Charging device, charging equipment, charging system and charging method

Abstract

The embodiments of the present invention provide a charging device, a charging equipment, a charging system and a charging method, which relate to the field of charging technology. The charging device includes a positioning member, a charging rod and a reset member. The charging rod is provided with a first electrical connection portion, so that the movable platform can be automatically charged through the first electrical connection portion. At the same time, the charging rod is rotatably connected to the positioning member around a preset point, so that the charging rod is allowed to be displaced relative to the positioning member within a certain spatial range, which is convenient for the movable platform to cooperate with it. In order to enable the charging rod to be reset after the displacement, specifically, the reset member cooperates with the positioning member and the charging rod at the same time. The reset member is used to reset the charging rod after the charging rod is actuated by an external force, so that the first electrical connection portion is in the initial position. In this way, after the charging of the movable platform is completed, the charging rod is reset under the action of the reset member, which is convenient for charging the next movable platform.

Description

Technical Field

[0001] The present invention relates to the field of charging technology, and in particular to a charging device, a charging equipment, a charging system and a charging method. Background Art

[0002] In recent years, with the development of unmanned vehicles, they have attracted much attention due to their advantages such as mobility, quick response, unmanned operation and low operating requirements, and have been widely used in agriculture, industry and other fields.

[0003] When unmanned vehicles need to be charged, they generally use direct plug-in charging, that is, manually operating the charging gun to charge the unmanned vehicle. This method requires manual operation and is not conducive to the promotion of unmanned operations. Summary of the invention

[0004] The present invention provides a charging device, a charging equipment, a charging system and a charging method, which can realize automatic charging of a movable platform (for example, an unmanned vehicle).

[0005] The embodiments of the present invention can be implemented as follows:

[0006] An embodiment of the present invention provides a charging device, comprising:

[0007] Positioning parts;

[0008] A charging rod, the charging rod being provided with a first electrical connection portion, the charging rod being rotatably connected to the positioning member around a preset point; and

[0009] A reset member, the reset member cooperates with the positioning member and the charging rod at the same time, and the reset member is used to reset the charging rod after the charging rod is actuated by an external force, so that the first electrical connection part is in an initial position.

[0010] Optionally, the charging device further includes a universal bearing, and the charging rod is connected to the positioning member via the universal bearing.

[0011] Optionally, the universal bearing comprises a sleeve member and a spherical protrusion, the spherical protrusion is arranged on the charging rod, the sleeve member is connected to the positioning member, and the spherical protrusion cooperates with the sleeve member;

[0012] Wherein, the preset point is the center of the spherical convex portion.

[0013] Optionally, the middle portion of the charging rod is rotatably connected to the positioning member, and the first electrical connection portion and the reset member are relatively located on two sides of the positioning member.

[0014] Optionally, the resetting member is mounted on the charging rod.

[0015] Optionally, the reset member is a pagoda-shaped spring, and the large end of the reset member is fixed to the positioning member, and the small end of the reset member is fixed to the end of the charging rod.

[0016] Optionally, the charging device also includes a locking piece, and a locking part is provided at the end of the charging rod, the locking piece cooperates with the locking part, and one end of the reset piece abuts against the locking piece, and the locking piece is used to limit the reset piece so that the reset piece is fixed to the end of the charging rod.

[0017] Optionally, the charging rod comprises a rod body, a first elastic member and a male terminal which are connected in sequence;

[0018] The rod body is rotatably connected to the positioning member around the preset point;

[0019] The reset member is sleeved on the rod body, and the reset member cooperates with the positioning member and the rod body at the same time;

[0020] The first electrical connection portion is disposed on the male terminal.

[0021] Optionally, the first electrical connection portion includes a plurality of first electrical contacts, and the plurality of first electrical contacts are arranged at intervals around the outer circumference of the male terminal.

[0022] Optionally, the charging rod further includes a protective sleeve, and the protective sleeve is mounted on the first elastic member.

[0023] Optionally, the charging rod further includes a first flange, a second flange, a third flange and a fourth flange, the first flange is arranged at one end of the rod body, the second flange and the third flange are respectively arranged at two ends of the first elastic member, and the fourth flange is arranged at one end of the male terminal;

[0024] Wherein, the first flange is flange-connected to the second flange; the third flange is flange-connected to the fourth flange.

[0025] Optionally, the charging device further comprises a first shell, wherein the first shell is provided with an adjustment hole;

[0026] The positioning member and the reset member are both arranged in the first shell, the part of the charging rod that cooperates with the positioning member and the reset member is located in the first shell, and the middle part of the charging rod is passed through the adjustment hole so that the first electrical connection part is located outside the first shell.

[0027] Optionally, the charging device also includes a guide rod and a second elastic member, the guide rod is fixedly arranged in the first shell, the positioning member is provided with a sliding hole, and the positioning member is slidably arranged on the guide rod through the sliding hole, and both ends of the second elastic member act on the first shell and the positioning member.

[0028] Optionally, the second elastic member is a spring, the second elastic member is sleeved on the guide rod, and one end of the second elastic member is connected to or abuts against the first shell, and the other end of the second elastic member is connected to or abuts against the positioning member.

[0029] Optionally, there are multiple sliding holes, which are distributed around the periphery of the positioning member; the number of the guide rods is the same as the number of the sliding holes and corresponds one to one, and multiple guide rods are arranged around the charging rod.

[0030] Optionally, the charging device further includes a charger, and the charger is electrically connected to the first electrical connection portion.

[0031] An embodiment of the present invention further provides a charging device, which includes a plug-in device and the above-mentioned charging device;

[0032] The plug-in device is used to be carried on the movable platform, and the charging device is used to be plugged with the plug-in device to charge the movable platform.

[0033] Optionally, the plug-in device includes a second housing and a second electrical connection portion;

[0034] The second shell is used to be mounted on the movable platform;

[0035] The second electrical connection part is arranged in the second shell, and the second shell is provided with an opening. The first electrical connection part of the charging device is used to be plugged with the second electrical connection part of the plug device through the opening, so that the second electrical connection part is electrically connected to the first electrical connection part.

[0036] Optionally, the plug-in device further comprises a cylindrical female terminal, the second electrical connection portion is arranged on an inner peripheral wall of the female terminal, and the female terminal is used to allow the first electrical connection portion to be inserted.

[0037] Optionally, the second electrical connection portion includes a plurality of second electrical contacts, and the plurality of second electrical contacts are arranged at intervals around the inner peripheral wall of the female terminal.

