Charging method for charging device

Abstract

The present invention discloses a charging method for a charging device. The charging device comprises a multi-dimensional shifting mechanism, a position detection device, and a charging bow connected to the multi-dimensional shifting mechanism. The charging method includes: when a charging vehicle travels to a charging area, the position detection device detects the position information of a charging port on the charging vehicle; the multi-dimensional shifting mechanism adjusts the position of the charging bow according to the position information, so that the position of the charging bow is aligned with the position of the charging port on the charging vehicle. In this application, the charging device can identify the charging port on the charging vehicle and automatically control the position of the charging bow to align with the position of the charging port on the charging vehicle, so that the charging bow can be smoothly connected to the charging port, completing the charging task of the charging vehicle.

Description

Technical Field

[0001] The present application belongs to the field of charging technology, and in particular relates to a charging method for a charging device. Background Art

[0002] The charging device has a swing arm and a charging bow. The swing arm can swing to move the charging bow into and out of the charging port on the charging vehicle. In existing technologies, many charging devices cannot automatically control the charging bow to dock with the charging vehicle for intelligent charging of the charging vehicle. After the charging vehicle is docked at the charging station, manual control of the charging device is often required to adjust the position of the charging bow so that the charging bow docks with the charging port on the charging vehicle and charge the vehicle. This charging method is not intelligent and requires manual operation, resulting in a poor user experience.

[0003] In view of this, the present invention is proposed. Summary of the Invention

[0004] The invention provides a charging method for a charging device.

[0005] This application provides the following technical solutions:

[0006] A charging method for a charging device, the charging device comprising a multi-dimensional shifting mechanism, a position detection device, and a charging bow connected to the multi-dimensional shifting mechanism, the charging method comprising:

[0007] When the charging vehicle reaches the charging area, the position detection device detects the position information of the charging port on the charging vehicle;

[0008] The multi-dimensional shifting mechanism adjusts the position of the charging bow according to the position information so that the position of the charging bow is aligned with the position of the charging port on the charging vehicle.

[0009] By adopting the above technical solution, this application has the following beneficial effects:

[0010] The charging device in this application can identify the charging port on the charging vehicle and automatically control the position of the charging bow head to align with the position of the charging port on the charging vehicle, so that the charging bow head can be smoothly docked with the charging port to complete the charging task of the charging vehicle.

[0011] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings are part of this application and are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an undue limitation of the present invention. Obviously, the drawings described below are only some embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without inventive effort. In the accompanying drawings:

[0013] Figure 1 The figure shows a schematic diagram of the three-dimensional structure of the charging device provided in an embodiment of the present application;

[0014] Figure 2 Shown is another state diagram of the charging device provided by an embodiment of the present application;

[0015] Figure 3 FIG2 is a schematic diagram showing a swing frame of a charging device provided by an embodiment of the present application in a swinging state;

[0016] Figure 4 FIG2 is a schematic diagram of a swing frame of a charging device provided by an embodiment of the present application in a folded and stored state;

[0017] Figure 5 The figure shows a partial structural diagram of the charging device provided in an embodiment of the present application;

[0018] Figure 6 Shown Figure 5 Another perspective of the picture;

[0019] Figure 7 Shown is a flow chart of a charging method for a charging device provided in an embodiment of the present application.

[0020] In the figure: 1, first translation drive member; 11, first motor; 12, first lead screw; 13, first lead screw seat; 2, second translation drive member; 21, second motor; 22, second lead screw; 23, second lead screw seat; 24, mounting seat; 3, third translation drive member; 31, third motor; 32, third lead screw; 33, translation frame; 330, translation beam; 331, convex rail; 332, matching beam; 4, charging bow head; 41, main beam; 411, anti-drop sleeve; 42, rocker; 421, first upper inclined surface; 422, first lower inclined surface; 43, insulator; 44, limit Positioning member; 441, first limiting beam; 442, second limiting beam; 443, connecting beam; 45, elastic member; 451, spiral portion; 452, torsion arm; 46, annular body; 47, connecting seat; 48, pressure sensor; 5, guide rail; 51, rail; 52, movable seat; 6, translation seat; 61, fourth motor; 7, plane frame; 71, first frame edge; 72, second frame edge; 8, guide frame; 80, guide beam; 81, limiting block; 82, third screw seat; 83, bottom end beam; 9, connecting frame; 91, connecting wall; 10, bottom frame; 101, fifth motor.

