A quadruped robot with an automatic charging device and a design method for the charging device.

Abstract

This invention discloses a quadruped robot with an automatic charging device and a design method for the charging device. The automatic charging device is installed on the lower part of the quadruped robot's body. This device consists of a charging connector connected to the lower part of the robot body and a flexible protective component. The flexible protective component has a mounting groove on the side near the robot body. This groove, together with the side wall of the robot body, forms a protective cavity to accommodate the charging connector. When subjected to pressure from an external charging pile, the flexible protective component can deform into a contracted state. In this contracted state, the charging connector can connect with the external charging pile for charging. The flexible protective component protects the charging connector, preventing damage from scratches by other devices when not charging. During charging, the flexible protective component prevents direct impact to the charging connector, effectively protecting it and extending its service life.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a quadruped robot with an automatic charging device and a design method for the charging device. Background Technology

[0002] Since quadruped robots are powered by batteries, they need to recharge after performing tasks for a period of time, requiring them to navigate to a charging station. Currently, the industry standard is to place the charging electrodes on the robot's abdomen, allowing the robot to easily reach the charging station, calibrate, and then lie down to charge. There are two main types of abdominal charging structures for quadruped robots. One type involves two large electrode plates on the lower side of the abdomen, which contact the charging station's telescopic contacts for charging. This addresses positioning accuracy issues to some extent, but due to the limited size of quadruped robots, the large electrode plates take up significant space. Furthermore, the abdominal charging electrodes lack any impact resistance, making them susceptible to damage when the robot lies down to connect. The other type involves two or four protruding fixed contacts on the abdomen, which directly contact the fixed electrodes on the charging station for charging. However, there is no buffer between the fixed contacts and the charging station's fixed electrodes. The impact when the quadruped robot lies down on the charging station is substantial, easily damaging the contacts. Additionally, the exposed charging contacts on the abdomen are easily damaged by other components or external obstacles. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention discloses a quadruped robot with an automatic charging device, comprising a body, leg components mounted on the body, and an automatic charging device mounted on the lower part of the body; The automatic charging device includes a charging connector and a flexible protective component that are respectively connected to the lower part of the body. The charging connector has a charging interface and is electrically connected to the battery inside the body. The flexible protective component has an installation groove on the side near the body, and the installation groove and the side wall of the body form a protective cavity. The charging connector is arranged in the protective cavity. The flexible protective component can deform to a contracted state after being squeezed from the direction of the external charging pile. In the contracted state, the charging interface can be connected to the external charging pile.

[0004] Preferably, the charging interface component is an electrode post component, the flexible protective component has an electrode channel communicating with the protective cavity, and the electrode post component is located within the electrode channel; When the flexible protective component is not deformed, the electrode post component is wrapped by the electrode channel and the end of the electrode post component is inside the electrode channel; and after deforming to a contracted state, the length of the electrode channel is shortened and the end of the electrode post component extends out from the channel opening of the electrode channel.

[0005] Preferably, the flexible protective component is a rubber pad, and the electrode post component is a telescopic electrode that can retract towards the bottom of the charging connector after being subjected to force.

[0006] Preferably, the electrode post component includes an electrode housing, a return spring, an electrode post, and an electrode contact. The electrode housing is installed in an electrode mating hole, and the return spring, electrode post, and electrode contact are installed inside the electrode housing. The electrode post is electrically connected to the battery inside the device, and the electrode contact is connected to the end of the electrode post. The electrode contact is connected to the electrode housing via the return spring. The electrode contact and the electrode post are in contact via a claw spring. A welding cup is provided below the electrode post, and a cable connected to the battery is welded to the welding cup.

[0007] Preferably, the charging connector further includes an electrode fixing block, the bottom of which is connected to the surface of the body, and the top of which is provided with electrode mating holes; The electrode fixing block is shaped like a frustum, and an electrode mating hole is constructed on the upper surface of the frustum of the electrode fixing block. The electrode post component is connected to the electrode fixing block through the electrode mating hole.

[0008] Preferably, the robot's automatic charging device includes multiple charging connectors, the rubber pad is installed in a ring shape on the lower part of the body, and the bottom of the body is constructed with a wire groove that extends to the bottom of the groove. The rubber pad has two protective surfaces on both sides and a top protective surface. When the top protective surface is subjected to a squeezing force from the charging pile below, the rubber pad can deform into a contracted state, and the height of the rubber pad becomes lower in the contracted state.

[0009] This invention also discloses a method for designing a charging device for a quadruped robot, comprising the following steps:

[0010] Calculate the effective contact area of ​​the rubber pad, which is the actual force-bearing area after deducting the area occupied by the connection and fixing holes and the mounting grooves on the rubber pad from the total area of ​​the rubber pad;

[0011] Based on the compressive elastic modulus of the rubber pad, the impact force generated when the quadruped robot lies down, the original thickness of the rubber pad, and the effective contact area, the rubber compression is calculated; the obtained rubber compression is compared with the maximum value of the linear expansion and contraction of the rubber, and the smaller value of the two is selected as the final rubber expansion and contraction.

[0012] Based on the set current flow capacity required for charging the quadruped robot, the required contact area of ​​the electrode is calculated using the current flow capacity formula; based on the final rubber expansion amount, multiplied by a set proportional coefficient including a reserve amount, the required electrode expansion height is calculated; and based on the required contact area and electrode expansion height, a telescopic electrode as an electrode post component is designed and manufactured.