[0038] Optionally, the plug-in device also includes a guide shell, which is arranged in the second shell body, and the guide shell has a funnel-shaped guide cavity. The two ends of the guide shell are respectively provided with an inlet and an outlet connected to the guide cavity, the inlet is arranged corresponding to the opening, and the outlet is arranged corresponding to the second electrical connection part. The guide shell is used to guide the first electrical connection part to pass through the inlet, and then pass through the guide cavity and the outlet to be plugged and electrically connected with the second electrical connection part.

[0039] Optionally, the plug-in device further comprises a protective cover, and the protective cover is rotatably connected to the second shell to open or close the opening.

[0040] Optionally, the plug-in device further comprises a driving source, and the driving source is drivingly connected to the protective cover.

[0041] An embodiment of the present invention further provides a charging system, which includes a movable platform and the above-mentioned charging device, wherein the plug-in device of the charging device is mounted on the movable platform.

[0042] Optionally, the movable platform includes a chassis and an anti-collision beam, the anti-collision beam is arranged at the front end or the rear end of the chassis, and the plug-in device is arranged in the anti-collision beam.

[0043] An embodiment of the present invention further provides a charging method, which is applied to the above-mentioned charging system, and the charging method includes:

[0044] Acquiring the remaining power of the movable platform;

[0045] Obtaining the amount of electricity required for the movable platform to move to the charging device;

[0046] When the remaining power and the required power meet a predetermined relationship, the movable platform is controlled to move to the charging device, and the charging device is controlled to charge the movable platform.

[0047] Optionally, after the step of controlling the movable platform to move to the charging device and before the step of controlling the charging device to charge the movable platform, the charging method further includes:

[0048] Controlling the driving source of the plug-in device so that the protective cover of the plug-in device is in an open state;

[0049] The movable platform is adjusted so that the charging device and the plugging device are plugged into place.

[0050] The beneficial effects of the charging device, charging equipment, charging system and charging method of the embodiments of the present invention include, for example:

[0051] The charging device includes a positioning member, a charging rod and a reset member. The charging rod is provided with a first electrical connection portion, so that a movable platform (for example, an unmanned vehicle) can be automatically charged through the first electrical connection portion. At the same time, the charging rod is rotatably connected to the positioning member around a preset point, so that the charging rod is allowed to be displaced relative to the positioning member within a certain spatial range, so that the movable platform can cooperate with it. In order to enable the charging rod to be reset after displacement, specifically, the reset member cooperates with the positioning member and the charging rod at the same time. The reset member is used to reset the charging rod after the charging rod is actuated by an external force, so that the first electrical connection portion is in the initial position. In this way, after the charging of the movable platform is completed, the charging rod is reset under the action of the reset member, so that it is convenient to cooperate with the next movable platform, thereby facilitating the charging of the next movable platform.

[0052] The charging device comprises a plug-in device and the charging device. The plug-in device is carried on a movable platform. The movable platform can be charged by plugging the charging device into the plug-in device.

[0053] The charging system comprises a movable platform and the charging device, and the movable platform can be charged by using the charging device.

[0054] The charging method is applied to the charging system, which can automatically charge the movable platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 A schematic diagram of a charging system provided in this embodiment;

[0057] Figure 2 A schematic diagram of the structure of the charging device provided in this embodiment;

[0058] Figure 3 A schematic diagram of a partial structure of a charging device provided in this embodiment from a first viewing angle;

[0059] Figure 4 A schematic diagram of a partial structure of a charging device provided in this embodiment from a second viewing angle;

[0060] Figure 5 A schematic diagram of a first housing and related components provided in this embodiment;

[0061] Figure 6A schematic diagram of a positioning member and related components provided in this embodiment;

[0062] Figure 7 A schematic diagram of a male terminal and related components provided in this embodiment;

[0063] Figure 8 A schematic diagram of the rod body and its related components provided in this embodiment;

[0064] Fig. 9 A schematic diagram of the plug-in device provided in this embodiment from a first viewing angle;

[0065] Fig.10 A schematic diagram of the plug-in device provided in this embodiment from a second viewing angle;

[0066] Fig.11 A schematic diagram of the plug-in device provided in this embodiment from a third viewing angle;

[0067] Fig.12 An exploded schematic diagram of the plug-in device provided in this embodiment;

[0068] Fig.13 A schematic diagram of the second housing and its related components provided in this embodiment from a first viewing angle;

[0069] Fig.14 A schematic diagram of the second housing and its related components provided in this embodiment from a second viewing angle;

[0070] Fig.15 This is a flow chart of the charging method provided in this embodiment.

[0071] Icons: 1000-charging system; 100-charging equipment; 10-charging device; 11-positioning member; 111-hinge hole; 112-sliding hole; 12-charging rod; 120-first electrical connection part; 1201-first electrical contact piece; 121-rod body; 1210-locking part; 122-first elastic member; 123-male terminal; 1231-protective part; 124-protective sleeve; 125-first flange; 126-second flange; 127-third flange; 128-fourth flange; 13-reset member; 14-locking member; 15-universal bearing; 151-sleeve member; 152-spherical protrusion; 1521-preset point; 16-first shell; 1 61-adjusting hole; 171-guide rod; 172-second elastic member; 18-charger; 19-fixing frame; 20-plug-in device; 21-second shell; 211-opening; 22-second electrical connection part; 221-second electrical contact piece; 23-female terminal; 24-guide shell; 241-entrance; 242-guide cavity; 243-exit; 25-protective cover; 250-rotation axis; 26-driving source; 27-partition; 270-through hole; 271-first chamber; 272-second chamber; 28-base; 200-movable platform; 201-chassis; 202-anti-collision beam; 203-travel device; 204-power battery; 205-control device. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0073] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0075] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0076] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0077] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0078] In recent years, with the development of unmanned vehicles, they have attracted much attention due to their advantages such as flexibility, quick response, unmanned operation and low operating requirements, and have been widely used in many fields such as agriculture and industry. When unmanned vehicles need to be charged, they are generally charged by direct plug-in, that is, manually operating the charging gun to charge the unmanned vehicle. This method requires manual operation and is not conducive to the promotion of unmanned operations.

[0079] In view of this, please refer to Figure 1-Figure 15 This embodiment provides a charging device 10, a charging equipment 100, a charging system 1000 and a charging method, which can effectively improve the above-mentioned technical problems. Through the charging device 10, the unmanned vehicle can be charged automatically, and the whole process is reliable and easy to use. The charging device 10, the charging equipment 100, the charging system 1000 and the charging method provided in this embodiment will be introduced in detail below.

