Electrode-adaptive foot-type robot charging device and working method

Abstract

The application provides a foot-type robot charging device and working method with adaptive electrode, a first guide rail is arranged along a first direction, a second guide rail is arranged along a second direction perpendicular to the first direction, the second guide rail is slidably connected with the first guide rail through a first sliding piece and can slide along the first guide rail; the charging positioning device comprises a telescopic mechanism, a charging electrode, a photoelectric sensing element, an electrode linear module and an electrode rotating module, a through hole for the charging electrode to extend out is formed in the upper cover plate of the shell, the upper cover plate of the shell, the robot body and the robot charging plate are all made of metal materials and have different materials, the photoelectric sensing element is installed in the hollow structure of the charging electrode, and a pressure sensing element is arranged on the upper cover plate of the shell; the application realizes automatic charging by accurately aligning the robot charging plate through the movement of the charging electrode, is suitable for any prone position of the robot and has higher adaptability.

Description

Technical Field

[0001] This invention relates to the field of charging control technology for legged robots, and in particular to an electrode-adaptive charging device and operating method for legged robots. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] The legged mobile mechanism has discrete footing points and good terrain mobility. The legged robot needs a power supply during walking. Its charging methods include wired direct plug charging and charging pile charging. Wired direct plug charging is suitable for scenarios with human intervention, while charging pile charging is suitable for scenarios where the legged robot can charge automatically.

[0004] At present, the main method of automatic charging for legged robots is to fix the charging pile at a fixed point. The legged robot determines the charging point by global positioning through the marked position. After the legged robot docks with the charging pile through a handshake program, the robot moves forward to directly above the charging pile and adjusts its posture to align the charging plate with the charging electrode position. The charging electrode rises to start charging.

[0005] The inventors discovered that during the automatic charging process, the legged robot's charging plate could not be effectively aligned with the charging electrodes, resulting in a long posture adjustment cycle. After multiple attempts, this could not be resolved, leading to automatic charging failure. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an electrode-adaptive legged robot charging device and operating method. By precisely aligning the charging electrodes with the robot's charging plate through movement, automatic charging is achieved. This device adapts to any lying posture of the robot, making it more adaptable.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The first aspect of the present invention provides an electrode-adaptive legged robot charging device.

[0009] The first aspect of the present invention provides an electrode-adaptive legged robot charging device.

[0010] An electrode-adaptive legged robot charging device includes: a housing and a first guide rail, a second guide rail, and a charging positioning device disposed within the housing;

[0011] The first guide rail is arranged along a first direction, and the second guide rail is arranged along a second direction perpendicular to the first direction. The first guide rail and the second guide rail are slidably connected.

[0012] The charging positioning device includes a telescopic mechanism, an electrode linear module, and an electrode rotating module located on the electrode linear module. The electrode rotating module is slidably connected to the second guide rail, and the linear guide rail of the electrode linear module is provided with a charging electrode that can slide along the linear guide rail.

[0013] The hollow structure of the charging electrode contains photoelectric sensing elements, and the upper cover of the shell has multiple through holes for the charging electrode to extend. The upper cover of the shell, the robot body, and the robot charging plate are all made of different metals.

[0014] As an optional implementation, the second guide rail is slidably connected to the first guide rail via the first sliding member and can slide along the first guide rail;

[0015] The electrode rotation module is connected to the second sliding member, the second sliding member is slidably connected to the second guide rail, and the electrode rotation module is connected to the electrode linear module.

[0016] The linear electrode module is equipped with a linear guide rail, on which a third sliding member and a fourth sliding member are provided. The third sliding member is connected to the first telescopic mechanism, and the first telescopic mechanism is connected to the first charging electrode.

[0017] The fourth sliding member is connected to the second telescopic mechanism, and the second telescopic mechanism is connected to the second charging electrode.

[0018] As a further limitation, the charging mechanism also includes a control unit, and the upper cover of the housing is provided with a pressure sensing element. The electrode linear module, the electrode rotation module, the first telescopic mechanism, the second telescopic mechanism, the photoelectric sensing element, and the pressure sensing element all communicate with the control unit.