[0013] Preferably, calculating the effective contact area of ​​the rubber pad specifically includes: Calculate the effective contact area A of the rubber pad: A = (H2*L2 + H1*L1*2 - H1*L2*2 - π / 2*(D1)2*n1 - π / 2*(D2)2*2)*n2, where H1 is the width of the wide side of the rubber pad, H2 is the width of the narrow side of the rubber pad, L1 is the length of the wide side of the rubber pad, L2 is the length of the narrow side of the rubber pad, D1 is the diameter of the connecting and fixing hole of the rubber pad, D2 is the diameter of the mounting groove, n1 is the number of connecting and fixing holes of the rubber pad, and n2 is the number of mounting grooves;

[0014] Preferably, the rubber compression is calculated based on the compressive elastic modulus of the rubber pad, the impact force generated when the quadruped robot lies down, the original thickness of the rubber pad, and the effective contact area. The obtained rubber compression is compared with the maximum value of the linear expansion and contraction of the rubber, and the smaller value is selected as the final rubber expansion and contraction. Specifically, this includes: The compression amount Δh of the rubber pad is calculated based on its compressive elastic modulus. Where F is the impact force generated when the quadruped robot lies down, h is the original thickness of the rubber pad, A is the effective contact area of ​​the rubber pad, and E is the compressive elastic modulus of the rubber pad; where the impact force... m is the mass of the quadruped robot. This represents the change in velocity of the object upon contact with the rubber pad. The time it takes for the object's velocity to drop to 0 after it contacts the rubber pad; Calculate the rubber compression Δh when the rubber pad expands and contracts within the linear range. Where m is the mass of the quadruped robot, g is the standard gravitational acceleration, and h is the original thickness of the rubber pad. The time it takes for the object's velocity to drop to 0 after contacting the rubber pad; H is the vertical distance between the lower charging pile and the rubber pad; A is the effective contact area of ​​the rubber pad; and E is the compressive elastic modulus of the rubber pad. Query to obtain the maximum linear expansion and contraction value h of the rubber pad. max The rubber compression amount Δh and h max Compare the two values ​​and select the smaller value as the final rubber shrinkage amount. .

[0015] Preferably, the required electrode extension height is calculated by multiplying the final rubber stretching amount by a predetermined proportional coefficient that includes a allowance, specifically including: Based on the final rubber stretching Calculate the required electrode extension height h d , ,in y represents the final rubber expansion / contraction amount, and y is the preset proportional coefficient.

[0016] This invention discloses a quadruped robot with an automatic charging device and a design method for the charging device. The automatic charging device is installed on the lower part of the quadruped robot's body. The automatic charging device consists of a charging connector connected to the lower part of the body and a flexible protective component. The flexible protective component has an installation groove on the side near the body. The installation groove and the side wall of the body form a protective cavity to accommodate the charging connector. The flexible protective component can deform into a contracted state after being squeezed from the direction of an external charging pile. In the contracted state, the charging connector can dock with the external charging pile to perform charging operations. By installing an automatic charging device on the abdomen of a quadruped robot, a retractable flexible protective component is used to protect the charging interface. When not charging, the charging interface is located inside the protective cavity of the flexible component and is not exposed, preventing it from being damaged by other devices or external obstacles. When charging, the flexible protective component can retract before the charging interface is subjected to the docking impact force, avoiding direct impact to the charging interface. After retraction, the flexible protective component does not affect the docking and charging operation between the charging interface and the external charging station. Thus, the charging interface is effectively protected during daily tasks and charging operations, extending its service life.

[0017] In addition, by designing a reasonable charging device design method, combining the quadruped robot's lying-down logic, rubber expansion method, and metal current carrying capacity calculation, a calculation method for the expansion of the quadruped robot charging contacts and the selection of rubber pads that meets the requirements of the above-mentioned automatic charging device is provided. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0020] Figure 1This is a schematic diagram of the body structure of a quadruped robot with an automatic charging device disclosed in an embodiment of this application.

[0021] Figure 2 This is a partial cross-sectional schematic diagram of an automatic charging device disclosed in an embodiment of this application.

[0022] Figure 3 This is a schematic diagram of the charging operation of an automatic charging device disclosed in an embodiment of this application.

[0023] Figure 4 This is a partial cross-sectional schematic diagram of an automatic charging device disclosed in another embodiment of this application.

[0024] Figure 5 This is a schematic diagram of the structure of a charging connector disclosed in one embodiment of this application.

[0025] Figure 6 This is a schematic diagram of the structure of a charging interface device disclosed in an embodiment of this application.

[0026] Figure 7 This is a schematic diagram of the internal structure of a charging interface device disclosed in an embodiment of this application.

[0027] Figure 8 This is a schematic diagram of the bottom of a rubber pad disclosed in an embodiment of this application.

[0028] Figure 9 A schematic diagram of the arrangement of wire grooves is disclosed in one embodiment of this application.

[0029] Figure 10 This is a schematic diagram of the structure of a quadruped robot disclosed in an embodiment of this application.

[0030] Figure 11 This is a schematic flowchart of a charging device design method disclosed in an embodiment of this application.

[0031] Figure label: 1. Charging connector; 11. Charging interface component; 12. Electrode fixing block; 121. Electrode mating hole; 111. Electrode post component; 1111. Electrode housing; 1112. Return spring; 1113. Electrode post; 1114. Electrode contact; 1115. Welding cup; 2. Flexible protective component; 21. Protective cavity; 22. Electrode channel; 23. Rubber pad; 231. Groove; 232. Side protective surfaces; 233. Top protective surface; 100. Body; 200. Moving parts; 300. Automatic charging device; 400. Charging pile; 500. Wire channel; 600. Battery compartment. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0033] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0034] This invention discloses a quadruped robot with an automatic charging device, as shown in the attached figure. Figure 1-2 As shown in Figure 10, the device includes a body 100, a leg member 200 mounted on the body, and an automatic charging device 300 mounted on the lower part of the body. The automatic charging device 300 includes a charging connector 1 and a flexible protective member 23, both connected to the lower part of the body. The charging connector 11 has a charging interface 11 and is electrically connected to the battery inside the body. The flexible protective member has a mounting groove 231 on the side near the body. The mounting groove and the side wall of the body form a protective cavity 21. The charging connector is arranged in the protective cavity 21. The flexible protective member 23 can deform to a contracted state after being squeezed from an external charging pile 400. In the contracted state, the charging interface can dock with the external charging pile.