[0080] Please refer to Figure 1 The present embodiment provides a charging system 1000, which includes a movable platform 200 and a charging device 100. The charging device 100 includes a plug-in device 20 and a charging device 10. The plug-in device 20 is used to be mounted on the movable platform 200, and the charging device 10 is used to be plugged with the plug-in device 20 to charge the movable platform 200.

[0081] Figure 1 The charging system 1000 is shown. Figure 2-Figure 8 The specific structure of the charging device 10 is shown. Figure 9-Figure 14 The specific structure of the plug-in device 20 is shown.

[0082] The movable platform 200 will be described below as an unmanned vehicle. The movable platform 200 includes a chassis 201 , an anti-collision beam 202 , a walking device 203 , a power battery 204 and a control device 205 .

[0083] The chassis 201 may include two main beams and a cross beam welded and fixed between the two main beams. The number of cross beams can be selected as needed, for example, two, three, etc.; the connection method between the main beams and the cross beams can be selected as needed. The main beams and the cross beams in this embodiment are connected by fasteners, and the fasteners can be, for example, bolts, screws, etc.; in other embodiments, the connection method between the main beams and the cross beams can also be welding, one-piece molding, etc.

[0084] The anti-collision beam 202 is disposed at the front end of the chassis 201 , thereby reducing damage caused by collisions and the like during the movement of the unmanned vehicle, thereby increasing the service life of the unmanned vehicle.

[0085] The number of the running devices 203 is four, and they are distributed on both sides of the chassis 201. Of course, in other embodiments, the number of the running devices 203 may also be six, or more.

[0086] The power battery 204 and the control device 205 are electrically connected and are both mounted on the chassis 201. The power battery 204 supplies power to various electrical components on the unmanned vehicle, and the control device 205 can control the power battery 204 and other electrical components.

[0087] Generally, various operating devices can be installed on the unmanned vehicle for operations such as picking, fertilizing, spraying, watering, sowing seeds, pest control or sterilization of crops in the farming industry. Of course, the unmanned vehicle can also be used for spraying fire extinguishing liquid in forest fires, sowing seeds, aerial photography, power inspections, environmental monitoring, forest fire prevention and disaster inspections, and other fields, or for the express delivery industry to deliver goods, etc., in order to save delivery costs and improve delivery efficiency. Of course, the movable platform 200 is not limited to unmanned vehicles. For example, the movable platform 200 can also be a robot, a drone, an unmanned ship, etc.

[0088] Combination Figure 1 , the anti-collision beam 202 is arranged at the front end of the chassis 201, and the plug-in device 20 is arranged in the anti-collision beam 202. In this way, the anti-collision beam 202 can protect the plug-in device 20 and reduce damage caused by collisions and the like. Of course, the anti-collision beam 202 can also be arranged at the rear end of the chassis 201, that is, the plug-in device 20 can be located at the front end of the chassis 201 or at the rear end of the chassis 201. For larger unmanned vehicles, in order to facilitate charging, the anti-collision beams 202 can be arranged at both the front and rear ends of the chassis 201, and the plug-in devices 20 are arranged in the anti-collision beams 202 at the front and rear ends.

[0089] In this embodiment, the plug-in device 20 is arranged on the chassis 201 and is electrically connected to the power battery 204 and the control device 205 at the same time. The charging device 10 is fixed to the workplace of the movable platform 200, for example, on a farmland. The charging device 10 is electrically connected to an external power source, wherein the external power source can be a mains power supply or other energy storage device (for example, a gasoline generator, a diesel generator, or a battery with a larger capacity, etc.). In this embodiment, when the charging device 10 is connected to the plug-in device 20, the external power source can charge the power battery 204 through the charging device 10 and the plug-in device 20.

[0090] In this way, since the plug device 20 of the charging device 100 is mounted on the movable platform 200, when the charging device 10 is plugged into and matched with the plug device 20, the charging device 10 charges the movable platform 200 through the plug device 20, thereby improving the charging efficiency.

[0091] It should be noted that the structures of the plug device 20 and the charging device 10 in this embodiment are different, and the plug device 20 is mounted on the movable platform 200, and the charging device 10 is fixed on the farmland. Of course, in a specific implementation, the plug device 20 can be fixed on the farmland and electrically connected to the external power supply, while the charging device 10 is mounted on the movable platform 200.

[0092] Please refer to Figure 2-Figure 8 , the specific structure of the charging device 10 will be described below.

[0093] Combination Figure 2 The fixing frame 19 of the charging device 10 is used to support the farmland, so that the various electrical components in the charging device 10 can be raised. On the one hand, it is convenient to cooperate with the plug-in device 20 mounted on the movable platform 200, and on the other hand, it can prevent water or debris in the farmland from damaging the electrical components.

[0094] Combination Figure 3 , Figure 3 exist Figure 2 The fixing frame 19 and other components of the charging device 10 are omitted to illustrate its internal structure. Specifically, the charging device 10 includes:

[0095] Positioning member 11;

[0096] The charging rod 12 is provided with a first electrical connection portion 120, and the charging rod 12 is arranged around a preset point 1521 ( Figure 6 ) is rotatably connected to the positioning member 11; and

[0097] The reset member 13 cooperates with the positioning member 11 and the charging rod 12 at the same time. The reset member 13 is used to reset the charging rod 12 after the charging rod 12 is actuated by an external force, so that the first electrical connection portion 120 is in an initial position.

[0098] In combination with the above, the charging device 10 includes a positioning member 11, a charging rod 12 and a reset member 13. The charging rod 12 is provided with a first electrical connection portion 120. Thus, the movable platform 200 (for example, an unmanned vehicle) can be automatically charged through the first electrical connection portion 120. At the same time, the charging rod 12 is rotatably connected to the positioning member 11 around a preset point 1521. Thus, the charging rod 12 is allowed to be displaced relative to the positioning member 11 within a certain spatial range, so that the movable platform 200 can cooperate with it. In order to enable the charging rod 12 to be reset after displacement, specifically, the reset member 13 cooperates with the positioning member 11 and the charging rod 12 at the same time. The reset member 13 is used to reset the charging rod 12 after the charging rod 12 is actuated by an external force, so that the first electrical connection portion 120 is in the initial position. Thus, after the charging of the movable platform 200 is completed, the charging rod 12 is reset under the action of the reset member 13, so that it is convenient to cooperate with the next movable platform 200, thereby facilitating the charging of the next movable platform 200.