[0019] As an optional implementation, the housing includes an upper cover plate, a lower bottom plate, and side plates. The side plates are connected to the upper cover plate and the lower bottom plate respectively to form a sealed space of the housing. The side plates include ventilated side plates and non-ventilated side plates, and the ventilated side plates have multiple through holes.

[0020] As a further limitation, both the upper cover plate and the lower bottom plate are rectangular structures, the ventilation side plate includes a first ventilation side plate and a second ventilation side plate, and the non-ventilation side plate includes a first non-ventilation side plate and a second non-ventilation side plate, and the first ventilation side plate, the first non-ventilation side plate, the second ventilation side plate and the second non-ventilation side plate are connected in sequence.

[0021] As a further limitation, it includes multiple support columns, the first end of which is connected to the upper cover plate, the second end of which is connected to the lower base plate, and the two ends of the first guide rail are respectively connected to different support columns.

[0022] As a further limitation, each ventilation side panel is equipped with a cooling fan that communicates with the control unit.

[0023] As a further limitation, the first guide rail includes a first sub-guide rail and a second sub-guide rail that are parallel to each other, the first slider includes a first sliding sub-sliding component and a second sliding sub-sliding component, the first side of the second guide rail is slidably connected to the first sub-guide rail through the first sliding sub-sliding component, and the second side of the second guide rail is slidably connected to the second sub-guide rail through the second sliding sub-sliding component.

[0024] As a further limitation, the first sliding sub-component is connected to the first drive motor, the second sliding sub-component is a driven sliding component, the second sub-guide rail is a follower guide rail, the second sliding component is connected to the second drive motor, and the first drive motor and the second drive motor communicate with the control unit respectively.

[0025] As an optional implementation, the top cover of the shell is made of iron, the robot body is made of aluminum, and the robot charging plate is made of copper.

[0026] A second aspect of the present invention provides a method for operating an electrode-adaptive legged robot charging device.

[0027] A method for operating an electrode-adaptive legged robot charging device, utilizing the electrode-adaptive legged robot charging device described in the first aspect of the present invention, includes the following steps:

[0028] The legged robot walks to the charging mechanism and lies down on the top cover of the shell in any posture.

[0029] The parameters of the pressure sensing element located on the upper cover plate change. After the parameters of the pressure sensing element stabilize, the photoelectric sensing element placed inside the charging electrode detects the metal material in the vertical direction.

[0030] The photoelectric sensing element feeds back different signals based on the different materials of the top cover, the robot body and the charging electrode. The first drive motor drives the charging electrode to move along the first guide rail, the second drive motor drives the charging electrode to move along the second guide rail, the electrode rotation module matches the crouching posture of the legged robot, and the electrode linear module moves to achieve the alignment of the charging electrode.

[0031] The robot's charging control unit interfaces with the charging mechanism's control unit via a control protocol. After completing the charging handshake protocol, the telescopic mechanism extends the charging electrodes to connect with the robot's electrode plate for charging.

[0032] The power management module of the legged robot monitors the power level in real time. When the robot is fully charged, the control unit of the charging mechanism receives the charging completion command, and the telescopic mechanism fully retracts the charging electrodes, after which the legged robot leaves the charging mechanism.

[0033] As an optional implementation, the cooling fan turns on after charging begins, and the cooling fan turns off after the pressure sensing element on the top cover stabilizes at zero output for a set time, thus ending the charging process.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] 1. This invention innovatively proposes a multi-dimensional fixed-point automatic charging method for legged robots, develops an electrode-adaptive legged robot charging device, and constructs a linear asynchronous electrode movement charging mode. Through the cooperation of the first guide rail, the second guide rail, and the charging positioning device, the positions of the two charging electrodes can be freely adjusted, solving the problem of difficult charging positioning for legged robots, enabling legged robots to charge in any lying posture, and improving the robot's charging efficiency.

[0036] 2. A self-matching identification and detection method for charging electrodes is proposed. A vertical spatial signal diffuse reflection positioning model is constructed to solve the problem that the charging electrodes of legged robots cannot identify the charging plate. The photoelectric sensing element feeds back different signals according to the different materials of the top cover plate, robot body and charging electrodes, realizing rapid identification of charging electrodes, improving the accuracy of charging alignment, and avoiding accidental contact between charging electrodes and robot body.

