A charging pile and a robot

Abstract

The embodiment of the application provides a charging pile and a robot, the charging pile comprises a shell, a power supply assembly; the power supply assembly comprises a power supply positive electrode and a power supply negative electrode with different heights, and the power supply assembly is configured to: when the power supply positive electrode and the power supply negative electrode correspond to a charging positive electrode and a charging negative electrode respectively, the power supply positive electrode abuts against the charging positive electrode, and the power supply negative electrode abuts against the charging negative electrode, so as to realize electrical conduction; when the power supply positive electrode and the power supply negative electrode correspond to the charging negative electrode and the charging positive electrode respectively, one group of the power supply positive electrode and the charging negative electrode and the power supply negative electrode and the charging positive electrode abut against each other, and the other group is arranged at intervals, so as to realize electrical cut-off. The embodiment of the application forcibly forms physical isolation through the height difference, fundamentally eliminates the short circuit possibility, can avoid the short circuit accident caused by polarity reverse connection in the robot charging process, and ensures the safety of the charging process.

Description

Technical Field

[0001] This application relates to the field of robotic equipment, and more particularly to a charging pile and a robot. Background Technology

[0002] With the widespread application of industrial quadruped robots in fields such as security inspection, emergency rescue, and logistics distribution, their autonomous charging capability has become a key function to ensure their continuous operation.

[0003] Quadruped robots need to autonomously locate and dock with charging stations to complete the charging process. The charging electrodes of quadruped robots are usually located at the bottom of their torso (abdomen). During charging, they squat down to align the electrodes with the electrode plates of the charging station to complete the docking.

[0004] In related technologies, when the robot's positive and negative electrodes come into contact with the charging pile's electrode plates in reverse, a short circuit may occur, potentially causing the circuit board to burn out or resulting in electric shock. Utility Model Content

[0005] This application provides a charging pile and a robot to solve the technical problem in the related art that when the positive and negative electrodes of the robot come into reverse contact with the electrode plates of the charging pile, a short circuit may occur, which may cause the circuit board to burn out or electric shock.

[0006] In a first aspect, embodiments of this application provide a charging station for charging robots, the charging station comprising:

[0007] case;

[0008] A power supply assembly is disposed on the housing; the power supply assembly includes a positive power supply terminal and a negative power supply terminal of different heights, the positive power supply terminal is used to contact the positive charging terminal of the robot, and the negative power supply terminal is used to contact the negative charging terminal of the robot;

[0009] The power supply component is configured as follows:

[0010] When the positive power supply terminal and the negative power supply terminal correspond to the positive charging terminal and the negative charging terminal respectively, the positive power supply terminal abuts against the positive charging terminal, and the negative power supply terminal abuts against the negative charging terminal, so as to achieve electrical conduction.

[0011] When the positive power supply terminal and the negative power supply terminal correspond to the negative charging terminal and the positive charging terminal respectively, one of the positive power supply terminal and the negative charging terminal, and the negative power supply terminal and the positive charging terminal, are in contact with each other, while the other is spaced apart, so as to achieve electrical cutoff.

[0012] The charging pile provided in this application embodiment achieves reverse connection protection through a mechanical structure, which can block erroneous conduction without complex circuitry.

[0013] In addition, the embodiments of this application force physical isolation through height difference, fundamentally eliminating the possibility of short circuit.

[0014] Furthermore, the technical solution of this application embodiment can avoid short circuit accidents caused by reverse polarity during robot charging, ensuring the safety of the charging process.

[0015] Meanwhile, the above structural design can automatically identify the electrode contact status without human intervention, improving the reliability of the autonomous charging system, and is especially suitable for working conditions with positioning errors in complex environments.

[0016] Optionally, in the aforementioned charging pile, the power supply component may also include a limit switch;

[0017] The limit switch is disposed on the housing and located between the positive power supply terminal and the negative power supply terminal. The limit switch is used to abut against the body of the robot.

[0018] The limit switch is configured as follows:

[0019] When the robot's body comes into contact with and triggers the circuit, the positive and negative terminals of the power supply are electrically connected.

[0020] When the robot's body does not make contact or the contact is not triggered, the positive and negative power supply terminals are electrically disconnected.

[0021] This application embodiment adds a position verification step by using a limit switch. Power supply is only triggered when the robot stops accurately and applies sufficient pressure, effectively eliminating the possibility of accidental electrode contact.

[0022] Thus, the technical solution provided in this application can solve the problem of accidental conduction caused by positional deviation or accidental touch during robot charging, ensuring that the charging operation is only started when the robot is correctly docked.

[0023] The above structure combines mechanical triggering with electrical control, which improves charging safety while avoiding the use of complex electronic detection components, thus reducing system complexity and manufacturing costs.

[0024] Optionally, the aforementioned charging stations may also include:

[0025] The control unit is electrically connected to the positive power supply terminal, the negative power supply terminal, and the limit switch.

[0026] The control element is configured to:

[0027] The system receives a first conduction signal indicating whether the power supply component is electrically connected and a second conduction signal indicating whether the limit switch is electrically connected, and determines whether the charging pile supplies power to the robot.

[0028] The above process uses a dual signal verification mechanism to avoid abnormal power supply caused by accidental electrode contact or body misalignment.

[0029] This application embodiment introduces a control component to perform dual detection of electrode contact and fuselage position, thereby reducing the possibility of misjudgment at the logical level and improving system reliability.

[0030] With the above settings, the embodiments of this application can effectively prevent abnormal power supply of the charging pile when the electrodes are in reverse contact or the body is not fully in place, avoid short circuits or equipment damage, and ensure the safety and stability of the robot charging process.

[0031] Optionally, the charging pile described above may also include an indicator light disposed on the side wall of the housing, the indicator light being electrically connected to the control component;

[0032] The control element is also configured to:

[0033] If both the first conduction signal and the second conduction signal are electrically conducting, it is determined that the charging pile supplies power to the robot and controls the indicator light to illuminate;

[0034] If at least one of the first conduction signal and the second conduction signal is electrically cut off, it is determined that the charging pile is not supplying power and the indicator light is controlled to not light up.

[0035] The above process establishes a real-time status feedback channel through dual signal detection and light indication linkage.

[0036] Through the above settings, this application embodiment solves the possibility of misoperation caused by the invisibility of the charging status, avoids the problem of charging interruption caused by poor contact without timely detection, and ensures that operators can quickly identify the working status of the charging pile through light signals, thereby improving the safety and reliability of the charging process.

[0037] In the aforementioned charging pile, optionally, the positive power supply terminal is higher than the negative power supply terminal;

[0038] When the positive power supply terminal and the negative power supply terminal correspond to the negative charging terminal and the positive charging terminal respectively, the positive power supply terminal and the negative charging terminal are in contact, and the negative power supply terminal and the positive charging terminal are spaced apart to achieve electrical cutoff.

[0039] or,

[0040] The positive power supply terminal is lower than the negative power supply terminal;

[0041] When the positive power supply terminal and the negative power supply terminal correspond to the negative charging terminal and the positive charging terminal respectively, the positive power supply terminal and the negative charging terminal are spaced apart, and the negative power supply terminal is in contact with the positive charging terminal to achieve electrical cutoff.

[0042] Through the above-described design, this embodiment of the application can effectively prevent short circuits caused by reverse polarity during robot charging. When the robot accidentally contacts the charging station in the opposite direction, the electrode height difference automatically creates a circuit breaker to prevent abnormal current conduction and damage to the equipment. The aforementioned mechanical reverse polarity protection structure can significantly improve the safety of the charging process while reducing system complexity and maintenance costs.

[0043] In the aforementioned charging pile, optionally, the power supply positive electrode includes a positive electrode plate, and the orthographic projection of the positive electrode plate on the housing is larger than the orthographic projection of the charging positive electrode on the housing;

[0044] And / or,

[0045] The power supply negative electrode includes a negative electrode plate, and the orthogonal projection of the negative electrode plate on the housing is greater than the orthogonal projection of the charging negative electrode on the housing.

[0046] This application embodiment expands the projection coverage of the charging pile electrode plates, while maintaining the anti-reverse connection function of electrode height difference, and significantly improves the tolerance for robot positioning accuracy, ensuring that a stable electrical connection can still be achieved within the allowable positional deviation range.

[0047] Thus, the technical solution provided in this application can effectively solve the problem of poor contact caused by positioning errors during autonomous charging of the robot, while maintaining the reverse connection protection function. The extended projection design of the positive and negative electrode plates enables the robot to maintain reliable contact within a certain horizontal offset range. Combined with the physical isolation formed by the height difference, the safety and stability of the charging process are both improved.