[0099] The above-mentioned "reset member 13 resets the charging rod 12" can be understood that when the charging rod 12 is actuated by an external force, the charging rod 12 will be forced to rotate a certain angle relative to the positioning member 11. After the external force disappears, that is, after being actuated by the external force, the charging rod 12 is no longer affected by the external force. Under the action of the reset member 13, the charging rod 12 will be subject to a reset driving force, so that it has a movement tendency to return to the initial position. For example, when the charging rod 12 rotates 30° to the left under the action of an external force, when the external force suddenly disappears, due to inertia, the charging rod 12 may rotate 20° to the right, and then rotate 10° to the left. After shaking in a similar pattern, the charging rod 12 will eventually be in the initial position, that is, the first electrical connection portion 120 is in the initial position.

[0100] In specific operation, when the movable platform 200 moves to the vicinity of the charging device 10, the position can be adjusted so that the plug-in device 20 corresponds to the position of the charging rod 12, and then the first electrical connection part 120 can be inserted into the plug-in device 20 along the axial direction of the charging rod 12 to realize power supply. Since the charging rod 12 is connected to the positioning member 11 in a manner similar to a ball joint connection, when there is a certain deviation between the position of the plug-in device 20 on the movable platform 200 and the first electrical connection part 120, during the process of inserting the first electrical connection part 120 into the plug-in device 20, the charging rod 12 can rotate relative to the positioning member 11 and adapt itself. At the same time, after charging is completed and the movable platform 200 is away from the charging device 10, the charging rod 12 is reset under the action of the reset member 13, and the first electrical connection part 120 returns to the initial position. In this way, the entire charging process is simple to operate and has high efficiency.

[0101] Combination Figure 3 In this embodiment, the middle portion of the charging rod 12 is rotatably connected to the positioning member 11, and the first electrical connection portion 120 and the reset member 13 are relatively located on both sides of the positioning member 11. In addition, the reset member 13 is sleeved on the charging rod 12.

[0102] In other words, the first electrical connection portion 120 is located at the front end portion of the charging rod 12, specifically at the front end of the charging rod 12, and the reset member 13 is mounted on the rear end portion of the charging rod 12. In this way, the front end portion of the charging rod 12 can be used to plug and match with the plug-in device 20 carried on the movable platform 200, while the rear end portion is used to reset under the action of the reset member 13. The two parts are set separately and do not affect each other. Of course, it is not excluded that in other embodiments, the reset member 13 is mounted on the front end portion of the charging rod 12. Generally, in combination with the arrows shown in the figure, the directional words such as "front", "rear", "front end", "rear end" and so on described here and below can be understood as the position of the product in the conventional mode. In combination with the specific scenario of this embodiment, it can also be understood that when the movable platform 200 is charged, the front end is the end of the product close to the movable platform 200, and the rear end is the end of the product away from the movable platform 200.

[0103] Combination Figure 3 The "set" mentioned above can be understood as the reset member 13 being set on the outside of the charging rod 12. Of course, in other embodiments, the end of the charging rod 12 can also be hollow, and the reset member 13 can be set in the hollow structure of the charging rod 12. Of course, in other embodiments, it is not excluded that the end of the reset member 13 is directly fixed to the end of the charging rod 12. Therefore, as long as the reset member 13 can act on the charging rod 12 and realize its reset function, it will be fine.

[0104] Combination Figure 3In this embodiment, the reset member 13 is a pagoda-shaped spring, and the large end of the reset member 13 is fixed to the positioning member 11 , and the small end of the reset member 13 is fixed to the end of the charging rod 12 .

[0105] The main features of pagoda springs are small size, large load, variable stiffness, good shock absorption effect, etc. They are widely used in small space and large load occasions. Figure 3 The front end of the pagoda-shaped spring is fixed to the positioning member 11, and the rear end of the pagoda-shaped spring is fixed to the end of the charging rod 12. Of course, in other embodiments, it is not excluded to use a general spring.

[0106] Combination Figure 3 In order to facilitate the installation and removal process of the reset member 13, in this embodiment, the charging device 10 also includes a locking member 14. A locking portion 1210 is provided at the end of the charging rod 12. The locking member 14 cooperates with the locking portion 1210, and one end of the reset member 13 abuts against the locking member 14. The locking member 14 is used to limit the reset member 13 so that the reset member 13 is fixed to the end of the charging rod 12. Specifically, the locking portion 1210 can be set as an external thread, and the locking member 14 can be a nut. In this way, the locking member 14 can be fixed to the locking portion 1210 through threaded cooperation, and one end of the reset member 13 abuts against the locking member 14 to achieve the installation and fixation of the reset member 13. Of course, in other embodiments, the locking member 14 can also be fixed in a clamping manner. Alternatively, the locking member 14 and the locking portion 1210 are integrally formed, that is, the rear end of the charging rod 12 has a relatively large protrusion. During installation, the front end of the charging rod 12 is passed through the reset member 13 so that the rear end of the reset member 13 abuts against the protrusion.

[0107] Combination Figure 3 and Figure 6 In this embodiment, the charging rod 12 includes a rod body 121, a first elastic member 122 and a male terminal 123 which are connected in sequence; specifically, the rod body 121 is rotatably connected to the positioning member 11 around a preset point 1521; the reset member 13 is mounted on the rod body 121, and the reset member 13 cooperates with the positioning member 11 and the rod body 121 at the same time; the first electrical connection portion 120 is arranged on the male terminal 123.

[0108] The front end of the reset member 13 is fixed to the positioning member 11, and the rear end is fixed to the rear end of the rod body 121. The force exerted by the reset member 13 acts on the rod body 121, so that the rod body 121 drives the first elastic member 122 and the male terminal 123 to reset. The first elastic member 122 can be optionally a spring, and its two ends are respectively connected to the front end of the rod body 121 and the rear end of the male terminal 123. In this way, during the plug-in and mating process of the plug-in device 20 and the charging device 10, the male terminal 123 is allowed to deviate to a larger position relative to the rod body 121 under the action of the first elastic member 122, which is more conducive to the plug-in charging of the movable platform 200. It can be understood that, in combination with Figure 2 Due to the presence of the first elastic member 122, the charging rod 12 is allowed to swing in the up, down, left, and right directions. When the movable platform 200 is not accurate enough, the charging rod 12 can still be inserted. Generally, in combination with the arrows shown in the figure, the directional words "up", "down", "left", "right" and the like described here and below can be understood as the position of the product in the normal mode.