[0035] Specifically, in the non-charging state, the flexible protective component 2 is in a naturally extended state, the protective cavity 21 maintains its initial volume, the charging connector 1 is completely enclosed in the protective cavity 21, and the charging interface component 11 is completely hidden inside the protective cavity 21. The cavity wall of the flexible protective component 1 can isolate scratches, dust, etc. from the external environment, and prevent the charging interface component from being damaged due to exposure or collision. When the robot needs to charge, it will navigate to the location of the external charging pile 400 and perform a crouching action. During the crouching process, the robot body gradually approaches the charging pile. The flexible protective component 2 first contacts the surface of the charging pile and is subjected to pressure from the direction of the charging pile. At this time, the flexible protective component begins to deform. The cavity wall contracts inward under pressure, reducing the volume and overall height of the protective cavity 21. The charging connector 1, originally inside the protective cavity 21, gradually moves closer to the charging pile 400 as the cavity contracts. The charging interface 11 is also gradually exposed and moves closer to the charging pile 400 as the protective cavity 21 contracts, until the flexible protective component 2 deforms into a contracted state, at which point the charging interface 11 contacts the docking end of the charging pile, enabling power transmission. Throughout this process, the deformation of the flexible protective component 2 not only cushions the impact when the robot lies down, preventing a rigid collision between the charging interface 11 and the charging pile, but also drives the charging interface 11 to dock through its own contraction. Furthermore, the protective cavity's encasing structure when not charging solves the problem of traditional charging interfaces being easily scratched and damaged, ensuring the lifespan of the charging interface 11 and the stability of the charging process.

[0036] In another embodiment, the flexible protective component 2 can be a rubber pad structure, and its installation position is not limited to the lower part of the robot body, but can also be adapted to be installed on the side of the body; the charging interface component 11 can also be replaced by an electrode sheet instead of just an electrode post. The electrode sheet can be designed as a sheet structure of different areas according to the current flow requirements, fixed on the outside of the charging connector 1, and stably electrically connected to the battery in the battery compartment 600 of the robot body through wires.

[0037] Specifically, the rubber pad is installed on the side of the robot body, and the electrical interface 11 can also be replaced with an electrode plate. In the non-charging state, the flexible protective component 2 of the rubber pad is in a naturally extended state and fixed along the side of the robot body. The protective cavity 21 is arranged in a horizontal direction, and the charging connector 1 is horizontally embedded in the protective cavity 21. The electrode plate charging interface 11 is attached to the side of the charging connector 1 and is completely covered by the cavity wall of the protective cavity 21. The surface of the electrode plate does not exceed the side contour of the rubber pad, and the side of the rubber pad is higher than the electrode plate, which can prevent the electrode plate from being scratched and damaged by walls, equipment, etc. when the robot moves in narrow spaces.

[0038] When the robot needs charging, it navigates to the side of the external charging pile 400 and performs a lateral approach maneuver. By adjusting its leg gait, the robot gradually brings the rubber pad on its side closer to the side docking end of the charging pile 400. After the rubber pad contacts the side of the charging pile 400, the robot continues to move laterally. The charging pile 400 applies horizontal pressure to the rubber pad in the opposite direction to the robot's approach. The rubber pad undergoes lateral compression deformation under pressure: its side cavity wall concaves towards the inside of the robot, shortening the horizontal length and reducing the volume of the protective cavity 21. The originally hidden electrode plates are gradually exposed as the protective cavity 21 contracts until the rubber pad is deformed to a contracted state. The electrode plates and the side docking end of the charging pile 400 are completely adhered like a sheet-like contact plate, realizing power transmission. During this process, the lateral deformation of the rubber pad buffers the impact force when the robot approaches laterally, preventing edge wear of the electrode plates due to hard contact, while ensuring the contact stability between the electrode plates and the charging pile docking end. After charging is complete, the robot moves away from the charging pile 400. The horizontal pressure applied to the rubber pad disappears, the rubber pad returns to its natural stretched state, the horizontal length and volume of the protective cavity 21 are reset, the electrode sheet is wrapped in the protective cavity 21 again, and the side of the rubber pad resumes protection of the electrode sheet.

[0039] As attached Figure 3 and 4 As shown, the charging interface component 11 can be an electrode post component 111, wherein the flexible protective component 2 has an electrode channel 22 communicating with the protective cavity 21, and the electrode post component is located in the electrode channel 22; when the flexible protective component 2 is not deformed, the electrode post component 111 is wrapped by the electrode channel 22 and the end of the electrode post component 111 is in the electrode channel 22; and after deforming to a contracted state, the length of the electrode channel is shortened and the end of the electrode post component extends out from the channel opening of the electrode channel.