[0037] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0039] Figure 1 This is a schematic diagram of the top cover plate and side plate provided in Embodiment 1 of the present invention;

[0040] Figure 2 This is a schematic diagram of the lower base plate and the internal structure of the shell provided in Embodiment 1 of the present invention;

[0041] Figure 3 This is a schematic diagram of the follower guide rail and follower slider provided in Embodiment 1 of the present invention;

[0042] Figure 4 This is a schematic diagram of the charging positioning device provided in Embodiment 1 of the present invention;

[0043] Figure 5 This is a flowchart illustrating the operation method of the electrode-adaptive legged robot charging device provided in Embodiment 1 of the present invention.

[0044] Figure 6 This is a schematic diagram of the robot's prone position provided in Embodiment 1 of the present invention.

[0045] The components are as follows: 1. Top cover plate; 2. Side plate; 3. Ventilation side plate; 4. Bottom plate; 5. Support column; 6. First drive motor; 7. First sliding component; 8. First guide rail; 9. Cooling fan; 10. Positioning charging device; 11. Second guide rail; 12. Follow-up guide rail; 13. Second sliding component; 14-1. First telescopic mechanism; 14-2. Second telescopic mechanism; 15. First charging electrode; 16. Second charging electrode; 17-1. First photoelectric sensing element; 17-2. Second photoelectric sensing element; 18. Electrode linear module; 19. Electrode rotation module; 20. Second drive motor; 21. Second sliding component; 22. Third sliding component; 23. Fourth sliding component. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0047] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0048] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0049] In this invention, terms such as "upper," "lower," "left," "right," "front," "back," "vertical," "horizontal," "side," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only to facilitate the description of the structural relationships of the various components or elements of this invention and do not specifically refer to any component or element in this invention. They should not be construed as limiting the invention.

[0050] In this invention, terms such as "fixed connection," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0051] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0052] Example 1:

[0053] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, Embodiment 1 of the present invention provides an electrode-adaptive legged robot charging device, comprising:

[0054] The control unit, the housing, and the first guide rail 8, the second guide rail, and the charging positioning device disposed within the housing;

[0055] The first guide rail 8 is arranged along a first direction, and the second guide rail 11 is arranged along a second direction perpendicular to the first direction. The second guide rail 11 is slidably connected to the first guide rail 8 through a first sliding member (including a first sliding sub-member 7 and a second sliding sub-member 13) and can slide back and forth along the first guide rail 8.

[0056] The charging positioning device includes a telescopic mechanism (including a first telescopic mechanism 14-1 and a second telescopic mechanism 14-2), a charging electrode (including a first charging electrode 15 and a second charging electrode 16), a photoelectric sensing element (including a first photoelectric sensing element 17-1 and a second photoelectric sensing element 17-2), an electrode linear module 18, and an electrode rotating module 19. The electrode rotating module 19 is connected to a second sliding member 21, which is slidably connected to a second guide rail 11 and can reciprocate along the second guide rail 11. The electrode rotating module 19 is connected to the electrode linear module 18, which is provided with a linear guide rail. A third sliding member 22 and a fourth sliding member 23 (which can move along the linear guide rail) are provided on the linear guide rail. The third sliding member 23 is connected to the first telescopic mechanism 14-1, which is connected to the first charging electrode 15. The fourth sliding member 23 is connected to the second telescopic mechanism 14-2, which is connected to the second charging electrode 16.

[0057] The upper cover plate 1 of the housing has a through hole for the charging electrode to extend. The upper cover plate 1 of the housing, the robot body and the robot charging plate are all made of metal and are made of different materials. A photoelectric sensing element is installed in the hollow structure of the charging electrode. A pressure sensing element is provided on the upper cover plate of the housing. The first photoelectric sensing element 17-1, the second photoelectric sensing element 17-2, the pressure sensing element, the electrode rotation module 19, the first telescopic mechanism 14-1 and the second telescopic mechanism 14-2 are all in communication with the control unit.

[0058] In this embodiment, the contacts of the photoelectric sensing element are vertically upward and facing the upper cover plate, used for upper metal detection of the photoelectric sensing element, that is, to identify whether the robot charging plate is in place.

