configuration. For example, the base <NUM> may be configured to fit onto the upper body <NUM> or the neck <NUM>. Alternatively, the base <NUM> may be configured to be attached to the upper body <NUM> by a fastening member such as screws.

Claim 1:
A secondary battery unit (<NUM>), comprising:
a first secondary battery module (<NUM>) configured to be disposed at at least either one of a front part or a back part of a body (<NUM>) of a humanoid robot (<NUM>);
a second secondary battery module (<NUM>, 130a, 130b) comprising side secondary battery modules (130a, 130b) configured to be disposed at the left and right side parts of the body; and
a base (<NUM>) coupling the first secondary battery module to the second secondary battery module,
wherein the base is detachably configured to be attached to the body, together with the first secondary battery module and the second secondary battery module.