[0040] Specifically, in the non-charging state, the electrode post component is completely located inside the electrode channel 22, and the inner wall of the electrode channel 22 completely encloses the electrode post component, preventing the electrodes from being exposed. When the robot navigates to the charging pile and performs a prone action, the flexible protective component 2 on the robot's abdomen first contacts the surface of the charging pile. The charging pile applies upward pressure to the flexible protective component 2, causing the flexible protective component 2 to undergo compression deformation. The electrode channel 22 undergoes structural changes due to the compression deformation of the protective component. The axial length of the channel shortens synchronously with the compression of the protective component. The end of the electrode post component, which was originally enclosed by the channel, gradually extends outward from the channel opening as the channel length shortens until the electrode end contacts the charging end of the charging pile, achieving charging docking. Throughout the process, the deformation of the flexible protective component directly drives the change in the length of the electrode channel, thereby causing the electrode to extend without the need for an additional driving structure. At the same time, the protective component always keeps the non-contact parts of the electrode wrapped and protected.

[0041] In its undeformed state, the length of the electrode channel 22 is greater than the exposed length of the electrode post component. There is a certain distance between the channel opening and the electrode end. The channel wall completely isolates the electrode from the external environment, preventing the electrode from being scratched or contaminated by impurities. When the robot approaches the charging pile, the charging pile applies pressure to the flexible protective component 2. The protective component begins to deform gradually from the edge to the center. The wall of the electrode channel 22 is squeezed, and the effective length of the channel gradually decreases. The distance between the electrode end and the channel opening continues to shrink until the channel length is shortened to less than the exposed length of the electrode. The electrode end breaks through the channel opening and contacts the charging pile. After charging is completed, the robot gets up and moves away from the charging pile. The pressure applied to the protective component disappears, and the protective component returns to its original shape by its own elasticity. The length of the electrode channel 22 returns to its initial state simultaneously. The electrode end loses the support of the channel wall and retracts into the channel as the channel length recovers, and is wrapped by the channel again. The structure returns to the protective state when it is undeformed.

[0042] In this embodiment, as shown in the appendix Figure 5 As shown, the flexible protective component is made of rubber pads, and the electrode post component is a telescopic electrode that can retract towards the bottom of the charging connector after being subjected to force. Specifically, the installation position of the rubber pad on the lower part of the body is adapted to the quadruped robot's crouching charging action. When the robot performs the charging task, it will first navigate to the top of the charging pile, and then achieve the crouching action by bending its legs, so that the lower part of the body gradually moves downward towards the charging pile. In addition, the electrode channel 22 can be arranged vertically, and the rubber pad 23 can deform into a retracted state when subjected to pressure from below. The charging connector 1 has an electrode fixing block 12, the bottom of which is connected to the surface of the body. The telescopic electrode is installed on the top of the electrode fixing block and can retract towards the bottom of the electrode fixing block after being subjected to force. At this time, the charging pile applies an upward reaction force to the flexible protective component 2 at the bottom of the device. Under this pressure, the vertical height of the electrode channel 22 arranged in the vertical direction shortens, the protective component is compressed in the vertical direction, the vertical dimension of the channel wall decreases, and the electrode column component, which was originally hidden in the channel in the vertical direction, will extend out of the channel opening in the vertically downward direction as the channel height shortens. Since both the channel and the electrode are arranged vertically, the electrode extension direction is perfectly matched with the docking surface of the charging pile, ensuring that the electrode end can accurately contact the vertical docking end of the charging pile, avoiding docking failure due to misalignment. After the pressure disappears, the compression of the protective component in the vertical direction is restored, the vertical height of the channel returns to its initial value, and the electrode retracts into the channel in the vertically upward direction.

[0043] The bottom of the electrode fixing block 12 is fixed to the surface of the body by bolts or adhesive, and its position remains unchanged. The top of the fixing block has a mounting hole adapted to the telescopic electrode. The lower end of the telescopic electrode is inserted into the mounting hole. In the non-stressed state, the upper end of the telescopic electrode is in the extended state, and the overall length of the electrode is relatively long, with the upper end far away from the bottom of the fixing block. When the upper end of the telescopic electrode contacts the charging pile and is subjected to downward pressure, the upper end of the electrode will move towards the bottom of the fixing block. The length of the part of the electrode embedded in the mounting hole increases, and the overall length shortens, thus achieving retraction. During this process, the position of the fixing block remains unchanged, and only the telescopic electrode moves axially relative to the fixing block. The impact force at the moment of docking is buffered by the change in the length of the electrode itself, avoiding rigid collision between the electrode and the charging pile. When the pressure disappears, the telescopic electrode relies on its own reset structure to restore its initial length, and the upper end of the electrode moves away from the bottom of the fixing block again, returning to the extended state, ensuring that it can still extend normally during the next docking.

[0044] In this embodiment, as shown in the appendix Figure 6 and 7 As shown, the electrode post component 111 includes an electrode housing 1111, a return spring 1112, an electrode post 1113, and an electrode contact 1114. The electrode housing is installed in the electrode mating hole 121. The return spring 1112, the electrode post 1113, and the electrode contact 1114 are installed inside the electrode housing 1111. The electrode post 1113 is electrically connected to the battery inside the machine. The electrode contact 1114 is connected to the end of the electrode post. The electrode contact 1114 is connected to the electrode housing 1111 through the return spring. The electrode contact and the electrode post are in contact through a claw spring. A welding cup 1115 is provided below the electrode post, and a cable connected to the battery is welded to the welding cup. Specifically, the lower end of the inner terminal 1113 is connected to the battery cable, and the upper end contacts the lower end of the electrode contact 1114. A return spring 1112 is sleeved on the outside of the electrode contact 1114, with one end connected to the inner wall of the top of the housing and the other end connected to the middle step of the electrode contact 1114. When not charging, the spring is in a naturally extended state, and the upper end of the electrode contact 1114 extends beyond the top of the housing. When the upper end of the electrode contact 1114 contacts the charging pile, it experiences downward pressure, which is transmitted to the return spring 1112, causing the spring to be compressed. As the charging process shortens, the electrode contact 1114 moves downward along the inner wall of the housing, with the lower end of the contact always in contact with the pole post 1113 until the pressure stabilizes. After charging is completed, the pressure disappears, and the return spring 1112 returns to its natural elongated state, pushing the electrode contact 1114 upward along the inner wall of the housing, returning to its initial position where it extends out of the housing. Throughout the process, the positions of the housing and the pole post 1113 remain fixed, and only the electrode contact 1114 and the return spring 1112 undergo structural changes of downward compression and upward elongation, which achieves both buffering and ensures continuity of conductivity.