[0059] In this embodiment, the housing includes an upper cover plate 1, a lower bottom plate 4, and side plates. The side plates are connected to the upper cover plate 1 and the lower bottom plate 4 respectively to form a sealed space of the housing. The side plates include a ventilated side plate 3 and a non-ventilated side plate 2. The ventilated side plate 3 has multiple through holes.

[0060] In this embodiment, both the upper cover plate 1 and the lower bottom plate 4 are rectangular structures. The ventilation side plate 3 includes a first ventilation side plate and a second ventilation side plate, and the non-ventilation side plate 1 includes a first non-ventilation side plate and a second non-ventilation side plate. The first ventilation side plate, the first non-ventilation side plate, the second ventilation side plate, and the second non-ventilation side plate are connected in sequence.

[0061] In this embodiment, multiple support columns 5 are included (preferably 6 columns; it is understood that those skilled in the art can select the number of support columns to achieve the support function according to the specific working conditions, which will not be elaborated here). The first end of the support column 5 is connected to the upper cover plate 1, the second end of the support column 5 is connected to the lower base plate 4, and the two ends of the first guide rail 8 are respectively connected to different support columns 5.

[0062] In this embodiment, the first support column is connected to the upper cover plate 1, the lower bottom plate 4, the first ventilated side plate, and the first non-ventilated side plate, respectively. The second support column is connected to the upper cover plate 1, the lower bottom plate 4, the first non-ventilated side plate, and the second ventilated side plate, respectively. The third support column is connected to the upper cover plate 1, the lower bottom plate 4, the second ventilated side plate, and the second non-ventilated side plate, respectively. The fourth support column is connected to the upper cover plate 1, the lower bottom plate 4, the first ventilated side plate, and the second non-ventilated side plate, respectively. The fifth support column is connected to the upper cover plate 1, the lower bottom plate 4, and the first ventilated side plate, respectively. The sixth support column is connected to the upper cover plate 1, the lower bottom plate 4, and the second ventilated side plate, respectively.

[0063] In this embodiment, each ventilation side panel (first ventilation side panel and second ventilation side panel) is equipped with a cooling fan that communicates with the control unit.

[0064] In this embodiment, the first guide rail includes a first sub-guide rail and a second sub-guide rail that are parallel to each other. The first end of the first sub-guide rail is connected to the first support column, the second end of the first sub-guide rail is connected to the fourth support column, the first end of the second sub-guide rail is connected to the second support column, and the second end of the first sub-guide rail is connected to the third support column.

[0065] The first sliding member includes a first sliding sub-member 7 and a second sliding sub-member 13. The first side of the second guide rail 11 is slidably connected to the first sub-guide rail 8 through the first sliding sub-member 7, and the second side of the second guide rail 11 is slidably connected to the second sub-guide rail 12 through the second sliding sub-member 13.

[0066] It is understandable that in some other embodiments, the upper cover plate 1 and the lower base plate 4 may not be rectangular, but may be any shape such as circular, parallelogram, rhombus, regular hexagon, etc., as long as the internal components can be set to realize electrode movement charging. Those skilled in the art can choose according to the specific working conditions, which will not be elaborated here.

[0067] In this embodiment, the first sliding sub-component 7 is connected to the first drive motor 6, the second sliding sub-component 13 is a driven sliding component, the second sub-guide rail 12 is a follower guide rail, the second sliding component 21 is connected to the second drive motor 20, and the first drive motor 6 and the second drive motor 20 communicate with the control unit respectively.

[0068] In this embodiment, the upper cover plate 1 of the shell is made of iron, the robot body is made of aluminum, and the robot charging plate is made of copper.

[0069] In this embodiment, both the slider and the sliding sub-slider are sliders. It is understood that in some other embodiments, sliders with the same function as sliders can also be used. Those skilled in the art can choose according to the specific working conditions, which will not be elaborated here.

[0070] Example 2:

[0071] like Figure 5 and Figure 6 As shown, Embodiment 2 of the present invention provides an operation method for the electrode-adaptive legged robot charging device described in Embodiment 1, comprising the following processes:

[0072] The legged robot walks to the charging station and can lie down in any posture, such as... Figure 5 As shown in the example.

[0073] When the parameters of the pressure sensing element located on the top cover plate change and stabilize, the photoelectric sensing element placed inside the charging electrode detects the metal material in the vertical direction. Because the materials of the top cover plate, the robot body and the charging electrode are different, the feedback signals detected by the photoelectric sensing element are different in principle of detecting the metal material.