[0021] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0023] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. 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 component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0024] In the description of the present invention, it should be noted that, unless otherwise specified or limited, the terms "mounted" and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0025] Example 1

[0026] See also Figure 7 As shown, an embodiment of the present application provides a charging method for a charging device, wherein the charging device comprises a multi-dimensional shifting mechanism, a position detection device, and a charging bow connected to the multi-dimensional shifting mechanism. The charging method includes:

[0027] When the charging vehicle reaches the charging area;

[0028] The position detection device detects the position information of the charging port on the charging vehicle;

[0029] The charging device adjusts the position of the charging bow according to the position information so that the charging bow is aligned with the charging port on the charging vehicle. For example, the charging device first controls the first and second translational drivers to drive the translation seat to move so that the translation seat is directly above the charging port, i.e., the position of the charging bow is vertically aligned with the position of the charging port on the charging vehicle. The charging device then controls the third translational driver to drive the charging bow downward until the charging bow is successfully docked with the charging port.

[0030] The position detection device is arranged on any one of the plane frame, the translation seat and the charging bow head.

[0031] The position detection device may include an image acquisition module (such as a camera), and the position detection device obtains the location information of the charging port by acquiring an image of the charging port auxiliary mark on the charging vehicle. A charging port and a charging port auxiliary mark are set on the top of the charging vehicle. The charging device can use image recognition and position deviation recognition algorithms to determine the position of the charging port. For example, sliding search and pixel ratio calculation can be used. The roof charging port auxiliary mark can be white or pure black paper tape or paint, or a white LED, etc.

[0032] In one possible embodiment, the multi-dimensional translation mechanism includes: a first translation driver, a second translation driver, and a third translation driver. The first translation driver is used to drive the charging bow head to translate along a first direction, the second translation driver is used to drive the charging bow head to translate along a second direction, and the third translation driver is used to drive the charging bow head to translate along a third direction.

[0033] The location information includes the first direction coordinate, the second direction coordinate and the third direction coordinate of the charging port;

[0034] The multi-dimensional shifting mechanism controls the translation amounts of the first translation driving member, the second translation driving member and the third translation driving member respectively according to the first direction coordinate, the second direction coordinate and the third direction coordinate.

[0035] To be on the safe side, the charging device position detection device of this application can use two cameras for measurement: one camera is installed on the translation seat, and the other is installed at the bottom end of the third translation drive member, that is, it can be set on the bottom frame or at the bottom of the translation frame (see the following description for details). By setting up two cameras for measurement, the position of the charging port can be determined more accurately, ensuring that the charging device can accurately perform the docking task of the charging bow head and the charging port.

[0036] Example 2

[0037] See also Figures 1 to 7 As shown, the second embodiment of the present application further illustrates the charging device and the charging method. The charging device includes: a planar frame 7, a translation seat 6 and a swing frame. The multi-dimensional shifting mechanism includes a planar translation mechanism and a swing frame. The planar translation mechanism is arranged on the planar frame 7. The translation seat 6 and the planar translation mechanism are transmission-connected, and the planar translation mechanism can drive the translation seat 6 to translate along the first direction and / or the second direction on the planar frame 7. The swing frame is connected to the translation seat 6, and a charging bow head 4 is connected to the swing frame. The swing frame can swing around the translation seat 6 to drive the charging bow head 4 to move closer to or away from the planar frame 7.