[0048] In the aforementioned charging pile, optionally, the positive power supply terminal includes:

[0049] A positive electrode plate has a front side for contact with a charging positive electrode and a back side located on the front side;

[0050] A positive electrode support shell is disposed on the shell and has a first guide hole;

[0051] A positive mounting component is connected to the opposite side of the positive electrode plate and has a first threaded hole corresponding to the first guide hole;

[0052] A positive screw connector passes through the first guide hole and is screwed into the first threaded hole to fix the positive electrode plate;

[0053] And / or,

[0054] The negative power supply terminal includes:

[0055] The negative electrode has a negative side for charging negative electrode contact and a side opposite to the negative side;

[0056] A negative electrode support shell is disposed on the shell and has a second guide hole;

[0057] A negative mounting component is connected to the opposite side of the negative electrode sheet and has a second threaded hole corresponding to the second guide hole;

[0058] A negative screw connector passes through the second guide hole and is screwed into the second threaded hole to fix the negative electrode sheet.

[0059] In this way, the aforementioned adjustable electrode structure can both ensure contact reliability and adapt to mechanical wear compensation caused by long-term use.

[0060] The technical solution of this application embodiment achieves three-dimensional positioning of the electrode plates through a threaded adjustment mechanism, increasing maintainability while maintaining structural strength. Furthermore, charging piles with the above structure only require adjusting the bolts to restore electrode contact performance, significantly reducing maintenance costs.

[0061] Based on this, the embodiments of this application can solve the problem of contact failure caused by mechanical wear or assembly errors in fixed electrodes. An adjustable electrode structure ensures stable electrical contact during long-term use. Simultaneously, the modular design allows for individual disassembly and maintenance of the electrode components, preventing the entire charging station from becoming unusable due to localized damage and effectively extending the equipment's lifespan.

[0062] Optionally, in the aforementioned charging pile, the housing is a single metal component;

[0063] And / or, the charging pile further includes a metal frame, which is connected to the housing by screws;

[0064] And / or, the bottom of the housing is provided with heat dissipation holes that communicate with the interior, and the number of heat dissipation holes is multiple, and the multiple heat dissipation holes are arranged in an array;

[0065] And / or, the top of the housing is provided with a first groove and a second groove spaced apart, and the positive power supply terminal and the negative power supply terminal are respectively disposed in the first groove and the second groove;

[0066] And / or, a rubber pad is provided on the top surface of the housing.

[0067] Through the above-mentioned settings, the embodiments of this application can effectively improve the structural strength of the charging pile, ensuring that it will not deform during long-term use; optimize heat dissipation performance to avoid overheating and damage to components; reduce the docking failure rate with precise electrode positioning structure; and extend the service life of the equipment with surface protective layer, thereby comprehensively improving the reliability of the charging pile under complex working conditions.

[0068] Secondly, embodiments of this application also provide a robot, including:

[0069] body;

[0070] A charging assembly is disposed on the body of the device; the charging assembly includes a positive charging terminal and a negative charging terminal of different heights, the positive charging terminal is used to contact the positive power supply terminal of the charging pile, and the negative charging terminal is used to contact the negative power supply terminal of the charging pile.

[0071] The charging component is configured as follows:

[0072] When the charging positive terminal and the charging negative terminal correspond to the power supply positive terminal and the power supply negative terminal respectively, the charging positive terminal abuts against the power supply positive terminal and the charging negative terminal abuts against the power supply negative terminal to achieve electrical conduction.

[0073] When the charging positive terminal and the charging negative terminal correspond to the power supply negative terminal and the power supply positive terminal respectively, one of the charging positive terminal and the power supply negative terminal, and the charging negative terminal and the power supply positive terminal, are in contact, while the other is spaced apart, so as to achieve electrical cutoff.

[0074] The above process achieves reverse connection protection through physical isolation created by the electrode height difference, eliminating the need for electronic detection circuits and reducing system complexity. Simultaneously, the mechanical determination of electrode contact status avoids signal delay issues, improving the real-time performance of charging response.

[0075] With the above-mentioned settings, the embodiments of this application can solve the possibility of short circuit caused by reverse contact of electrodes during the autonomous charging process of the robot. The automatic judgment of circuit continuity is realized through mechanical structure design, which improves the safety and reliability of the charging process, while reducing the dependence on external detection modules and reducing maintenance costs.

[0076] In the aforementioned robot, optionally, the charging positive electrode includes:

[0077] The positive electrode has a positive movable end and a positive fixed end arranged opposite to each other, wherein the positive movable end is used to abut against the power supply positive electrode;

[0078] A positive mounting housing is disposed on the body of the device, having a receiving cavity for accommodating the positive electrode and a third guide hole communicating with the receiving cavity, wherein the positive electrode fixing end is located inside the receiving cavity;

[0079] A positive spring is located inside the accommodating cavity. The two ends of the positive spring abut against the positive electrode fixed end and the inner wall of the positive mounting shell, respectively. The positive spring is used to move the positive electrode movable end away from the body.

[0080] And / or,

[0081] The charging negative electrode includes:

[0082] The negative electrode has a movable negative electrode end and a fixed negative electrode end arranged opposite to each other, wherein the movable negative electrode end is used to abut against the power supply negative electrode;

[0083] A negative mounting housing is disposed on the body of the device, having a receiving cavity for accommodating the negative electrode and a fourth guide hole communicating with the receiving cavity, wherein the negative electrode fixing end is located inside the receiving cavity;

[0084] A negative spring is located inside the accommodating cavity. The two ends of the negative spring abut against the negative electrode fixed end and the inner wall of the negative mounting shell, respectively. The negative spring is used to move the negative electrode movable end away from the body.

[0085] The above process, by introducing a height difference, forces a single-point contact or physical isolation when the electrodes are reversed, eliminating the possibility of short circuits at the structural level. Simultaneously, the spring-supported electrode design can adapt to positional deviations when the robot crouches, achieving reverse connection protection while ensuring contact reliability. Furthermore, the spring design prevents damage to the electrodes during docking with the charging station.

[0086] Through the above-described configuration, the technical solution of this application embodiment can solve the short circuit problem caused by reverse electrode connection during robot charging. The height difference and size variation create physical isolation, preventing circuit damage caused by reverse conduction. The spring-supported electrode structure ensures contact stability while allowing for a certain degree of error in the robot, thus improving the success rate and safety of autonomous charging.

[0087] In the robot described above, optionally, the positive charging terminal is higher than the negative charging terminal;

[0088] When the charging positive terminal and the charging negative terminal correspond to the power supply negative terminal and the power supply positive terminal respectively, the charging positive terminal and the power supply negative terminal are in contact, and the charging negative terminal and the power supply positive terminal are spaced apart to achieve electrical cutoff;

[0089] or,

[0090] The positive charging electrode is lower than the negative charging electrode;

[0091] When the charging positive terminal and the charging negative terminal correspond to the power supply negative terminal and the power supply positive terminal respectively, the charging positive terminal and the power supply negative terminal are spaced apart, and the charging negative terminal is in contact with the power supply positive terminal to achieve electrical cutoff.

[0092] Through the above-described design, this embodiment of the application can effectively prevent short circuits caused by reverse polarity during robot charging. When the robot accidentally contacts the charging station in the opposite direction, the electrode height difference automatically creates a circuit breaker to prevent abnormal current conduction and damage to the equipment. The aforementioned mechanical reverse polarity protection structure can significantly improve the safety of the charging process while reducing system complexity and maintenance costs.

[0093] In the robot described above, optionally, the charging positive electrode includes a positive electrode, and the orthographic projection of the positive electrode on the body is smaller than the orthographic projection of the power supply positive electrode on the housing;

[0094] And / or,

[0095] The charging positive electrode includes a negative electrode, and the orthogonal projection of the negative electrode on the body is smaller than the orthogonal projection of the power supply negative electrode on the housing.

[0096] This application embodiment reduces the projected coverage area of ​​the robot's positive and negative charging sections, while maintaining the reverse connection prevention function of the electrode height difference, and significantly improves the tolerance for robot positioning accuracy, ensuring that a stable electrical connection can still be achieved within the allowable positional deviation range.

[0097] Thus, the technical solution provided in this application can effectively solve the problem of poor contact caused by positioning errors during autonomous charging of the robot, while maintaining the reverse connection protection function. The extended projection design of the positive and negative electrodes enables the robot to maintain reliable contact within a certain horizontal offset range. Combined with the physical isolation formed by the height difference, the safety and stability of the charging process are both improved. Attached Figure Description

[0098] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0099] Figure 1 This application provides a first structural schematic diagram of a charging pile;

[0100] Figure 2 This is a schematic diagram of the robot provided in an embodiment of this application;

[0101] Figure 3 This is a schematic diagram of the structure for docking a charging pile with a robot, as provided in an embodiment of this application.