[0074] The first drive motor and the second drive motor respectively realize the movement of the charging electrode in the X-axis and Y-axis directions of the upper cover plate plane. The electrode rotation module matches the prone posture of the legged robot and determines the direction of the line connecting the center distance of the robot's electrode plates. The electrode linear module moves to align the charging electrode.

[0075] The robot's charging control unit interfaces with the charging mechanism's control unit via a control protocol. After completing the charging handshake protocol, the telescopic mechanism extends the charging electrodes to begin charging. Simultaneously, the cooling fan starts to facilitate heat dissipation during charging.

[0076] The power management module of the legged robot monitors the power level in real time. When the robot is fully charged, the charging mechanism receives the charging completion command. After the telescopic mechanism fully retracts the charging electrodes, the legged robot withdraws from the charging mechanism. The pressure sensor on the top cover plate outputs a stable 0, the cooling fan shuts down with a delay, and the charging ends.

[0077] Specifically, determining the direction of the line connecting the centers of the robot's electrode plates includes:

[0078] After the electrode rotation module is matched to the prone posture of the legged robot, the positioning and charging device 10 moves to the bottom of the robot to determine the robot's position (determined by the different materials of the top cover and the robot body). The electrode rotation module rotates to ensure the charging electrodes are aligned (positioning is achieved by the different materials of the robot body and the charging electrodes). Below the electrode rotation module is an electrode linear module 18, which moves in a straight line. When the electrode rotation module detects the charging plate, it detects two boundaries (let's say points A and B). Then, the electrical line connecting the two points is taken as the charging point, and the direction of the line connecting the two charging points is the direction of the line connecting the centers of the electrode plates.

[0079] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An electrode-adaptive legged robot charging device, characterized in that, Includes: a housing, and a first guide rail, a second guide rail, and a charging positioning device disposed within the housing; The first guide rail is arranged along a first direction, and the second guide rail is arranged along a second direction perpendicular to the first direction. The first guide rail and the second guide rail are slidably connected. The charging positioning device includes a telescopic mechanism, an electrode linear module, and an electrode rotating module located on the electrode linear module. The electrode rotating module is slidably connected to the second guide rail, and the linear guide rail of the electrode linear module is provided with a charging electrode that can slide along the linear guide rail. The hollow structure of the charging electrode is equipped with photoelectric sensing elements. The upper cover of the shell has multiple through holes for the charging electrode to extend. The upper cover of the shell, the robot body, and the robot charging plate are all made of metal but of different materials. The second guide rail is slidably connected to the first guide rail via the first sliding member and can slide along the first guide rail; The electrode rotation module is connected to the second sliding member, the second sliding member is slidably connected to the second guide rail, and the electrode rotation module is connected to the electrode linear module. The linear electrode module is equipped with a linear guide rail, on which a third sliding member and a fourth sliding member are provided. The third sliding member is connected to the first telescopic mechanism, and the first telescopic mechanism is connected to the first charging electrode. The fourth sliding member is connected to the second telescopic mechanism, and the second telescopic mechanism is connected to the second charging electrode; The first guide rail includes a first sub-guide rail and a second sub-guide rail that are parallel to each other. The first slider includes a first sliding sub-sliding component and a second sliding sub-sliding component. The first side of the second guide rail is slidably connected to the first sub-guide rail through the first sliding sub-sliding component, and the second side of the second guide rail is slidably connected to the second sub-guide rail through the second sliding sub-sliding component. The first sliding component is connected to the first drive motor, the second sliding component is a driven sliding component, the second sub-guide rail is a follower guide rail, the second sliding component is connected to the second drive motor, and the first drive motor and the second drive motor communicate with the control unit respectively. The first drive motor and the second drive motor respectively realize the movement of the charging electrode in the X-axis and Y-axis directions of the upper cover plate plane. The electrode rotation module matches the prone posture of the legged robot and determines the direction of the line connecting the center distance of the robot's electrode plates. The linear motor module moves to align the charging electrode. The robot's charging control unit interfaces with the charging mechanism's control unit via a control protocol. After completing the charging handshake protocol, the telescopic mechanism extends the charging electrodes to begin charging. Simultaneously, the cooling fan starts to facilitate heat dissipation during charging. The power management module of the legged robot monitors the power level in real time. When the robot is fully charged, the charging mechanism receives the charging completion command. After the telescopic mechanism fully retracts the charging electrodes, the legged robot leaves the charging mechanism. The pressure sensing element on the top cover outputs a stable signal, the cooling fan shuts down with a delay, and the charging ends. Determine the direction of the line connecting the centers of the robot's electrode plates, including: After the electrode rotation module is matched to the prone posture of the legged robot, the positioning charging device moves to the bottom of the robot to determine the robot's position. The motor rotation module rotates to ensure that the charging electrode is aligned. Below the electrode rotation module is an electrode linear module that moves in a straight line. When the electrode rotation module detects the charging plate, it will detect two boundaries, namely points A and B. Then, the midpoint of the line connecting the two points is taken as the charging point. The direction of the line connecting the two charging points is the direction of the line connecting the center of the electrode plate.