[0109] In order to extend the service life of the male terminal 123 , generally, a protective portion 1231 may be provided at the front end of the male terminal 123 , such as a rubber head, to improve the overall wear resistance.

[0110] Combination Figure 3 , and combined with Figure 7 and Figure 8 In order to facilitate the installation of the first elastic member 122, in this embodiment, the charging rod 12 also includes a first flange 125, a second flange 126, a third flange 127 and a fourth flange 128. The first flange 125 is arranged at one end of the rod body 121, the second flange 126 and the third flange 127 are respectively arranged at both ends of the first elastic member 122, and the fourth flange 128 is arranged at one end of the male terminal 123; wherein the first flange 125 is flange-connected to the second flange 126; the third flange 127 is flange-connected to the fourth flange 128.

[0111] It is well known to those skilled in the art that flange connection means that two flanges are fixed by means of corresponding bolt connection. In this embodiment, the first elastic member 122 is installed with the rod body 121 and the male terminal 123 by means of a flange, which is convenient for installation and disassembly. For different scenarios, the first elastic member 122 with different elastic coefficients, lengths, etc. can be replaced. Optionally, in a certain embodiment, the second flange 126 and the third flange 127 are welded to both ends of the first elastic member 122.

[0112] In this embodiment, the first elastic member 122 is exposed to the outside. Therefore, in order to improve the service life of the first elastic member 122 and the connection between the first elastic member 122 and other components, the first elastic member 122 is exposed to the outside. Figure 2The charging rod 12 further includes a protective sleeve 124, which is mounted on the first elastic member 122. The protective sleeve 124 can be a rubber sleeve.

[0113] Combination Figure 3 , and combined with Figure 7 There are many forms in which the first electrical connection portion 120 is arranged on the male terminal 123. Specifically, in this embodiment, the first electrical connection portion 120 includes a plurality of first electrical contacts 1201, and the plurality of first electrical contacts 1201 are arranged around the outer periphery of the male terminal 123 at intervals.

[0114] In this embodiment, the number of the first electrical contacts 1201 is three, one positive contact, one negative contact and one electrical signal contact. The positive contact and the negative contact are electrically connected to the external power supply, generally, by setting a line. The electrical signal contact is mainly used for communication detection to determine whether the plug-in device 20 is plugged into the charging device 10. Of course, in other embodiments, the electrical signal contact may not be provided, or the number of the positive contact and the negative contact may be two, three, etc.

[0115] Generally, when the external power supply is AC power, in order to better adapt to the power supply requirements, Figure 2 In this embodiment, the charging device 10 further includes a charger 18, and the charger 18 is electrically connected to the first electrical connection portion 120. Specifically, the charger 18 is electrically connected to the positive contact piece and the negative contact piece of the first electrical connection portion 120 through, for example, a line, and at the same time, the charger 18 is also electrically connected to an external power source through, for example, a line. The charger 18 here may include a device capable of converting AC to DC, and may also include a device for voltage stabilization and current stabilization.

[0116] There are many ways to implement the above-mentioned "the charging rod 12 is rotatably connected to the positioning member 11 around the preset point 1521". Figure 4 and Figure 6 In this embodiment, the charging device 10 further includes a universal bearing 15, and the charging rod 12 is connected to the positioning member 11 through the universal bearing 15. In this way, the universal bearing 15 can realize the rotation of the charging rod 12 and the positioning member 11 around a point, and at the same time, it can also reduce wear.

[0117] Specifically, combined Figure 4 , Figure 6 as well as Figure 8 In this embodiment, the universal bearing 15 includes a sleeve member 151 and a spherical protrusion 152. The spherical protrusion 152 is arranged on the charging rod 12. The sleeve member 151 is connected to the positioning member 11, and the spherical protrusion 152 cooperates with the sleeve member 151; wherein the preset point 1521 is the center of the spherical protrusion 152.

[0118] In this embodiment, a hinge hole 111 is provided in the middle of the positioning member 11, and the charging rod 12 is inserted into the hinge hole 111, and the spherical protrusion 152 is provided at the hinge hole 111. At the same time, the sleeve member 151 is installed on the positioning member 11 by bolts, so that the spherical protrusion 152 is limited between the sleeve member 151 and the positioning member 11. Of course, in other embodiments, the spherical protrusion 152 can also be completely provided in the sleeve member 151, and then installed on the positioning member 11 through the sleeve member 151 to achieve the cooperation between the two. In this embodiment, the spherical protrusion 152 is a protruding part on the charging rod 12 (specifically, the rod body 121), that is, the spherical protrusion 152 can be integrally formed with the charging rod 12. Of course, in other embodiments, the spherical protrusion 152 can also be a hollow structure, which is sleeved on the charging rod 12.

[0119] Generally, in order to protect the positioning member 11, the reset member 13 and the charging rod 12 mentioned above, a housing needs to be provided. Figure 2-Figure 5 In this embodiment, the charging device 10 further includes a first housing 16, and the first housing 16 is provided with an adjustment hole 161; the positioning member 11 and the reset member 13 are both arranged in the first housing 16, and the portion of the charging rod 12 that cooperates with the positioning member 11 and the reset member 13 is located in the first housing 16, and the middle portion of the charging rod 12 is penetrated through the adjustment hole 161, so that the first electrical connection portion 120 is located outside the first housing 16. In this way, only the first electrical connection portion 120 and its related components are located outside the first housing 16, and the rest of the components are located inside the first housing 16, so that these components can be effectively protected. At the same time, the first housing 16 mentioned above is fixedly mounted on the fixing frame 19.

[0120] Combination Figure 3-Figure 6 In this embodiment, the charging device 10 further includes a guide rod 171 and a second elastic member 172. The guide rod 171 is fixedly disposed in the first housing 16. The positioning member 11 is provided with a sliding hole 112. The positioning member 11 is slidably disposed on the guide rod 171 through the sliding hole 112. Both ends of the second elastic member 172 act on the first housing 16 and the positioning member 11. Specifically, in this embodiment, the second elastic member 172 is a spring. The second elastic member 172 is sleeved on the guide rod 171, and one end of the second elastic member 172 is connected to or abuts against the first housing 16, and the other end is connected to or abuts against the positioning member 11.