[0102] Figure 4 A schematic diagram showing the charging pile and robot in electrical connection according to an embodiment of this application;

[0103] Figure 5 A schematic diagram of a charging pile and robot in an electrically cut-off state, provided in an embodiment of this application;

[0104] Figure 6 A schematic diagram of the casing of a charging pile provided in an embodiment of this application from a certain perspective;

[0105] Figure 7 A structural schematic diagram of the casing of the charging pile provided in an embodiment of this application from another perspective;

[0106] Figure 8 This is a schematic diagram of the metal frame of the charging pile provided in an embodiment of this application;

[0107] Figure 9 A second structural schematic diagram of a charging pile is provided for embodiments of this application;

[0108] Figure 10 A schematic diagram of the robot's body and power supply components provided in an embodiment of this application;

[0109] Figure 11 This is an enlarged schematic diagram of the charging positive terminal of the power supply component for the robot provided in an embodiment of this application.

[0110] Explanation of reference numerals in the attached figures:

[0111] 10. Charging stations;

[0112] 100. Housing; 110. Heat dissipation hole; 120. Rubber pad; 130. First groove; 140. Second groove;

[0113] 200. Power supply components;

[0114] 210. Positive power supply terminal; 211. Positive electrode plate; 212. Positive electrode support shell; 2121. First guide hole; 213. Positive mounting component; 2131. First threaded hole; 214. Positive screw connector;

[0115] 220. Negative power supply terminal; 221. Negative electrode plate; 222. Negative electrode support shell; 2221. Second guide hole; 223. Negative mounting component; 2231. Second threaded hole; 224. Negative screw connector;

[0116] 230. Limit switch;

[0117] 20. Quadruped robot;

[0118] 300. Machine body; 310. Third threaded hole; 320. Positioning block;

[0119] 400. Charging components;

[0120] 410. Positive charging terminal; 411. Positive electrode; 4111. Positive moving end; 4112. Positive fixed end; 412. Positive mounting housing; 4121. Third guide hole; 413. Positive spring; 414. Positive screw connector;

[0121] 420. Negative charging terminal; 421. Negative electrode; 4211. Negative moving end; 4212. Negative fixed end; 422. Negative mounting shell; 4221. Receiving cavity; 4222. Fourth guide hole; 423. Negative spring; 424. Negative screw connector;

[0122] 500. Control components;

[0123] 600, indicator lights;

[0124] 700, Circuit Board;

[0125] 800, Metal skeleton.

[0126] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0127] In related technologies, industrial quadruped robots often face the possibility of short circuits caused by reverse polarity during autonomous charging. Traditional charging piles typically use symmetrical electrode designs. When the robot's positioning deviation or posture adjustment causes the electrodes to make reverse contact, the current may form a loop through the wrong path, leading to circuit failure or even equipment damage.

[0128] To address the aforementioned issues, this application provides a charging pile and a robot. The charging pile includes a housing and a power supply component disposed on the housing. The power supply component includes a positive power supply terminal and a negative power supply terminal of different heights. The positive power supply terminal is used to contact the positive charging terminal of the robot, and the negative power supply terminal is used to contact the negative charging terminal of the robot. The power supply component is configured such that: when the positive power supply terminal and the negative power supply terminal correspond to the positive charging terminal and the negative charging terminal, respectively, the positive power supply terminal contacts the positive charging terminal, and the negative power supply terminal contacts the negative charging terminal, thereby achieving electrical conduction; when the positive power supply terminal and the negative power supply terminal correspond to the negative charging terminal and the positive charging terminal, respectively, one set of the positive power supply terminal and the negative charging terminal, and the other set is spaced apart, thereby achieving electrical cutoff.

[0129] The charging pile and robot provided in this application embodiment achieve reverse connection protection through a mechanical structure, blocking erroneous conduction without the need for complex circuits. Furthermore, this application embodiment uses height difference to forcibly create physical isolation, fundamentally eliminating the possibility of short circuits. In addition, the technical solution of this application embodiment can avoid short circuit accidents caused by reverse polarity during robot charging, ensuring the safety of the charging process. Simultaneously, this structural design can automatically identify the electrode contact state without manual intervention, improving the reliability of the autonomous charging system, and is particularly suitable for working conditions with positioning errors in complex environments.

[0130] To make the objectives, implementation methods and advantages of this application clearer, the exemplary implementation methods of this application will be clearly and completely described below with reference to the accompanying drawings of the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only some embodiments of this application, and not all embodiments.

[0131] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0132] Reference Figure 1 , Figure 2 as well as Figure 3 In one aspect, embodiments of this application provide a charging station 10. The charging station 10 is used to charge a robot. It is understood that robots come in many types. In this embodiment, the robot refers to a quadruped robot 20. The robot is hereinafter referred to as quadruped robot 20.

[0133] It is understood that the quadruped robot 20 referred to in the embodiments of this application has at least four movable robotic legs. Quadruped robots 20 with the above-described features are all within the scope of protection of this application, including but not limited to uses such as transportation, handling, rescue, and patrolling. The robot referred to below is the quadruped robot 20.

[0134] Specifically, the charging pile 10 includes a housing 100 and a power supply component 200. The power supply component 200 is disposed on the housing 100.

[0135] Here, housing 100 refers to the support structure that carries the power supply assembly 200. Exemplarily, it may be made of metal or plastic. Housing 100 serves to protect the internal circuitry and provide a mounting reference surface.

[0136] The power supply assembly 200 provides power. The power supply assembly 200 includes a positive power supply terminal 210 and a negative power supply terminal 220. The positive power supply terminal 210 is used to contact the charging positive terminal 410 of the quadruped robot 20. The negative power supply terminal 220 is used to contact the charging negative terminal 420 of the quadruped robot 20. The positive power supply terminal 210 and the negative power supply terminal 220 have different heights.

[0137] It is understood that the contact between the positive power supply 210 and the negative power supply 220 refers to the physical contact and conduction between the electrodes. For example, this can be achieved using a flexible metal sheet or a spring-loaded pin structure to ensure that the contact pressure meets the conductivity requirements.

[0138] It should be noted that the height difference between the positive power supply 210 and the negative power supply 220 refers to the offset of their installation positions in the vertical direction. For example, this can be achieved by adjusting the thickness of the electrode support structure or by setting a stepped installation platform.

[0139] In some embodiments, the power supply component 200 is configured to:

[0140] Reference Figure 4 When the power supply positive terminal 210 and the power supply negative terminal 220 correspond to the charging positive terminal 410 and the charging negative terminal 420 respectively, the power supply positive terminal 210 abuts against the charging positive terminal 410 and the power supply negative terminal 220 abuts against the charging negative terminal 420 to achieve electrical conduction.

[0141] Reference Figure 5 When the power supply positive terminal 210 and the power supply negative terminal 220 correspond to the charging negative terminal 420 and the charging positive terminal 410 respectively, one of the power supply positive terminal 210 and the charging negative terminal 420 and the power supply negative terminal 220 and the charging positive terminal 410 is in contact, and the other is spaced apart, so as to achieve electrical cut-off.

[0142] Specifically, when the robot approaches the charging pile 10 in the correct direction, its charging positive electrode 410 and the power supply positive electrode 210 of the charging pile 10 make contact due to their high matching, and the charging negative electrode 420 and the power supply negative electrode 220 make contact simultaneously. At this time, the two sets of electrodes are simultaneously connected to form a charging circuit.

[0143] If the robot approaches in the opposite direction, the charging positive electrode 410 will correspond to the power supply negative electrode 220 of the charging pile 10. However, due to the height difference between the two, one set of electrodes cannot make contact due to the vertical position offset. For example, when the power supply positive electrode 210 is installed higher than the power supply negative electrode 220, the charging positive electrode 410 can only contact the lower power supply negative electrode 220 during reverse contact, while the charging negative electrode 420 cannot reach the higher power supply positive electrode 210 due to insufficient height. At this time, only a single-point contact is formed, and a complete circuit cannot be formed, thus achieving reverse polarity protection.

[0144] The charging pile 10 provided in this application embodiment achieves the reverse connection protection function through a mechanical structure, which can block erroneous conduction without complex circuitry.

[0145] In addition, the embodiments of this application force physical isolation through height difference, fundamentally eliminating the possibility of short circuit.

[0146] Furthermore, the technical solution of this application embodiment can avoid short circuit accidents caused by reverse polarity during robot charging, ensuring the safety of the charging process.