2. The electrode-adaptive legged robot charging device as described in claim 1, characterized in that, It also includes a control unit. The upper cover of the housing is equipped with a pressure sensing element. The linear electrode module, the rotary electrode module, the first telescopic mechanism, the second telescopic mechanism, the photoelectric sensing element, and the pressure sensing element all communicate with the control unit.

3. The electrode-adaptive legged robot charging device as described in claim 1 or 2, characterized in that, The housing includes an upper cover plate, a lower bottom plate, and side plates. The side plates are connected to the upper cover plate and the lower bottom plate respectively to form a sealed space of the housing. The side plates include ventilated side plates and non-ventilated side plates. The ventilated side plates have multiple through holes.

4. The electrode-adaptive legged robot charging device as described in claim 3, characterized in that, Both the upper cover plate and the lower bottom plate are rectangular structures. The ventilation side plate includes a first ventilation side plate and a second ventilation side plate, and the non-ventilation side plate includes a first non-ventilation side plate and a second non-ventilation side plate. The first ventilation side plate, the first non-ventilation side plate, the second ventilation side plate, and the second non-ventilation side plate are connected in sequence.

5. The electrode-adaptive legged robot charging device as described in claim 4, characterized in that, It includes multiple support columns, with the first end of each support column connected to the upper cover plate and the second end of each support column connected to the lower base plate. The two ends of the first guide rail are respectively connected to different support columns.

6. The electrode-adaptive legged robot charging device as described in claim 4, characterized in that, Each ventilation side panel is equipped with a cooling fan that communicates with the control unit.

7. The electrode-adaptive legged robot charging device as described in claim 1, characterized in that, The top cover of the shell is made of iron, the robot body is made of aluminum, and the robot charging plate is made of copper.

8. A method for operating an electrode-adaptive legged robot charging device, characterized in that, The electrode-adaptive legged robot charging device according to any one of claims 1-7 includes the following process: The legged robot walks to the charging mechanism and lies down on the top cover of the shell in any posture. The parameters of the pressure sensing element located on the upper cover plate change. After the parameters of the pressure sensing element stabilize, the photoelectric sensing element placed inside the charging electrode detects the metal material in the vertical direction. The photoelectric sensing element feeds back different signals based on the different materials of the top cover, the robot body and the charging electrode. The first drive motor drives the charging electrode to move along the first guide rail, the second drive motor drives the charging electrode to move along the second guide rail, the electrode rotation module matches the crouching posture of the legged robot, and the electrode linear module moves to achieve the alignment of the charging electrode. The robot's charging control unit interfaces with the charging mechanism's control unit via a control protocol. After completing the charging handshake protocol, the telescopic mechanism extends the charging electrodes to connect with the robot's electrode plate for charging. The power management module of the legged robot monitors the power level in real time. When the robot is fully charged, the control unit of the charging mechanism receives the charging completion command, and the telescopic mechanism retracts the charging electrodes completely before the legged robot leaves the charging mechanism.

9. The method of operating the electrode-adaptive legged robot charging device as described in claim 8, characterized in that, Once charging begins, the cooling fan turns on. After the pressure sensor on the top cover stabilizes at zero output for the set time, the cooling fan turns off, and charging ends.

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