[0121] Through such a structural design, the positioning member 11 can move relative to the first shell 16 in the front-to-back direction (the axial direction of the guide rod 171), and can be reset under the action of the second elastic member 172. When the plug-in device 20 on the movable platform 200 cooperates with the first electrical connection portion 120 of the charging device 10, the movable platform 200 is allowed to move to a certain position in the backward direction. On the one hand, the plug-in device 20 is not easy to detach from the charging device 10, and on the other hand, the required plug-in accuracy is reduced.

[0122] Combination Figure 3-Figure 6 In this embodiment, the number of the sliding holes 112 is multiple and distributed around the periphery of the positioning member 11 ; the number of the guide rods 171 is the same as the number of the sliding holes 112 and corresponds one to one, and the multiple guide rods 171 are arranged around the charging rod 12 .

[0123] The positioning member 11 is similar to a rectangular structure, with sliding holes 112 distributed at its four corners, which are respectively slidably matched with four guide rods 171 installed in the first shell 16. This not only can provide a certain sliding guiding movement, but also allows the four second elastic members 172 to be installed at the same time, thereby increasing the elastic force and making it easier to reset the positioning member 11.

[0124] Combination Figure 3 In the embodiment, the first shell 16 is a roughly rectangular hollow structure. It can be understood that when placed conventionally, one end of the second elastic member 172 abuts against the rear wall of the positioning member 11, and the other end abuts against the rear inner wall of the first shell 16. The positioning member 11 abuts against the front inner wall of the first shell 16 under the action of the second elastic member 172. When the plug-in device 20 moves with the movable platform 200 to a position close to the charging device 10, the movable platform 200 continues to move, so that the charging rod 12 is inserted into the plug-in device 20. Generally, When the first electrical connection part 120 on the charging rod 12 is electrically connected to the plug-in device 20, the movable platform 200 may move to a certain position. At this time, it will abut against the charging rod 12, so that the charging rod 12 moves backward. Under the actuation of the charging rod 12, the positioning member 11 also moves backward, and the second elastic member 172 is compressed. After charging is completed, the movable platform 200 moves away from the charging device 10, and the positioning member 11 is reset under the action of the second elastic member 172, so as to resume abutting against the front inner wall of the first shell 16. Figure 3 The rear side of the first shell 16 is basically open, and its purpose is also to provide an escape space for the charging rod 12 to move backward.

[0125] Please refer to Figure 9-Figure 14 The specific structure of the plug device 20 will be described below. Since many structures of the plug device 20 will cooperate with the charging device 10 mentioned above, they can be understood in conjunction with the structure of the charging device 10 mentioned above.

[0126] In this embodiment, the plug device 20 includes a second housing 21 and a second electrical connection portion 22; the second housing 21 is used to be mounted on the movable platform 200 (specifically, the front end of the chassis 201); the second electrical connection portion 22 is disposed in the second housing 21, and the second housing 21 is provided with an opening 211. The first electrical connection portion 120 of the charging device 10 is used to be plugged with the second electrical connection portion 22 of the plug device 20 through the opening 211, so that the second electrical connection portion 22 is electrically connected to the first electrical connection portion 120. The second housing 21 can play a certain protective role for the second electrical connection portion 22.

[0127] In order to facilitate mounting the second housing 21 on the movable platform 200 , the plug-in device 20 further includes a base 28 . The base 28 is connected to the second housing 21 via bolts. The base 28 is used to be fixed to the chassis 201 of the movable platform 200 .

[0128] In order to facilitate the insertion of the first electrical connection portion 120 of the charging rod 12 mentioned above into the second housing 21, Figure 10-12 In this embodiment, the plug-in device 20 also includes a guide shell 24, which is arranged in the second shell body 21. The guide shell 24 has a funnel-shaped guide cavity 242. The two ends of the guide shell 24 are respectively provided with an inlet 241 and an outlet 243 connected to the guide cavity 242. The inlet 241 is arranged corresponding to the opening 211, and the outlet 243 is arranged corresponding to the second electrical connection part 22. The guide shell 24 is used to guide the first electrical connection part 120 to pass through the inlet 241, and then pass through the guide cavity 242 and the outlet 243 to be plugged and electrically connected with the second electrical connection part 22.

[0129] In this embodiment, the plug device 20 further includes a protective cover 25, which is rotatably connected to the second housing 21 to open or close the opening 211. The protective cover 25 can protect the electrical components inside the second housing 21. Fig. 9 , Fig. 9 The dashed line is a rotation axis 250 of the protection cover 25 relative to the second housing 21 .

[0130] In order to realize automatic opening and closing of the protective cover 25, in this embodiment, the plug device 20 further includes a driving source 26, which is in transmission connection with the protective cover 25. Specifically, the driving source 26 can be a steering gear, and when the movable platform 200 needs to be charged, the steering gear can be controlled to drive the protective cover 25 to open the opening 211.

[0131] In order to make the plug device 20 compatible with the male terminal 123 of the charging device 10, Fig.12In this embodiment, the plug device 20 further includes a cylindrical female terminal 23, the second electrical connection portion 22 is arranged on the inner peripheral wall of the female terminal 23, and the female terminal 23 is used to insert the first electrical connection portion 120. It should be noted that in this embodiment, in order to facilitate the plug-in matching of the male terminal 123 and the female terminal 23, the structure of the male terminal 123 is set to be cylindrical, and the structure of the female terminal 23 is set to be cylindrical.

[0132] Combination Fig.11 , Fig.13 and Fig.14 The second housing 21 is provided with a partition 27 to separate the chamber in the second housing 21 into a first chamber 271 and a second chamber 272. Specifically, the partition 27 is provided with a through hole 270 to connect the first chamber 271 and the second chamber 272. The guide housing 24 is installed in the first chamber 271, and the female terminal 23 is installed in the second chamber 272. In this way, the male terminal 123 of the charging rod 12 passes through the guide housing 24 and the through hole 270, and then is inserted into the female terminal 23, thereby realizing electrical connection between the first electrical connection part 120 and the second electrical connection part 22.

[0133] Combination Fig.12 In this embodiment, the second electrical connection portion 22 includes a plurality of second electrical contacts 221 , and the plurality of second electrical contacts 221 are arranged at intervals around the inner circumferential wall of the female terminal 23 .

[0134] The second electrical contact 221 is generally arranged in one-to-one correspondence with the first electrical contact 1201, so that power supply, communication, etc. can be effectively achieved. Generally, the second electrical contact 221 is electrically connected to the power battery 204 and the control device 205 on the movable platform 200 through a line.