[0038] The charging device of the present application has a swing frame. After charging is completed, the charging device can control the swing frame to fold to the plane frame 7 to form a larger passing area at the bottom of the plane frame 7 to avoid passing vehicles.

[0039] Specifically, the charging device has a planar frame, and the multi-dimensional shifting mechanism includes a planar translation mechanism, a translation seat, and a swing frame. The planar translation mechanism is arranged on the planar frame, and the translation seat and the planar translation mechanism are in transmission connection. The planar translation mechanism can drive the translation seat to translate along the first direction and / or the second direction on the planar frame. The swing frame is connected to the translation seat, and a charging bow head is connected to the swing frame. The swing frame can swing around the translation seat to drive the charging bow head closer to or away from the planar frame. When the charging device receives an instruction to end charging, the charging device controls the swing frame to swing and drive the charging bow head closer to the planar frame. When the charging device receives a charging instruction, the charging device controls the swing frame to swing and drive the charging bow head away from the planar frame.

[0040] In a possible embodiment, a fourth motor 61 is provided on the translation base 6, and the fourth motor 61 is in transmission connection with the swing frame to drive the swing frame to swing. The swing angle of the swing frame can be controlled by controlling the rotation angle of the fourth motor 61.

[0041] In a possible embodiment, a turbine and a worm are rotatably provided on the translation seat 6, the fourth motor 61 is transmission-connected to the turbine, the worm is meshed with the turbine, and the swing frame is connected to the worm.

[0042] In this embodiment, the direction of power transmission of the fourth motor 61 is changed by means of a turbine and worm gear transmission mechanism. At the same time, the turbine and worm gear have a self-locking effect. When the fourth motor 61 drives the swing frame to a certain angle and no longer drives, or when the power is suddenly cut off, due to the self-locking principle of the turbine and worm gear, the swing frame will not fall, but will maintain the swing angle unchanged.

[0043] In one possible embodiment, see Figure 1 As shown, the swing frame has two connecting walls 91, which are respectively connected to the two ends of the worm. In this embodiment, the two ends of the worm extend out of the translation seat 6, and the two connecting walls 91 are respectively fixedly connected to the two ends of the worm. When the worm rotates, the entire swing frame can be driven to swing.

[0044] In one possible embodiment, the planar translation mechanism includes a first translation drive member 1 and a second translation drive member 2. The first translation drive member 1 and the second translation drive member 2 are both disposed on the planar frame 7. The first translation drive member 1 and the second translation drive member 2 are perpendicular to each other. The second translation drive member 2 is located on the side of the first translation drive member 1 facing away from the swing frame. The plane of the swing frame's swing trajectory is parallel to the second translation drive member 2.

[0045] In this embodiment, the second translation drive member 2 is located higher, see Figure 4 As shown, when folded, the swing frame is parallel to the second translation drive member 2, which serves to avoid the charging bow head 4. Optionally, the charging device includes a guide rail 5 slidably connected to the planar frame 7. A mating frame is provided on the guide rail 5, and a lead screw nut is provided on the mating frame. The first translation drive member 1 is disposed on the guide rail 5 and is in transmission connection with the translation seat 6, driving the translation seat 6 to translate along the guide rail 5. The second translation drive member 2 includes a second lead screw 22, which is perpendicular to the guide rail 5 and threadedly connected to the lead screw nut. The charging bow head 4 has multiple insulators 43. The swing frame has a folded state, in which it is parallel to the planar frame 7, with the insulators located on either side of the second lead screw 22. For example, after receiving a command indicating that charging is complete, the charging device controls the swing frame to swing parallel to the planar frame, with the insulators located on either side of the second lead screw.

[0046] In one possible embodiment, the swing frame includes a connecting frame 9 and a third translation driver 3. The connecting frame 9 is swingably connected to the translation seat 6. The third translation driver 3 is connected to the connecting frame 9, and the charging bow 4 is connected to the third translation driver 3.