[0147] Meanwhile, the above structural design can automatically identify the electrode contact status without human intervention, improving the reliability of the autonomous charging system, and is especially suitable for working conditions with positioning errors in complex environments.

[0148] Reference Figure 1 , Figure 4 as well as Figure 5As an optional implementation, the charging pile 10 also includes a limit switch 230. The limit switch 230 is disposed on the housing 100 and located between the positive power supply 210 and the negative power supply 220. The limit switch 230 is used to abut against the body 300 of the quadruped robot 20.

[0149] The limit switch 230 refers to a device that achieves circuit switching through mechanical contact. For example, a micro switch or a pressure sensor can be used.

[0150] In some embodiments, the limit switch 230 is configured to:

[0151] When the body 300 of the quadruped robot 20 comes into contact with and triggers the circuit, the positive power supply 210 and the negative power supply 220 are electrically connected.

[0152] When the body 300 of the quadruped robot 20 does not come into contact or the contact is not triggered, the positive power supply 210 and the negative power supply 220 are electrically cut off.

[0153] Understandably, when the quadruped robot 20's body 300 contacts the limit switch 230, the internal contacts of the limit switch 230 close, forming a conductive circuit. At this time, an electrical connection is established between the positive power supply 210 and the negative power supply 220. When the body 300 does not contact or the contact pressure is insufficient, the limit switch 230 remains in the open state, and the power supply circuit is in the off state. That is, the switch verifies the robot's position through physical contact, ensuring that the charging electrodes are energized only when correctly aligned.

[0154] Specifically, when the quadruped robot 20 moves above the charging pile 10 and performs a squatting motion, the bottom of its body 300 contacts the limit switch 230.

[0155] If the robot is in the correct position, the body 300 applies sufficient pressure to the limit switch 230 to trigger it. If a closed circuit is formed between the positive power supply 210 and the negative power supply 220 at the same time, the charging pile 10 enters the power supply state.

[0156] If the robot's position shifts and the body 300 fails to contact the limit switch 230, or if the contact pressure does not reach the trigger threshold, the limit switch 230 remains open, and the power supply circuit remains disconnected.

[0157] Understandably, the above structure, together with the electrode height difference design, forms a dual verification, and charging is only initiated when the robot simultaneously meets the conditions of electrode alignment and 300° contact with the body.

[0158] This application embodiment adds a position verification step by means of limit switch 230. Power supply can only be triggered when the robot stops accurately and applies sufficient pressure, effectively eliminating the possibility of accidental electrode contact.

[0159] Thus, the technical solution provided in this application embodiment can solve the problem of accidental conduction caused by positional deviation or accidental touch during the charging process of the quadruped robot 20, ensuring that the charging operation is only started when the robot is correctly docked.

[0160] The above structure combines mechanical triggering with electrical control, which improves charging safety while avoiding the use of complex electronic detection components, thus reducing system complexity and manufacturing costs.

[0161] Reference Figure 4 as well as Figure 5 As an optional feature, the charging pile 10 also includes a control unit 500, which is electrically connected to the positive power supply 210, the negative power supply 220, and the limit switch 230.

[0162] The controller 500 refers to an electronic module used to receive and process electrical signals to control the on / off state of the circuit. For example, it can be implemented using a microcontroller or logic circuit. The controller is used to ensure the safety of the charging process through dual signal verification.

[0163] In some embodiments, the control unit 500 is configured to receive a first conduction signal indicating whether the power supply component 200 is electrically connected and a second conduction signal indicating whether the limit switch 230 is electrically connected, and to determine whether the charging pile 10 supplies power to the quadruped robot 20.

[0164] The first conduction signal refers to the feedback signal indicating the contact status between the positive power supply terminal 210 and the positive charging terminal 410, and between the negative power supply terminal 220 and the negative charging terminal 420. For example, a voltage detection circuit or a switching sensor can be used to implement this. The first conduction signal is used to determine whether the electrodes are accurately connected.

[0165] The second conduction signal refers to the status signal indicating that the limit switch 230 has been triggered. For example, it can be implemented using mechanical contacts or photoelectric sensors. The second conduction signal is used to confirm that the robot body 300 has correctly contacted the charging pile 10.

[0166] Specifically, when the robot approaches the charging pile 10, the controller 500 continuously collects the contact status between the power supply component 200 and the charging electrode as the first conduction signal, and at the same time monitors whether the limit switch 230 is triggered by the body 300 as the second conduction signal.

[0167] If both signals show a conducting state, the controller 500 determines that the robot is in the correct charging position and allows power supply;

[0168] If any signal is not connected, the control unit 500 cuts off the power output.

[0169] The above process uses a dual signal verification mechanism to avoid abnormal power supply caused by accidental electrode contact or 300° body offset.

[0170] This application embodiment introduces a control component 500 to perform dual detection of electrode contact and body 300 position, thereby reducing the possibility of misjudgment at the logical level and improving system reliability.

[0171] With the above settings, the embodiments of this application can effectively prevent abnormal power supply to the charging pile 10 when the electrodes are in reverse contact or the body 300 is not fully in place, avoid short circuits or equipment damage, and ensure the safety and stability of the quadruped robot 20 during the charging process.

[0172] Reference Figure 1 , Figure 4 as well as Figure 5 As an optional implementation, the charging pile 10 also includes an indicator light 600 disposed on the side wall of the housing 100, the indicator light 600 being electrically connected to the control unit 500.

[0173] The indicator light 600 refers to a display device that transmits charging status via optical signals. For example, it can be implemented using an LED light.

[0174] Understandably, the installation position of the indicator light 600 is limited to the side wall of the housing 100 to ensure visibility.

[0175] In some embodiments, the control element 500 is further configured to:

[0176] If both the first and second conduction signals are electrically conductive, it is determined that the charging pile 10 supplies power to the quadruped robot 20 and controls the indicator light 600 to illuminate.

[0177] If at least one of the first conduction signal and the second conduction signal is electrically cut off, it is determined that the charging pile 10 is not supplying power and the indicator light 600 is controlled not to light up.

[0178] Among them, the control component 500 refers to a circuit module with logic judgment function, which can be implemented by a microcontroller unit. It determines the power supply status by receiving the combination of the conduction signals from the power supply component 200 and the limit switch 230.

[0179] Specifically, when the quadruped robot 20 is correctly docked with the charging pile 10, the power supply positive terminal 210 and the charging positive terminal 410, and the power supply negative terminal 220 and the charging negative terminal 420 form a dual conduction state. At this time, the control unit 500 simultaneously receives the first conduction signal from the power supply component 200 and the second conduction signal from the limit switch 230, and drives the indicator light 600 to light up to indicate that charging has started.

[0180] When the electrodes are reversed or the robot is not in complete contact, at least one conduction signal is cut off, and the control unit 500 immediately cuts off the power to the indicator light 600, so as to visually reflect the charging abnormality.

[0181] The above process establishes a real-time status feedback channel through dual signal detection and light indication linkage.

[0182] Through the above settings, this application embodiment solves the possibility of misoperation caused by the invisibility of the charging status, avoids the problem of charging interruption caused by poor contact but not being detected in time, and ensures that operators can quickly identify the working status of the charging pile 10 through light signals, thereby improving the safety and reliability of the charging process.

[0183] Reference Figure 4 as well as Figure 5 As an optional implementation, the charging pile 10 also includes a circuit board 700, which is disposed inside the housing 100. The control unit 500 and the limit switch 230 are both disposed on the circuit board 700 and electrically connected to the circuit board 700.

[0184] It is understandable that the circuit board 700 can be positioned between the positive power supply 210 and the negative power supply 220, and is electrically connected to the positive power supply 210 and the negative power supply 220.

[0185] As an alternative implementation, there are different embodiments of the power supply positive terminal 210 and the power supply negative terminal 220 with different heights.

[0186] In some embodiments, the positive power supply 210 is higher than the negative power supply 220.

[0187] Thus, when the power supply positive terminal 210 and the power supply negative terminal 220 correspond to the charging negative terminal 420 and the charging positive terminal 410 respectively, the power supply positive terminal 210 and the charging negative terminal 420 are in contact, and the power supply negative terminal 220 and the charging positive terminal 410 are spaced apart to achieve electrical cutoff.

[0188] Reference Figure 1 , Figure 4 as well as Figure 5 In some embodiments, the positive power supply 210 is higher than the negative power supply 220.

[0189] Thus, when the power supply positive terminal 210 and the power supply negative terminal 220 correspond to the charging negative terminal 420 and the charging positive terminal 410 respectively, the power supply positive terminal 210 and the charging negative terminal 420 are in contact, and the power supply negative terminal 220 and the charging positive terminal 410 are spaced apart to achieve electrical cutoff.