[0045] The electrode post component 111 includes a return spring 1112, an electrode post 1113, and a welding cup 1115. The return spring is sleeved on the outside of the electrode contact 1114 and fixed to the bottom of the electrode fixing block. The claw spring is assembled in the mating gap between the electrode contact 1114 and the electrode post 1113, and has radial elastic clamping capability. When the quadruped robot navigates to the charging station and lies down, the charging plate first contacts the abdominal rubber pad to buffer the impact, and then continues to press down to force the electrode contact 1114. At this time, the electrode contact 1114 retracts along the axis of the electrode post 1113 towards the electrode fixing block, and the outer return spring is compressed to generate a reverse elastic force. During this extension and retraction process, the claw spring maintains a constant clamping force on the outer wall of the electrode post 1113 through its own elastic deformation. Even if there is a slight axial displacement or radial offset of the electrode contact 1114, the claw spring can still ensure a reliable electrical connection between the electrode contact 1114 and the electrode post 1113, and avoid charging interruption due to contact displacement. Meanwhile, the elastic contact characteristics of the claw spring can adapt to slight positional deviations caused by assembly errors or impacts, ensuring stable conductivity without the need for high-precision rigid alignment, and preventing the cable from being pulled as the contacts extend and retract.

[0046] The only moving part of the electrode post component 111 is the electrode contact, while the welding cup 1115 and the electrode post 1113 are fixedly connected and do not participate in any extension or retraction. When the quadruped robot navigates to the charging station and performs the lying-down charging action, the initial impact is absorbed by the contact between the abdominal rubber pad and the charging plate. As the robot continues to press down, the charging plate applies pressure to the electrode contact, causing the electrode contact to retract along the electrode post axis towards the electrode fixing block. During this process, the electrode post 1113 remains in a stable position with the electrode fixing block, and the welding cup 1115 below it is also completely stationary. The cable welded to the welding cup does not need to bend, pull, or shift with the extension and retraction of the electrode contact. During the charging phase, the current is transmitted through the charging plate to the electrode contact, and after a stable conductive connection is established between the claw spring and the electrode post 1113, it is conducted through the welding cup 1115 to the welded cable, and finally input into the quadruped robot's battery. The entire current transmission path is always continuous and unwavering due to the fixed structure of the welding cup and the cable.

[0047] In this embodiment, the charging connector further includes an electrode fixing block, the bottom of which is connected to the surface of the body, and the top of which is provided with electrode mating holes;

[0048] The electrode fixing block 12 is in the shape of a frustum. The upper surface of the frustum of the electrode fixing block 12 is provided with an electrode mating hole 121. The electrode post component 111 is connected to the electrode fixing block 12 through the electrode mating hole 121.

[0049] Specifically, the bottom of the electrode fixing block 12 is rigidly connected to the surface of the quadruped robot's abdomen. The frustum-shaped structure enhances the stability of the connection with the body through a larger contact area at the bottom, preventing loosening or displacement under stress. The electrode mating hole 121 at the top is precisely adapted to the outer dimensions of the electrode post component 111, ensuring that the electrode post component 111 can be positioned along the axial direction after being inserted into the hole, preventing radial displacement. When the quadruped robot navigates to the charging station and performs the lying-down charging action, the abdominal rubber pad first contacts the charging plate to absorb the initial impact. As the robot continues to press down, the charging plate applies axial pressure to the contacts of the electrode post component 111. At this time, the electrode post component 111 extends and retracts along the axis of the electrode mating hole 121 towards the bottom of the electrode fixing block 12. The electrode mating hole 121 plays a strict guiding role in this process, preventing the electrode post component 111 from tilting or jamming during extension and retraction, ensuring stable contact between the contacts and the charging plate to maintain the charging path. Meanwhile, the electrode fixing block 12, acting as a rigid support carrier, disperses and transfers the impact load borne by the electrode post component 111 to the surface of the machine body, preventing the impact from directly acting on vulnerable components such as the claw springs and electrode posts inside the electrode. The bottom diameter of the frustum-shaped fixing block is larger than the top diameter, resulting in a larger contact area between the bottom and the surface of the machine body and a more stable connection. Even if the electrode contracts under force, generating a lateral component force, the fixing block will not shift. In addition, the frustum-shaped structure of the electrode fixing block causes the sidewalls of the flexible protective component closer to the root of the frustum to tilt more towards both sides. This makes it easier for the flexible protective component to contract in all directions after being subjected to force, reducing the squeezing effect on the electrode fixing block and preventing the electrode fixing block from being squeezed and loosening its connection with the surface of the machine body.

[0050] In this embodiment, as shown in the appendix Figure 8 and 9 As shown, the automatic charging device may include multiple charging connectors 1. The rubber pad 23 is installed in a ring shape on the lower part of the body. The bottom of the body is constructed with a wire groove that extends to the bottom of the groove. The rubber pad 23 has two protective surfaces 232 and a top protective surface 233. When the top protective surface is subjected to a squeezing force from the charging pile below, the rubber pad can deform to a contracted state. In the contracted state, the height of the rubber pad decreases.