[0135] The charging system 1000 provided in this embodiment has at least the following advantages:

[0136] The charging rod 12 is rotatably connected to the positioning member 11 around the preset point 1521, which allows the first electrical connection portion 120 on the charging rod 12 to move in space (i.e., swing in directions such as up and down, left and right). In this way, the movable platform 200 does not need very high operating accuracy to achieve the plug-in cooperation between the charging rod 12 and the plug-in device 20. At the same time, the reset member 13 cooperates with the positioning member 11 and the charging rod 12 at the same time to achieve the reset function of the charging rod 12. After the movable platform 200 is charged and separated from the charging device 10, the charging rod 12 is reset, so that the first electrical connection portion 120 is in the initial position, which is convenient for charging the next movable platform 200.

[0137] Furthermore, since the charging rod 12 has the first elastic member 122 , the charging rod 12 is further allowed to swing in the up, down, left, and right directions. When the movable platform 200 is not operating accurately enough, the charging rod 12 can still be inserted.

[0138] At the same time, since the positioning member 11 can move in the front-to-back direction and can be reset under the action of the guide rod 171 and the second elastic member 172, when the movable platform 200 moves to the vicinity of the charging device 10 and adjusts its position, it does not need greater precision in the process of moving backward. Even if the first electrical connection portion 120 of the charging device 10 has been electrically connected to the second electrical connection portion 22 of the plug-in device 20, it can continue to move backward. After the movable platform 200 is discharged from the charging device 10 after charging is completed, the positioning member 11 is reset, so that the first electrical connection portion 120 can be in the initial position.

[0139] The initial position mentioned above can be understood as the position of the first electrical connection portion 120 when the positioning member 11 is against the front inner wall of the first shell 16 and the axis of the charging rod 12 remains horizontal.

[0140] Generally, it is difficult to achieve complete alignment of the axes of the female terminal 23 and the male terminal 123 when the movable platform 200 needs to be charged. Therefore, the above-mentioned rotation around the preset point 1521, the reset member 13, the first elastic member 122 and the second elastic member 172 are designed so that these structures can constitute a floating mechanism, thereby improving the charging and docking efficiency of the movable platform 200 and shortening the charging time.

[0141] Please refer to Fig.15 This embodiment further provides a charging method, which is applied to the above-mentioned charging system 1000. The charging method includes:

[0142] S1: Obtaining the remaining power of the movable platform 200;

[0143] S2: Obtaining the amount of electricity required for the movable platform 200 to move to the charging device 10;

[0144] S3: Determine whether the remaining power and the required power meet a predetermined relationship;

[0145] If so, that is, when the remaining power and the required power meet the predetermined relationship, S5 and S9 are executed.

[0146] If not, execute S4;

[0147] S4: Continue working;

[0148] S5: Control the movable platform 200 to move to the charging device 10;

[0149] S6: Control the driving source 26 of the plug device 20 to open the protective cover 25 of the plug device 20;

[0150] S7: Adjust the movable platform 200 so that the charging device 10 and the plug-in device 20 are plugged into place;

[0151] S8: Determine whether the first electrical connection portion 120 is connected to the second electrical connection portion 22;

[0152] If yes, execute S9;

[0153] If not, execute S7;

[0154] S9: Control the charging device 10 to charge the movable platform 200 .

[0155] It should be noted that the above steps S1 and S2 can be performed simultaneously, or S1 can be performed first and then S2, or S2 can be performed first and then S1. In addition, the remaining power can be fed back directly from the power battery 204 to the control device 205.

[0156] In S2, the required power may be based on the distance between the movable platform 200 and the charging device 10, for example, the distance of the operation track or the straight-line distance, etc. Generally, the required power includes the necessary power required for the movable platform 200 to move to the charging device 10 and a certain amount of protection power. Generally, before the movable platform 200 operates, the power of the power battery 204 is basically in a saturated state. In S3, when the predetermined relationship is that the remaining power is equal to the required power, when the remaining power of the movable platform 200 drops to the same as the required power, S5 is executed, that is, the control device 205 controls the movable platform 200 to execute the return procedure, in other words, controls the movable platform 200 to run toward the charging device 10.

[0157] In S6, the control device 205 controls the driving source 26 by wireless or wired means, so that the driving source 26 drives the protective cover 25 to open the opening 211, so that the guide shell 24 is exposed. In S7, by controlling the walking device 203 of the movable platform 200 to fine-tune the position, the charging rod 12 of the charging device 10 is inserted into the interior of the plug-in device 20 through the guide shell 24. When the first electrical connection part 120 on the charging rod 12 and the second electrical connection part 22 of the plug-in device 20 are plugged in place, it means that charging can be performed. Of course, in order to improve the charging efficiency, S8 can also be added. For example, when the electrical signal contact piece of the first electrical connection part 120 and the electrical signal contact piece of the second electrical connection part 22 are in contact, a connection signal will be fed back to the control device 205. After the control device 205 receives the connection signal, it controls the charging device 10 to charge the power battery 204 of the movable platform 200.

[0158] In summary, the embodiments of the present invention provide a charging device 10, a charging apparatus 100, a charging system 1000 and a charging method:

[0159] The charging device 10 includes a positioning member 11, a charging rod 12 and a reset member 13. The charging rod 12 is provided with a first electrical connection portion 120. Thus, the movable platform 200 (for example, an unmanned vehicle) can be automatically charged through the first electrical connection portion 120. At the same time, the charging rod 12 is rotatably connected to the positioning member 11 around a preset point 1521. Thus, the charging rod 12 is allowed to be displaced relative to the positioning member 11 within a certain spatial range, so that the movable platform 200 can cooperate with it. In order to enable the charging rod 12 to be reset after displacement, specifically, the reset member 13 cooperates with the positioning member 11 and the charging rod 12 at the same time. The reset member 13 is used to reset the charging rod 12 after the charging rod 12 is actuated by an external force, so that the first electrical connection portion 120 is in the initial position. Thus, after the charging of the movable platform 200 is completed, the charging rod 12 is reset under the action of the reset member 13, so that it is convenient to cooperate with the next movable platform 200, thereby facilitating the charging of the next movable platform 200.

[0160] The charging device 100 includes a plug-in device 20 and the charging device 10 . The plug-in device 20 is mounted on a movable platform 200 . The movable platform 200 can be charged by plugging the charging device 10 with the plug-in device 20 .

[0161] The charging system 1000 includes a movable platform 200 and a charging device 100 , and the movable platform 200 can be charged by using the charging device 100 .