[0190] It is understandable that in the different embodiments described above, the positive and negative electrodes can be staggered in the vertical direction.

[0191] The above setup creates differences in contact conditions through spatial misalignment. When the polarity is correct, bipolar contact allows for conduction; when the polarity is incorrect, only unipolar contact creates an open circuit. When the gap exceeds the effective contact range of the conductive medium, the current path is interrupted.

[0192] Through the above-described design, this embodiment of the application can effectively prevent short circuits caused by reverse polarity during charging of the quadruped robot 20. When the robot accidentally contacts the charging pile 10 in the opposite orientation, the electrode height difference automatically forms a circuit breaker to prevent abnormal current conduction and damage to the equipment. The aforementioned mechanical reverse polarity protection structure can significantly improve the safety of the charging process while reducing system complexity and maintenance costs.

[0193] Reference Figure 4 as well as Figure 5 As an optional implementation, the power supply positive electrode 210 includes a positive electrode plate 211, and the power supply negative electrode 220 includes a negative electrode plate 221. The orthogonal projection of the positive electrode plate 211 onto the housing 100 is larger than the orthogonal projection of the charging positive electrode 410 of the quadruped robot 20 onto the housing 100. The orthogonal projection of the negative electrode plate 221 onto the housing 100 is larger than the orthogonal projection of the charging negative electrode 420 of the quadruped robot 20 onto the housing 100.

[0194] Among them, the positive electrode 211 refers to the conductive component on the charging pile 10 that is in contact with the robot's charging positive electrode 410, and can be made of thin metal sheet or composite material with conductive coating. The negative electrode 221 is similar to the positive electrode 211, and will not be described again.

[0195] Understandably, the projected area of ​​the positive electrode 211 is designed to be larger than the projected area of ​​the robot charging positive electrode 410. This ensures that even if there is a horizontal positional deviation during the charging process, the charging positive electrode 410 can still completely cover the projected area of ​​the positive electrode 211, guaranteeing full contact between the two. Similarly, the projected area of ​​the negative electrode 221 is larger than the projected area of ​​the robot charging negative electrode 420, ensuring the reliability of the negative electrode contact.

[0196] Thus, when the robot is aligned with the correct polarity, the positive charging electrode 410 makes full contact with the positive electrode plate 211, and the negative charging electrode 420 makes full contact with the negative electrode plate 221, forming a conductive circuit. When the robot's polarity is reversed, due to the height difference between the positive and negative electrodes of the charging pile 10, the reversed positive charging electrode 410 can only partially overlap with the negative electrode plate 221, but due to the height difference, it cannot form effective contact, thereby avoiding reverse conduction.

[0197] This application embodiment expands the projection coverage of the electrode plates of the charging pile 10, while maintaining the anti-reverse connection function of the electrode height difference, and significantly improves the tolerance for robot positioning accuracy, ensuring that a stable electrical connection can still be achieved within the allowable positional deviation range.

[0198] Thus, the technical solution provided in this application can effectively solve the problem of poor contact caused by positioning errors during the autonomous charging process of the quadruped robot 20, while maintaining the reverse connection protection function. The extended projection design of the positive and negative electrode plates 221 enables the robot to maintain reliable contact within a certain horizontal offset range. Combined with the physical isolation formed by the height difference, the safety and stability of the charging process are both improved.

[0199] Reference Figure 4 as well as Figure 5 As an optional implementation, the charging positive electrode 410 includes a positive electrode plate 211, a positive electrode support shell 212, a positive mounting member 213, and a positive screw connector 214. The positive electrode plate 211 has a front side for the charging positive electrode 410 to abut against and a back side located on the front side. The positive electrode support shell 212 is disposed on the housing 100 and has a first guide hole 2121. The positive mounting member 213 is connected to the back side of the positive electrode plate 211 and has a first threaded hole 2131 corresponding to the first guide hole 2121. The positive screw connector 214 passes through the first guide hole 2121 and is screwed into the first threaded hole 2131 to fix the positive electrode plate 211.

[0200] Among them, the positive electrode support shell 212 refers to the positioning structure fixed to the housing 100 of the charging pile 10. The positive electrode support shell 212 provides vertical movement space for the electrode sheet through the first guide hole 2121.

[0201] The positive mounting component 213 refers to the fixing base for connecting the electrode plate, used to establish the connection interface between the electrode plate and the adjustment mechanism. For example, the positive mounting can be achieved using a metal block with threaded holes.

[0202] The positive screw connector 214 is a fastening element that enables height adjustment, changing the installation height of the electrode plate by screwing it on. For example, the positive screw connector 214 can be an internal hex bolt.

[0203] Specifically, the positive electrode 211 achieves vertical position adjustment through the cooperation of the positive mounting part 213 and the positive screw connector 214. When it is necessary to adjust the electrode height, the positive screw connector 214 can be loosened to allow the positive electrode 211 to slide along the first guide hole 2121 to the target position and then re-locked. The guide hole design of the positive electrode support shell 212 ensures that the electrode remains horizontal during the adjustment process, avoiding poor contact caused by tilting.

[0204] Reference Figure 4 as well as Figure 5As an optional implementation, the charging negative electrode 420 includes a negative electrode sheet 221, a negative electrode support shell 222, a negative mounting member 223, and a negative screw connector 224. The negative electrode sheet 221 has a negative side for the charging negative electrode 420 to abut against and a side opposite to the negative side. The negative electrode support shell 222 is disposed on the housing 100 and has a second guide hole 2221. The negative mounting member 223 is connected to the side opposite to the negative electrode sheet 221 and has a second threaded hole 2231 corresponding to the second guide hole 2221. The negative screw connector 224 passes through the second guide hole 2221 and is screwed into the second threaded hole 2231 to fix the negative electrode sheet 221.

[0205] Understandably, the adjustment principle of the negative electrode component is the same as that of the positive electrode component. Both sets of electrodes can be independently height-calibrated to accurately match the charging interface position tolerances of different robot models.

[0206] In this way, the aforementioned adjustable electrode structure can both ensure contact reliability and adapt to mechanical wear compensation caused by long-term use.

[0207] The technical solution of this application embodiment achieves three-dimensional positioning of the electrode plates through a threaded adjustment mechanism, increasing maintainability while maintaining structural strength. Furthermore, the charging pile 10 with the above structure only requires adjusting the bolts to restore electrode contact performance, significantly reducing maintenance costs.

[0208] Based on this, the embodiments of this application can solve the problem of contact failure caused by mechanical wear or assembly errors in fixed electrodes. An adjustable electrode structure ensures stable electrical contact during long-term use. Simultaneously, the modular design allows for individual disassembly and maintenance of the electrode components, preventing the entire charging station from becoming unusable due to localized damage and effectively extending the equipment's lifespan.

[0209] Reference Figure 6 , Figure 7 As an optional implementation, the top of the housing 100 is provided with a first groove 130 and a second groove 140 that are spaced apart, and the power supply positive electrode 210 and the power supply negative electrode 220 are respectively disposed in the first groove 130 and the second groove 140.

[0210] The first groove 130 and the second groove 140 refer to the positioning groove structure provided at the top, which is used to constrain the spatial position of the power supply electrode. The top groove restricts the power supply electrode to a predetermined area, ensuring precise alignment with the robot electrode.

[0211] As an optional implementation, the housing 100 is a single metal component.

[0212] The unibody metal component refers to a one-piece molded metal housing 100, which forms a complete closed structure through the metal material, thereby improving structural strength and enhancing electromagnetic shielding performance. For example, the housing 100 can be formed by sheet metal welding.

[0213] Understandably, the housing 100, constructed by sheet metal welding, is easier to manufacture. Furthermore, the housing 100 is relatively lightweight. The housing 100 supported in this manner has a lower cost.

[0214] It should be noted that since the housing 100 adopts an integrated design, only the opening needs to be sealed to achieve an IP54 waterproof rating, which reduces the difficulty of waterproof sealing.

[0215] Understandably, the aforementioned housing 100 has excellent waterproof performance, meeting the IP54 waterproof rating, thus effectively protecting its internal electronic components from damage. This improves the safety of charging the device 300 after it gets wet in the rain.

[0216] Reference Figure 8 As an optional implementation, the charging pile 10 also includes a metal frame 800, which is connected to the housing 100 by screws.

[0217] The metal frame 800 refers to the support frame built into the shell 100. Specifically, it can be implemented using a steel truss structure. By being bolted to the shell 100 to form a composite support system, it can improve impact resistance.