[0051] Specifically, the automatic charging device preferably has 2 or 4 charging connectors. Multiple charging connectors 1 are evenly distributed along the inner side of the annular rubber pad 23. The wire grooves at the bottom of the device extend from the battery interface to the bottom of each groove 231, and the cables of the connectors are hidden within the wire grooves to prevent them from being exposed and pulled. The two protective surfaces 232 of the annular rubber pad 23 are perpendicular to the surface of the device, and the top protective surface 233 extends horizontally outward. When not deformed, the two protective surfaces are flush with the lower side of the device, and the top protective surface is higher than the charging connector 1. When the top protective surface contacts the charging pile and is subjected to force, the top protective surface concaves downward, and the two protective surfaces bend slightly inward, reducing the overall height of the rubber pad. All grooves 231 are simultaneously compressed, and the electrode channels 22 on the connectors within the grooves shorten. Multiple electrodes extend simultaneously from the channel openings, ensuring that all electrodes contact the charging pile simultaneously and preventing some electrodes from failing to connect due to uneven deformation of a single protective surface. After charging is completed, the two protective surfaces of the rubber pad return to a vertical state, the top protective surface returns to a horizontal state, the overall height returns to its initial value, and the electrodes retract synchronously.

[0052] As attached Figure 11 As shown in the figure, this embodiment also discloses a design method for a charging device for a quadruped robot, including the following steps.

[0053] Step S1: Calculate the effective contact area of ​​the rubber pad. The effective contact area is the actual force-bearing area after deducting the area occupied by the connection and fixing holes and the mounting grooves on the rubber pad from the total area of ​​the rubber pad.

[0054] Specifically, the effective contact area A of the rubber pad can be calculated using the following formula: A = (H2*L2 + H1*L1*2 - H1*L2*2 - π / 2*(D1)2*n1 - π / 2*(D2)2*2)*n2, where H1 is the width of the wide side of the rubber pad, H2 is the width of the narrow side of the rubber pad, L1 is the length of the wide side of the rubber pad, L2 is the length of the narrow side of the rubber pad, D1 is the diameter of the connecting and fixing hole of the rubber pad, D2 is the diameter of the mounting groove, n1 is the number of connecting and fixing holes of the rubber pad, and n2 is the number of mounting grooves.

[0055] Specifically, based on the overall area of ​​the rubber pad, the invalid areas occupied by the connecting fixing holes and mounting grooves are eliminated to determine the actual stress area of ​​the rubber pad that can truly withstand impact loads and play a buffering role during the quadruped robot's charging process. This provides basic data for subsequent key design aspects of the entire automatic charging device, such as the selection of rubber pad elastic parameters, calculation of impact energy absorption capacity, and matching of electrode extension and retraction heights. Since the connecting fixing holes and mounting grooves cannot participate in impact stress, if their area is not eliminated, the calculated stress area will be too large, leading to deviations in the calculation of key parameters such as impact force and rubber extension and retraction, potentially causing insufficient buffering capacity or excessive deformation of the rubber pad.

[0056] Step S2: Based on the compressive elastic modulus of the rubber pad, the impact force generated when the quadruped robot lies down, the original thickness of the rubber pad, and the effective contact area, calculate the rubber compression amount; compare the obtained rubber compression amount with the maximum value of the rubber linear expansion and contraction amount, and select the smaller value of the two as the final rubber expansion and contraction amount.

[0057] Specifically, by considering the compressive elasticity of the rubber pad itself, the external load generated when the quadruped robot lies down, the initial structural parameters of the rubber pad, and the effective contact area determined in the early stage, the degree of compression deformation that the rubber pad will produce in the actual charging scenario, i.e., the rubber compression amount, is calculated. This provides a quantitative basis for judging whether the rubber pad can meet the buffering requirements, ensuring that the rubber pad can generate sufficient compression deformation to absorb impact energy and avoid the impact force being directly transmitted to the charging contacts, while also preventing insufficient compression of the rubber pad. This ensures that the deformation of the rubber pad is always within the range of its stable performance, avoiding functional failure due to deformation exceeding the limit.

[0058] In this embodiment, step S2 may specifically include the following:

[0059] Step S21: Calculate the compression amount Δh of the rubber pad based on its compressive elastic modulus. Where F is the impact force generated when the quadruped robot lies down, h is the original thickness of the rubber pad, A is the effective contact area of ​​the rubber pad, and E is the compressive elastic modulus of the rubber pad; where the impact force... m is the mass of the quadruped robot. This represents the change in velocity of the object upon contact with the rubber pad. The time it takes for the object's velocity to drop to 0 after it contacts the rubber pad.

[0060] Specifically, by considering the impact force generated when the quadruped robot lies down, the original thickness of the rubber pad, the previously determined effective contact area, and the compressive elastic modulus of the rubber pad itself, the degree of compression deformation that the rubber pad will undergo under actual impact scenarios—that is, the rubber compression—is calculated. This provides a clear quantitative result for the magnitude of the rubber pad's deformation, ensuring that the rubber pad can effectively withstand real impacts and that the load data used for subsequent compression calculations closely matches real-world usage scenarios. This can be achieved by defining the elastic modulus of the rubber. Push out F represents the impact force in Newton-hours (N), h represents the original thickness of the rubber in meters (m), and A represents the original surface area of ​​the rubber subjected to the force in square meters (m²). 2 E is the compressive elastic modulus of the rubber, in Pa, and Δh is the compression of the rubber; calculate the impact force. m is the mass of the object, in kg. This represents the change in velocity of the object upon contact with the rubber, expressed in m / s. The time it takes for the velocity of an object to drop to zero after it comes into contact with the rubber pad, measured in seconds.