[0162] The charging method is applied to the charging system 1000 , which can automatically charge the movable platform 200 .

[0163] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A charging device, characterized in that: include: Positioning member (11); A charging rod (12), the charging rod (12) being provided with a first electrical connection portion (120), the charging rod (12) being rotatably connected to the positioning member (11) around a preset point (1521); a reset member (13), the reset member (13) cooperates with the positioning member (11) and the charging rod (12) at the same time, the reset member (13) is sleeved on the charging rod (12), one end of the reset member (13) is fixed to the positioning member (11), and the other end of the reset member (13) is fixed to the end of the charging rod (12); the reset member (13) is used to reset the charging rod (12) after the charging rod (12) is actuated by an external force, so that the first electrical connection part (120) is in an initial position; as well as A universal bearing (15), wherein the charging rod (12) is connected to the positioning member (11) via the universal bearing (15); wherein the universal bearing (15) comprises a sleeve member (151) and a spherical protrusion (152); wherein the spherical protrusion (152) is arranged on the charging rod (12); wherein the sleeve member (151) is connected to the positioning member (11); wherein the spherical protrusion (152) cooperates with the sleeve member (151); wherein the preset point (1521) is the center of the spherical protrusion (152).

2. The charging device according to claim 1, characterized in that: The reset member (13) is a pagoda-shaped spring, and the large end of the reset member (13) is fixed to the positioning member (11), and the small end of the reset member (13) is fixed to the end of the charging rod (12).

3. The charging device according to claim 1, characterized in that: The charging rod (12) comprises a rod body (121), a first elastic member (122) and a male terminal (123) which are connected in sequence; The rod body (121) is rotatably connected to the positioning member (11) around the preset point (1521); The reset member (13) is sleeved on the rod body (121), and the reset member (13) cooperates with the positioning member (11) and the rod body (121) at the same time; The first electrical connection portion (120) is arranged on the male terminal (123).

4. The charging device according to claim 3, characterized in that: The first electrical connection portion (120) comprises a plurality of first electrical contacts (1201), and the plurality of first electrical contacts (1201) are arranged at intervals around the outer circumference of the male terminal (123).

5. The charging device according to any one of claims 1 to 4, characterized in that: The charging device (10) further comprises a first shell (16), wherein the first shell (16) is provided with an adjustment hole (161); The positioning member (11) and the reset member (13) are both arranged in the first shell (16); the portion of the charging rod (12) that cooperates with the positioning member (11) and the reset member (13) is located in the first shell (16); the middle portion of the charging rod (12) is passed through the adjustment hole (161) so that the first electrical connection portion (120) is located outside the first shell (16).

6. The charging device according to claim 5, characterized in that: The charging device (10) further comprises a guide rod (171) and a second elastic member (172); the guide rod (171) is fixedly disposed in the first shell (16); the positioning member (11) is provided with a sliding hole (112); the positioning member (11) is slidably disposed on the guide rod (171) through the sliding hole (112); and the two ends of the second elastic member (172) act on the first shell (16) and the positioning member (11).

7. The charging device according to claim 6, characterized in that: The number of the sliding holes (112) is multiple and distributed around the periphery of the positioning member (11); the number of the guide rods (171) is the same as the number of the sliding holes (112) and corresponds one to one, and the multiple guide rods (171) are arranged around the charging rod (12).

8. A charging device, characterized in that: Comprising a plug-in device (20) and a charging device (10) according to any one of claims 1 to 7; The plug-in device (20) is used to be mounted on a movable platform (200), and the charging device (10) is used to be plugged into the plug-in device (20) to charge the movable platform (200).

9. The charging device according to claim 8, characterized in that: The plug-in device (20) comprises a second housing (21) and a second electrical connection portion (22); The second shell (21) is used to be mounted on the movable platform (200); The second electrical connection portion (22) is arranged in the second shell (21); the second shell (21) is provided with an opening (211); the first electrical connection portion (120) of the charging device (10) is used to be plugged into the second electrical connection portion (22) of the plug-in device (20) through the opening (211), so that the second electrical connection portion (22) is electrically connected to the first electrical connection portion (120).

10. The charging device according to claim 9, characterized in that: The plug-in device (20) further comprises a cylindrical female terminal (23); the second electrical connection portion (22) is arranged on the inner peripheral wall of the female terminal (23); and the female terminal (23) is used to allow the first electrical connection portion (120) to be inserted.

11. The charging device according to claim 9, characterized in that: The plug-in device (20) further comprises a guide shell (24), the guide shell (24) being arranged in the second shell body (21), the guide shell (24) having a funnel-shaped guide cavity (242), the two ends of the guide shell (24) being respectively provided with an inlet (241) and an outlet (243) communicating with the guide cavity (242), the inlet (241) being arranged corresponding to the opening (211), the outlet (243) being arranged corresponding to the second electrical connection part (22), the guide shell (24) being used for guiding the first electrical connection part (120) to pass through the inlet (241), and then pass through the guide cavity (242) and the outlet (243) to be plug-connected and electrically connected with the second electrical connection part (22).

12. The charging device according to any one of claims 9 to 11, characterized in that: The plug-in device (20) further comprises a protective cover (25), wherein the protective cover (25) is rotatably connected to the second shell (21) to open or close the opening (211).

13. The charging device according to claim 12, characterized in that: The plug-in device (20) further comprises a driving source (26), and the driving source (26) is drivingly connected to the protective cover (25).

14. A charging system, characterized in that: It comprises a movable platform (200) and a charging device (100) as claimed in any one of claims 8 to 13, wherein a plug-in device (20) of the charging device (100) is mounted on the movable platform (200).

15. A charging method, characterized in that: Applied to the charging system (1000) according to claim 14, the charging method comprises: Acquiring the remaining power of the movable platform (200); Obtaining the amount of electricity required for the movable platform (200) to move to the charging device (10); When the remaining power and the required power meet a predetermined relationship, the movable platform (200) is controlled to move to the charging device (10), and the charging device (10) is controlled to charge the movable platform (200).

16. The charging method according to claim 15, characterized in that: After the step of controlling the movable platform (200) to move to the charging device (10), and before the step of controlling the charging device (10) to charge the movable platform (200), the charging method further comprises: controlling a driving source (26) of the plug-in device (20) so that the protective cover (25) of the plug-in device (20) is in an open state; The movable platform (200) is adjusted so that the charging device (10) and the plug-in device (20) are plugged into place.

Images