[0218] It should be noted that metal fasteners can also be connected by screws such as bolts, which provide high connection strength.

[0219] Specifically, the shell 100 and the metal frame 800 form a composite support structure, which is rigidly connected by screws and can withstand the mechanical load when the robot docks.

[0220] Understandably, the aforementioned metal frame 800 is lightweight, strong, and inexpensive. Furthermore, the metal frame 800 is easy to assemble and use.

[0221] Reference Figure 1 , Figure 6 , Figure 7 as well as Figure 9 As an optional implementation, the bottom of the housing 100 is provided with heat dissipation holes 110 that communicate with the interior. There are multiple heat dissipation holes 110 arranged in an array.

[0222] The heat dissipation holes 110 refer to ventilation holes opened at the bottom, forming a uniform heat dissipation channel. For example, a circular through-hole array can be used. In this way, the heat dissipation holes 110 arranged in an array at the bottom form a forced convection channel, which can accelerate the heat dissipation of internal electronic components.

[0223] It should be noted that the specific number of heat dissipation holes 110 can be set according to the actual situation, and this application embodiment does not impose specific limitations on this.

[0224] Reference Figure 9 As an optional implementation, a rubber pad 120 is provided on the top surface of the housing 100.

[0225] Rubber pad 120 refers to an elastic layer covering the top surface for cushioning contact impacts. For example, rubber pad 120 may be molded from silicone rubber.

[0226] The rubber pad 120 is used to generate elastic deformation when the robot comes into contact with it, which can reduce the possibility of wear on the surface of the metal shell 100; at the same time, the rubber pad 120 can achieve insulation between the quadruped robot 20 and the charging pile 10.

[0227] Through the above-mentioned settings, the embodiments of this application can effectively improve the structural strength of the charging pile 10, ensuring that it does not deform during long-term use; optimize heat dissipation performance to avoid overheating and damage to components; reduce the docking failure rate with precise electrode positioning structure; and extend the service life of the equipment with surface protective layer, thereby comprehensively improving the reliability of the charging pile 10 under complex working conditions.

[0228] Reference Figure 2 , Figure 3 as well as Figure 10 Secondly, embodiments of this application also provide a quadruped robot 20. The quadruped robot 20 includes a body 300 and a charging assembly 400.

[0229] Among them, the body 300 refers to the main structure of the quadruped robot 20, which is used to connect the four legs for movement and to carry the charging component 400.

[0230] The charging component 400 is mounted on the body 300. The charging component 400 includes a positive charging electrode 410 and a negative charging electrode 420 with different heights. The positive charging electrode 410 is used to contact the positive power supply electrode 210 of the charging pile 10, and the negative charging electrode 420 is used to contact the negative power supply electrode 220 of the charging pile 10.

[0231] The charging component 400 is used to connect to a power source to receive power.

[0232] It is understood that the contact between the positive charging electrode 410 and the negative charging electrode 420 refers to the physical contact and conduction between the electrodes. For example, this can be achieved using a flexible metal sheet or a spring-loaded pin structure to ensure that the contact pressure meets the conductivity requirements.

[0233] It should be noted that the height difference between the positive charging electrode 410 and the negative charging electrode 420 refers to the offset of their installation positions in the vertical direction. For example, this can be achieved by adjusting the thickness of the electrode support structure or by setting a stepped installation platform.

[0234] In some embodiments, the charging component 400 is configured to:

[0235] Reference Figure 4 When the charging positive terminal 410 and the charging negative terminal 420 correspond to the power supply positive terminal 210 and the power supply negative terminal 220 respectively, the charging positive terminal 410 abuts against the power supply positive terminal 210 and the charging negative terminal 420 abuts against the power supply negative terminal 220 to achieve electrical conduction.

[0236] Reference Figure 5 When the charging positive electrode 410 and the charging negative electrode 420 correspond to the power supply negative electrode 220 and the power supply positive electrode 210 respectively, one of the charging positive electrode 410 and the power supply negative electrode 220 and the charging negative electrode 420 and the power supply positive electrode 210 is in contact, and the other is spaced apart, so as to achieve electrical cut-off.

[0237] Specifically, when the robot moves to the charging pile 10 and performs charging docking, if the charging positive electrode 410 and the power supply positive electrode 210 are vertically aligned, the charging positive electrode 410 can fully contact the power supply positive electrode 210 due to the height matching, and at the same time, the charging negative electrode 420 contacts the power supply negative electrode 220 due to the height matching. At this time, the circuit forms a closed loop.

[0238] If the robot reverses its docking and causes the charging positive electrode 410 to align with the power supply negative electrode 220, due to the height difference between the charging positive electrode 410 and the power supply negative electrode 220, only one set of electrodes will make contact due to height matching, while the other set of electrodes will not make contact due to height mismatch. At this time, the circuit cannot form a closed loop, thus avoiding the possibility of a short circuit.

[0239] For example, if the installation height of the charging positive electrode 410 is higher than that of the charging negative electrode 420, when reversed, the charging positive electrode 410 may not be able to contact the lower power supply negative electrode 220 due to insufficient height, while the charging negative electrode 420 may not be able to contact the higher power supply positive electrode 210 due to insufficient height.

[0240] The above process achieves reverse connection protection through physical isolation created by the electrode height difference, eliminating the need for electronic detection circuits and reducing system complexity. Simultaneously, the mechanical determination of electrode contact status avoids signal delay issues, improving the real-time performance of charging response.

[0241] With the above-mentioned settings, the embodiments of this application can solve the possibility of short circuit caused by reverse contact of electrodes during the autonomous charging process of quadruped robots. The automatic judgment of circuit continuity is realized through mechanical structure design, which improves the safety and reliability of the charging process, while reducing the dependence on external detection modules and reducing maintenance costs.

[0242] As an alternative implementation, there are different embodiments of the charging positive electrode 410 and the charging negative electrode 420 with different heights.

[0243] In some embodiments, the charging positive electrode 410 is higher than the charging negative electrode 420. When the charging positive electrode 410 and the charging negative electrode 420 correspond to the power supply negative electrode 220 and the power supply positive electrode 210 respectively, the charging positive electrode 410 and the power supply negative electrode 220 are in contact, and the charging negative electrode 420 and the power supply positive electrode 210 are spaced apart to achieve electrical cutoff.

[0244] Reference Figure 4 , Figure 5 In some embodiments, the charging positive electrode 410 is lower than the charging negative electrode 420. When the charging positive electrode 410 and the charging negative electrode 420 correspond to the power supply negative electrode 220 and the power supply positive electrode 210 respectively, the charging positive electrode 410 and the power supply negative electrode 220 are spaced apart, and the charging negative electrode 420 and the power supply positive electrode 210 are in contact to achieve electrical cutoff.

[0245] It is understandable that in the different embodiments described above, the positive and negative electrodes can be staggered in the vertical direction.

[0246] The above setup creates differences in contact conditions through spatial misalignment. When the polarity is correct, bipolar contact allows for conduction; when the polarity is incorrect, only unipolar contact creates an open circuit. When the gap exceeds the effective contact range of the conductive medium, the current path is interrupted.

[0247] Through the above-described design, this embodiment of the application can effectively prevent short circuits caused by reverse polarity during charging of the quadruped robot 20. When the robot accidentally contacts the charging pile 10 in the opposite orientation, the electrode height difference automatically forms a circuit breaker to prevent abnormal current conduction and damage to the equipment. The aforementioned mechanical reverse polarity protection structure can significantly improve the safety of the charging process while reducing system complexity and maintenance costs.

[0248] Reference Figure 4 , Figure 5 as well as Figure 11 As an optional implementation, the charging positive electrode 410 includes a positive electrode 411, a positive mounting shell 412, and a positive spring 413. The positive electrode 411 has a positive movable end 4111 and a positive fixed end 4112. The positive movable end 4111 is used to abut against the power supply positive electrode 210. The positive mounting shell 412 is disposed on the body 300 and has a receiving cavity 4221 and a third guide hole 4121. The positive fixed end 4112 is located in the receiving cavity 4221. The two ends of the positive spring 413 abut against the positive fixed end 4112 and the inner wall of the positive mounting shell 412, respectively. The positive spring 413 is used to move the positive movable end 4111 away from the body 300.

[0249] The positive electrode 4111 refers to the part that contacts the electrode of the charging pile 10. The positive electrode 4111 is supported by a spring to achieve adaptive contact pressure, thereby ensuring contact stability.

[0250] The cavity 4221 of the mounting housing 412 refers to the enclosed space used to accommodate the fixed end 4112 of the positive electrode and the spring, and can be made of an insulating plastic housing 100. It should be noted that the diameter of the third guide hole 4121 of the mounting housing 412 is slightly smaller than the diameter of the movable end 4111 of the positive electrode to prevent the spring from falling off.