[0061] Step S22: Calculate the rubber compression Δh when the rubber pad expands and contracts within the linear range. Where m is the mass of the quadruped robot, g is the standard gravitational acceleration, and h is the original thickness of the rubber pad. The time it takes for the object's velocity to drop to 0 after contacting the rubber pad is given; H is the vertical distance between the lower charging pile and the rubber pad; A is the effective contact area of ​​the rubber pad; and E is the compressive elastic modulus of the rubber pad.

[0062] Specifically, it is calculated based on the time from when the object comes into contact with the rubber. Derivation H is the perpendicular distance between the object and the rubber pad; g is the standard gravitational acceleration, with units of m / s². 2 Meanwhile, ignoring resistance, the impact velocity is calculated, taking the velocity at the moment of contact as the impact velocity, derived according to Newton's second law, i.e. When the rubber stretches within the linear range, the amount of stretching is... .

[0063] Step S23: Query and obtain the maximum value h of the linear expansion and contraction of the rubber pad. max The rubber compression amount Δh and h max Compare the two values ​​and select the smaller value as the final rubber shrinkage amount. .

[0064] Specifically, the deformation of the rubber pad within its linear expansion range is reversible and elastically stable. Once this range is exceeded, the rubber is prone to fatigue damage and loss of elasticity, leading to a decline in its cushioning function. By selecting a final expansion amount that does not exceed the maximum linear expansion value, it is ensured that the rubber pad remains within its stable operating range each time it is subjected to robot impacts. This avoids permanent damage to the material due to excessive deformation, effectively extends the service life of the rubber pad, and reduces equipment maintenance and component replacement costs.

[0065] Step S3: Based on the set current carrying capacity required for charging the quadruped robot, calculate the required contact area of ​​the electrode using the current carrying capacity formula; based on the final rubber expansion amount, multiply by a set proportional coefficient including a reserve amount to calculate the required electrode expansion height; design and manufacture the telescopic electrode as an electrode post component according to the required contact area and electrode expansion height.

[0066] Specifically, considering the current carrying capacity requirements that the quadruped robot must meet during charging, the required contact area of ​​the electrodes is calculated to ensure that the electrodes can stably bear the current during the charging process. Based on the previously determined final rubber expansion and contraction amount, a proportional coefficient including a allowance is introduced to calculate the electrode expansion and contraction height, so that the expansion and contraction range of the electrodes can adapt to the actual deformation state of the rubber pad in the charging scenario and cope with potential scenario deviations. The specific steps S3 include the following:

[0067] Based on the final rubber stretching Calculate the required electrode extension height h d , ,in y represents the final rubber expansion / contraction amount, and y is the preset proportional coefficient.

[0068] Specifically, the design can be based on the thermal balance framework in the International Electrotechnical Commission (IEC) standard 60287 and the safety performance test results and technical requirements for electrical contact components such as electrodes and contacts in charging, as specified in the Underwriters Laboratories (UL) standard 486. The contact area A of the electrode can then be calculated. I represents the required current carrying capacity in amperes (A), K is an empirical coefficient, and A is the conductor cross-sectional area in meters (m²). 2 , The electrical conductivity is measured in Siemens units per meter (S / m), k≈1.5-2.0; T is the ambient temperature, measured in Kelvin (K), m≈0.5, n≈0.05-0.1; the impact time is taken as Δt=0.01s.

[0069] When selecting rubber for elasticity, the elastic modulus can be chosen according to the following requirements: general version E=0.01~0.1GPa, engineering pad E=0.98~12MPa; soft rubber E=6.1MPa; medium hardness rubber E=12MPa; The design height is 0.003m; y is the allowance, which can be selected as 0.2; the linear expansion and contraction of the soft rubber can be obtained from the preset parameter table as 0-0.1h; the rubber thickness is selected as h=0.02m; the design height is H=0.1m.

[0070] In a specific embodiment, taking an object weighing 60kg as an example; A = (92*25 + 18*212 - 25*18*2 - π / 2*(6 / 2)) 2 *5-π / 2*(2) 2 *2)*2 / 1000000=0.01028m 2 The elastic modulus of the soft rubber is E = 6.1 MPa = 6,100,000 Pa; the acceleration due to gravity is taken as 9.8 m / s². 2 The compression amount Δh of the rubber is calculated as follows:

[0071]

[0072] Where h max =0.1 * 0.02 = 0.002;

[0073] because h max , and thus =0.002.

[0074] So, the electrode sheet extension / retraction height for: Then the final selection =3mm.

[0075] Furthermore, based on the IEC60287 thermal balance framework and UL486 test data, the design incorporates k=1.75, m=0.5, n=0.075, and brass is selected as the material. ≈1.5*10 7 S / m-2.5*10 7 S / m, take =2.0*10 7 Given S / m, K=0.01, ambient temperature T=300K, and a current carrying capacity of 15A, that is...

[0076]

[0077]

[0078] The calculated contact area is A≈1.247mm. 2 The contact area of ​​the electrode is circular, that is... The calculated value of r is 0.89 mm. In this case design, the contact surface radius r = 2 mm is adopted. The larger the contact area, the greater the flow capacity. The remaining structural dimensions can be reasonably designed according to the required installation of the whole machine.

[0079] The above-mentioned charging device design method combines the quadruped robot's lying-down logic, rubber extension method, and metal current carrying capacity calculation to provide a calculation method for the extension of the charging contacts and the selection of the rubber pad that meets the requirements of the automatic charging device for the quadruped robot in the aforementioned embodiments.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0081] In summary, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the present invention.

Claims

1. A design method for a charging device for a quadruped robot, characterized in that: The quadruped robot includes a body, leg components mounted on the body, and an automatic charging device mounted on the lower part of the body; The automatic charging device includes a charging connector and a flexible protective component that are respectively connected to the lower part of the body. The charging connector has a charging interface and is electrically connected to the battery inside the body. The flexible protective component has an installation groove on the side near the body. The installation groove and the side wall of the body form a protective cavity. The charging connector is arranged in the protective cavity. The flexible protective component can deform to a contracted state after being squeezed from the direction of the external charging pile. In the contracted state, the charging interface can be connected to the external charging pile. The charging interface component is an electrode post component, and the flexible protective component has an electrode channel communicating with the protective cavity, with the electrode post component located within the electrode channel; When the flexible protective component is not deformed, the electrode post component is wrapped by the electrode channel and the end of the electrode post component is located within the electrode channel; After deforming to a contracted state, the length of the electrode channel is shortened and the end of the electrode post component extends from the channel opening of the electrode channel; the flexible protective component is a rubber pad, and the electrode post component is a telescopic electrode that can retract towards the bottom of the charging connector after being subjected to force; The charging device design method includes the following steps: Calculate the effective contact area of ​​the rubber pad, which is the actual force-bearing area after deducting the area occupied by the connection and fixing holes and the mounting grooves on the rubber pad from the total area of ​​the rubber pad; Based on the compressive elastic modulus of the rubber pad, the impact force generated when the quadruped robot lies down, the original thickness of the rubber pad, and the effective contact area, the rubber compression is calculated; the obtained rubber compression is compared with the maximum value of the linear expansion and contraction of the rubber, and the smaller value of the two is selected as the final rubber expansion and contraction. Based on the set current flow capacity required for charging the quadruped robot, the required contact area of ​​the electrode is calculated using the current flow capacity formula; based on the final rubber expansion amount, multiplied by a set proportional coefficient including a reserve amount, the required electrode expansion height is calculated; and based on the required contact area and electrode expansion height, a telescopic electrode as an electrode post component is designed and manufactured.

2. The design method for the charging device of the quadruped robot according to claim 1, characterized in that: The electrode post component includes an electrode housing, a return spring, an electrode post, and an electrode contact. The electrode housing is installed in an electrode mating hole. The return spring, electrode post, and electrode contact are installed inside the electrode housing. The electrode post is electrically connected to the battery inside the machine. The electrode contact is connected to the end of the electrode post. The electrode contact is connected to the electrode housing through the return spring. The electrode contacts are in contact with the terminal post via a claw spring; a welding cup is provided below the terminal post, and a cable connected to the battery is welded to the welding cup.

3. The design method for the charging device of the quadruped robot according to claim 2, characterized in that: The charging connector also includes an electrode fixing block, the bottom of which is connected to the surface of the body, and the top of which is provided with electrode mating holes; The electrode fixing block is shaped like a frustum, and an electrode mating hole is constructed on the upper surface of the frustum of the electrode fixing block. The electrode post component is connected to the electrode fixing block through the electrode mating hole.

4. The design method for the charging device of the quadruped robot according to claim 3, characterized in that: Includes multiple charging connectors, the rubber pad is installed in a ring shape on the lower part of the body, and the bottom of the body is constructed with a wire groove that extends to the bottom of the groove; The rubber pad has two protective surfaces on both sides and a top protective surface. When the top protective surface is subjected to a squeezing force from the charging pile below, the rubber pad can deform into a contracted state, and the height of the rubber pad becomes lower in the contracted state.

5. The design method for a charging device for a quadruped robot according to claim 4, characterized in that, Based on the compressive elastic modulus of the rubber pad, the impact force generated when the quadruped robot lies down, the original thickness of the rubber pad, and the effective contact area, the rubber compression is calculated. The obtained rubber compression is then compared with the maximum value of the rubber's linear expansion and contraction, and the smaller of the two values ​​is selected as the final rubber expansion and contraction. Specifically, this includes: The compression amount Δh of the rubber pad is calculated based on its compressive elastic modulus. Where F is the impact force generated when the quadruped robot lies down, h is the original thickness of the rubber pad, A is the effective contact area of ​​the rubber pad, and E is the compressive elastic modulus of the rubber pad; where the impact force... m is the mass of the quadruped robot, m is the change in velocity of the object upon contact with the rubber pad, and m is the time it takes for the object's velocity to drop to 0 after contacting the rubber pad. Calculate the rubber compression Δh when the rubber pad expands and contracts within the linear range. Where m is the mass of the quadruped robot, g is the standard gravitational acceleration, h is the original thickness of the rubber pad, is the time it takes for the object's velocity to drop to 0 after contacting the rubber pad, H is the vertical distance between the lower charging pile and the rubber pad, A is the effective contact area of ​​the rubber pad, and E is the compressive elastic modulus of the rubber pad. Query to obtain the maximum linear expansion and contraction value h of the rubber pad. max The rubber compression amount Δh and h max Compare the two values ​​and select the smaller value as the final rubber shrinkage amount. .

6. The design method for a charging device for a quadruped robot according to claim 5, characterized in that, Based on the final rubber expansion amount, multiplied by a predetermined proportional coefficient that includes a allowance, the required electrode expansion height is calculated, specifically including: Based on the final rubber stretching Calculate the required electrode extension height h d , ,in y represents the final rubber expansion / contraction amount, and y is the preset proportional coefficient.

Images