[0251] The positive spring 413 is a mechanical component that provides the electrode's rebound force. It should be noted that the selection of the positive spring 413 can be adjusted according to the electrode weight and contact pressure requirements. The positive spring 413 is used to maintain reliable contact between the electrode and the charging pile 10.

[0252] Specifically, the positive electrode 410 is kept in an outward extended state by the elastic force of the positive spring 413. When the robot is correctly docked with the charging pile 10, the positive electrode 411 is compressed and retracted, and forms a stable contact with the positive electrode plate 211 of the charging pile 10. At the same time, the negative electrode completes the conduction in the same way.

[0253] If the robot docks in the opposite direction, due to the height difference between the positive charging electrode 410 and the negative charging station 10, only one set of electrodes can make contact, while the other set cannot make contact due to the height misalignment.

[0254] For example, when the positive charging terminal 410 is higher than the negative charging terminal 420, the reverse docking causes the positive terminal of the robot to contact the negative terminal of the charging pile 10, while the negative terminal of the robot cannot contact the positive terminal of the charging pile 10 due to insufficient height. At this time, only a single point contact is formed and a circuit cannot be formed.

[0255] It should be noted that the charging positive electrode 410 also includes a positive electrode screw connector 414. The positive mounting housing 412 has a third guide hole 4121 for the positive electrode screw connector 414 to pass through. The body 300 has a third threaded hole 310 corresponding to the third guide hole 4121. The positive electrode screw connector 414 passes through the third guide hole 4121 and is screwed into the third threaded hole 310 to fix the charging positive electrode 410.

[0256] Reference Figure 4 as well as Figure 5 As an optional implementation, the charging negative electrode 420 includes a negative electrode 421, a negative mounting shell 422, and a negative spring 423. The negative electrode 421 has a negative electrode movable end 4211 and a negative electrode fixed end 4212. The negative electrode movable end 4211 is used to abut against the power supply negative electrode 220. The negative mounting shell 422 is disposed on the body 300 and has a receiving cavity 4221 and a fourth guide hole 4222. The negative electrode fixed end 4212 is located in the receiving cavity 4221. The two ends of the negative spring 423 abut against the negative electrode fixed end 4212 and the inner wall of the negative mounting shell 422, respectively. The negative spring 423 is used to move the negative electrode movable end 4211 away from the body 300.

[0257] It should be noted that the charging negative electrode 420 also includes a negative electrode screw connector 424. The negative mounting shell 422 has a fourth guide hole 4222 for the negative electrode screw connector 424 to pass through. The body 300 has a fourth threaded hole corresponding to the fourth guide hole 4222. The negative electrode screw connector 424 passes through the fourth guide hole 4222 and is screwed into the fourth threaded hole to fix the charging negative electrode 420.

[0258] It is understandable that the adjustment principle of the charging negative electrode 420 is the same as that of the charging positive electrode 410, and will not be elaborated here.

[0259] The aforementioned positive electrode and process, by introducing a height difference, force a single-point contact or physical isolation when the electrodes are reversed, eliminating the possibility of short circuits at the structural level. Simultaneously, the spring-supported electrode design can adapt to positional deviations when the robot crouches, achieving reverse connection protection while ensuring contact reliability. Furthermore, the spring design prevents damage to the electrodes during docking with the charging station 10.

[0260] Through the above-described configuration, the technical solution of this application embodiment can solve the short circuit problem caused by reverse electrode connection during quadruped robot charging. The height difference and size variation create physical isolation, preventing circuit damage caused by reverse conduction. The spring-supported electrode structure ensures contact stability while allowing for a certain degree of error in the robot, thus improving the success rate and safety of autonomous charging.

[0261] As an optional implementation, the charging positive electrode 410 includes a positive electrode 411, the orthogonal projection of the positive electrode 411 on the body 300 being smaller than the orthogonal projection of the power supply positive electrode 210 on the housing 100. The charging negative electrode 420 includes a negative electrode 421, the orthogonal projection of the negative electrode 421 on the body 300 being smaller than the orthogonal projection of the power supply negative electrode 220 on the housing 100.

[0262] The positive electrode 411 refers to the conductive component on the robot that contacts the positive power supply electrode 210 of the charging pile 10, and can be made of a thin metal sheet or a composite material with a conductive coating. The negative electrode 421 is similar to the positive electrode 411 and will not be described again.

[0263] Understandably, the projected area of ​​the positive electrode 411 is designed to be smaller than the projected area of ​​the power supply positive electrode 210 of the charging pile 10. This ensures that even if there is a horizontal positional deviation during the charging process, the positive electrode 411 can still completely cover the projected area of ​​the charging positive electrode 410, guaranteeing full contact between the two. Similarly, the projected area of ​​the negative electrode 421 is smaller than the projected area of ​​the power supply negative electrode 220 of the charging pile 10, ensuring the reliability of the negative electrode contact.

[0264] Thus, when the robot is aligned with the correct polarity, the positive charging electrode 410 and the positive electrode 411 are in complete contact, and the negative charging electrode 420 and the negative electrode 421 are in complete contact, forming a conductive circuit. When the robot's polarity is reversed, due to the height difference between the positive and negative electrodes of the charging pile 10, the reversed positive charging electrode 410 can only partially overlap with the negative electrode 421, but due to the height difference, it cannot form effective contact, thereby avoiding reverse conduction.

[0265] This embodiment of the application reduces the projected coverage area of ​​the positive electrode 411 and negative electrode 421 of the quadruped robot 20, while maintaining the anti-reverse connection function of the electrode height difference, and significantly improves the tolerance for robot positioning accuracy, ensuring that a stable electrical connection can still be achieved within the allowable positional deviation range.

[0266] Thus, the technical solution provided in this application can effectively solve the problem of poor contact caused by positioning errors during the autonomous charging process of the quadruped robot 20, while maintaining the reverse connection protection function. The extended projection design of the positive and negative electrodes 421 enables the robot to maintain reliable contact within a certain horizontal offset range. Combined with the physical isolation formed by the height difference, the safety and stability of the charging process are both improved.

[0267] Reference Figure 2 ,、 Figure 3 As an optional implementation, the body 300 is also provided with a positioning block 320, and the number of positioning blocks 320 is multiple, and the multiple positioning blocks 320 are arranged at intervals.

[0268] The positioning block 320 is used to locate the position of the charging pile 10. The positioning block 320 can be threaded onto the body 300 via a screw connector, or it can be an integral part of the body 300.

[0269] Along the height direction, the orthographic projection of the positioning block 320 on the body 300 is located outside the orthographic projection of the charging pile 10 on the body 300. That is, the positioning block 320 is located outside the charging pile 10 to guide the docking of the charging pile 10 and the quadruped robot 20.

[0270] It should be noted that the brief descriptions of terms in this application are only for the convenience of understanding the embodiments described below, and are not intended to limit the embodiments of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meaning.

[0271] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover but not exclusively include, for example, a product or device that comprises a series of components is not necessarily limited to those that are explicitly listed, but may include other components that are not explicitly listed or that are inherent to such product or device.

[0272] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0273] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0274] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0275] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 or all of the technical features therein. Such 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 this application.

[0276] For ease of explanation, the above description has been provided in conjunction with specific embodiments. However, the above exemplary discussion is not intended to be exhaustive or to limit the embodiments to the specific forms disclosed above. Various modifications and variations can be obtained based on the above teachings. The selection and description of the above embodiments are for the purpose of better explaining the principles and practical applications, thereby enabling those skilled in the art to better utilize the embodiments and various different variations of embodiments suitable for specific applications.

Claims

1. A charging station (10) for charging robots, characterized in that, The charging pile (10) includes: Casing (100); A power supply assembly (200) is disposed on the housing (100); the power supply assembly (200) includes a positive power supply electrode (210) and a negative power supply electrode (220) of different heights, the positive power supply electrode (210) is used to contact the charging positive electrode (410) of the robot, and the negative power supply electrode (220) is used to contact the charging negative electrode (420) of the robot; The power supply component (200) is configured as follows: When the power supply positive terminal (210) and the power supply negative terminal (220) correspond to the charging positive terminal (410) and the charging negative terminal (420) respectively, the power supply positive terminal (210) abuts against the charging positive terminal (410) and the power supply negative terminal (220) abuts against the charging negative terminal (420) to achieve electrical conduction; When the positive power supply terminal (210) and the negative power supply terminal (220) correspond to the negative charging terminal (420) and the positive charging terminal (410) respectively, one set of the positive power supply terminal (210) and the negative charging terminal (420) and the negative power supply terminal (220) and the positive charging terminal (410) is in contact, and the other set is spaced apart, so as to achieve electrical cutoff.

2. The charging pile (10) according to claim 1, characterized in that, The power supply assembly (200) also includes a limit switch (230); The limit switch (230) is disposed on the housing (100) and located between the positive power supply (210) and the negative power supply (220). The limit switch (230) is used to abut against the robot body (300). The limit switch (230) is configured to: When the robot's body (300) comes into contact with and triggers the circuit, the positive power supply (210) and the negative power supply (220) are electrically connected. When the robot's body (300) does not contact or the contact is not triggered, the positive power supply (210) and the negative power supply (220) are electrically cut off.

3. The charging pile (10) according to claim 2, characterized in that, Also includes: The control unit (500) is electrically connected to the positive power supply (210), the negative power supply (220), and the limit switch (230); The control unit (500) is configured to: The system receives a first signal indicating whether the power supply component (200) is electrically connected and a second signal indicating whether the limit switch (230) is electrically connected, and determines whether the charging pile (10) supplies power to the robot.

4. The charging pile (10) according to claim 3, characterized in that, It also includes an indicator light (600) disposed on the side wall of the housing (100), the indicator light (600) being electrically connected to the control unit (500); The control unit (500) is also configured to: If both the first conduction signal and the second conduction signal are electrically conducting, it is determined that the charging pile (10) supplies power to the robot and controls the indicator light (600) to light up; If at least one of the first conduction signal and the second conduction signal is electrically cut off, it is determined that the charging pile (10) is not supplying power and the indicator light (600) is controlled not to light up.

5. The charging pile (10) according to claim 1, characterized in that, The positive power supply terminal (210) is higher than the negative power supply terminal (220); When the positive power supply terminal (210) and the negative power supply terminal (220) correspond to the negative charging terminal (420) and the positive charging terminal (410) respectively, the positive power supply terminal (210) and the negative charging terminal (420) are in contact, and the negative power supply terminal (220) and the positive charging terminal (410) are spaced apart to achieve electrical cutoff; or, The positive power supply terminal (210) is lower than the negative power supply terminal (220); When the positive power supply (210) and the negative power supply (220) correspond to the negative charging (420) and the positive charging (410) respectively, the positive power supply (210) and the negative charging (420) are spaced apart, and the negative power supply (220) abuts against the positive charging (410) to achieve electrical cutoff.

6. The charging pile (10) according to any one of claims 1-5, characterized in that, The power supply positive electrode (210) includes a positive electrode plate (211), and the orthographic projection of the positive electrode plate (211) on the housing (100) is greater than the orthographic projection of the charging positive electrode (410) on the housing (100); And / or, The power supply negative electrode (220) includes a negative electrode plate (221), and the orthogonal projection of the negative electrode plate (221) on the housing (100) is greater than the orthogonal projection of the charging negative electrode (420) on the housing (100).

7. The charging pile (10) according to any one of claims 1-5, characterized in that, The positive power supply terminal (210) includes: The positive electrode (211) has a front side for the charging positive electrode (410) to contact and a back side located on the front side; A positive electrode support shell (212) is disposed on the shell (100) and has a first guide hole (2121); A positive mounting part (213) is connected to the opposite side of the positive electrode (211) and has a first threaded hole (2131) corresponding to the first guide hole (2121); A positive screw connector (214) passes through the first guide hole (2121) and is screwed into the first threaded hole (2131) to fix the positive electrode plate (211); And / or, The negative power supply terminal (220) includes: The negative electrode (221) has a negative side for the charging negative electrode (420) to contact and a side opposite to the negative side; A negative electrode support shell (222) is disposed on the shell (100) and has a second guide hole (2221); The negative mounting member (223) is connected to the opposite side of the negative electrode plate (221) and has a second threaded hole corresponding to the second guide hole (2221); The negative screw connector (224) passes through the second guide hole (2221) and is screwed into the second threaded hole (2231) to fix the negative electrode (221).

8. The charging pile (10) according to any one of claims 1-5, characterized in that, The housing (100) is a single metal component; And / or, the charging pile (10) further includes a metal frame (800), which is connected to the housing (100) by screws; And / or, the bottom of the housing (100) is provided with heat dissipation holes (110) that communicate with the interior, and there are multiple heat dissipation holes (110) arranged in an array; And / or, the top of the housing (100) is provided with a first groove (130) and a second groove (140) spaced apart, and the positive power supply (210) and the negative power supply (220) are respectively disposed in the first groove (130) and the second groove (140); And / or, a rubber pad (120) is provided on the top surface of the housing (100).

9. A robot, characterized in that, The charging station as described in any one of claims 1-8 is used to charge the robot, the robot comprising: fuselage (300); A charging assembly (400) is disposed on the body (300); the charging assembly (400) includes a charging positive electrode (410) and a charging negative electrode (420) of different heights, the charging positive electrode (410) is used to contact the power supply positive electrode (210) of the charging pile (10), and the charging negative electrode (420) is used to contact the power supply negative electrode (220) of the charging pile (10); The charging component (400) is configured as follows: When the charging positive electrode (410) and the charging negative electrode (420) correspond to the power supply positive electrode (210) and the power supply negative electrode (220) respectively, the charging positive electrode (410) abuts against the power supply positive electrode (210) and the charging negative electrode (420) abuts against the power supply negative electrode (220) to achieve electrical conduction; When the charging positive electrode (410) and the charging negative electrode (420) correspond to the power supply negative electrode (220) and the power supply positive electrode (210) respectively, one set of the charging positive electrode (410) and the power supply negative electrode (220) and the charging negative electrode (420) and the power supply positive electrode (210) is in contact, and the other set is spaced apart, so as to achieve electrical cutoff.

10. The robot according to claim 9, characterized in that, The charging positive electrode (410) includes: The positive electrode (411) has a positive electrode movable end (4111) and a positive electrode fixed end (4112) arranged opposite to each other, and the positive electrode movable end (4111) is used to abut against the power supply positive electrode (210); A positive mounting housing (412) is disposed on the body (300) and has a receiving cavity (4221) for accommodating the positive electrode (411) and a third guide hole (4121) communicating with the receiving cavity (4221). The positive electrode fixing end (4112) is located in the receiving cavity (4221). A positive spring (413) is located inside the accommodating cavity (4221). The two ends of the positive spring (413) abut against the positive electrode fixed end (4112) and the inner wall of the positive mounting shell (412), respectively. The positive spring (413) is used to move the positive electrode movable end (4111) away from the body (300). And / or, The charging negative electrode (420) includes: The negative electrode (421) has a negative electrode movable end (4211) and a negative electrode fixed end (4212) arranged opposite to each other, wherein the negative electrode movable end (4211) is used to abut against the power supply negative electrode (220); A negative mounting housing (422) is disposed on the body (300) and has a receiving cavity (4221) for accommodating the negative electrode (421) and a fourth guide hole (4222) communicating with the receiving cavity (4221). The negative electrode fixing end (4212) is located in the receiving cavity (4221). A negative spring (423) is located inside the accommodating cavity (4221). The two ends of the negative spring (423) abut against the negative electrode fixed end (4212) and the inner wall of the negative mounting shell (422), respectively. The negative spring (423) is used to move the negative electrode movable end (4211) away from the body (300).

11. The robot according to claim 9, characterized in that, The positive charging electrode (410) is higher than the negative charging electrode (420); When the charging positive electrode (410) and the charging negative electrode (420) correspond to the power supply negative electrode (220) and the power supply positive electrode (210) respectively, the charging positive electrode (410) and the power supply negative electrode (220) are in contact, and the charging negative electrode (420) and the power supply positive electrode (210) are spaced apart to achieve electrical cutoff; or, The positive charging electrode (410) is lower than the negative charging electrode (420); When the charging positive electrode (410) and the charging negative electrode (420) correspond to the power supply negative electrode (220) and the power supply positive electrode (210) respectively, the charging positive electrode (410) and the power supply negative electrode (220) are spaced apart, and the charging negative electrode (420) abuts against the power supply positive electrode (210) to achieve electrical cutoff.

12. The robot according to claim 9, characterized in that, The charging positive electrode (410) includes a positive electrode (411), and the orthographic projection of the positive electrode (411) on the body (300) is smaller than the orthographic projection of the power supply positive electrode (210) on the housing (100); And / or, The charging positive electrode (410) includes a negative electrode (421), and the orthogonal projection of the negative electrode (421) on the body (300) is smaller than the orthogonal projection of the power supply negative electrode (220) on the housing (100).

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