[0047] The connecting frame 9 has the two connecting walls 91 described above. The third translation driver 3 includes a third motor 31, a third lead screw 32, and a translation frame 33. The third motor 31 is mounted on the connecting frame 9, the third lead screw 32 is threadedly connected to the translation frame 33, and the charging bow head 4 is connected to the translation frame 33. The third motor 31 is in driving connection with the third lead screw 32, driving the third lead screw 32 to rotate, thereby driving the translation frame 33 to translate.

[0048] See also Figure 3 and Figure 5 As shown, the third translation drive member 3 further includes a guide frame 8, which is fixedly connected to the connecting frame 9. The guide frame 8 has a bottom end beam 83 and a plurality of guide beams 80. The guide beams 80 are parallel to the third lead screw 32. The bottom end beam 83 is connected to each of the guide beams 80. The end of the third lead screw 32 is rotatably connected to the bottom end beam 83. For example, a third lead screw seat 82 is provided on the bottom end beam 83, and the end of the third lead screw 32 is rotatably connected to the third lead screw seat 82.

[0049] See also Figure 1 and Figure 5 As shown, the translation frame 33 includes a coupling beam 332 and multiple translation beams 330. The coupling beam 332 is threadedly connected to the third lead screw 32. Each translation beam 330 is connected to the coupling beam 332. Each translation beam 330 is parallel to the third lead screw 32. The charging bow head 4 is connected to each translation beam 330. During the rotation of the third lead screw 32, the translation frame 33 is driven to translate along the third lead screw 32, while the guide frame 8 remains in position.

[0050] In a possible implementation, the translation beams 330 and guide beams 80 are staggered in the circumferential direction of the third lead screw 32 .

[0051] In this embodiment, the translation beam 330 and the guide beam 80 are staggered and do not interfere with each other. The entire structure is lightweight, which is conducive to reducing consumables, and the internal structure is clearly visible from the outside, which is convenient for inspection and maintenance operations.

[0052] In a possible embodiment, a limit block 81 is provided on the bottom end beam 83 , and the limit block 81 has a limit sliding groove. A convex rail 331 is provided on the translation beam 330 , and the convex rail 331 can slide through the limit sliding groove.

[0053] The guide frame 8 does not perform telescopic movement. The design of the limit block 81 serves to limit the translation frame 33 and prevent the translation frame 33 from performing rotational movement, so that the translation frame 33 can only translate along the lead screw.

[0054] In a possible embodiment, a plurality of outer extension plates are provided on the bottom end beam 83, each of the outer extension plates extends toward the corresponding translation beam 330, each outer extension plate is connected to a connecting plate, and a plurality of limit blocks 81 are respectively fitted and connected to the corresponding connecting plates.

[0055] In the embodiment of the present application, two translation beams 330 and two guide beams 80 can be provided, and two limit blocks 81 are provided on the bottom end beam 83 . The two limit blocks 81 are respectively guided and cooperated with the convex rails 331 on the two translation beams 330 .

[0056] The connecting plate may be provided with a plurality of connecting holes, through which fasteners pass to connect to the limiting block 81 .

[0057] In a possible implementation scheme, the swing frame also includes a bottom frame 10 and a fifth motor 101, the bottom frame 10 is connected to the translation frame 33, the fifth motor 101 is connected to the bottom frame 10, the fifth motor 101 has an output shaft, and the charging bow head 4 is connected to the output shaft. In this implementation scheme, the design of the bottom frame 10 facilitates the installation of the fifth motor 101. The fifth motor 101 can rotate to adjust the angle of the charging bow head 4. When some charging vehicles are parked at a position tilted left or right from the standard position, there is an angle deviation between the charging bow head 4 and the charging port on the charging vehicle and accurate alignment cannot be achieved. In this case, the charging bow head 4 can be rotated by the fifth motor 101 so that the charging bow head 4 is rotated to match the left or right tilt angle of the charging vehicle, so that the charging bow head 4 can be consistent with the angle of the charging port on the charging vehicle, ensuring that the charging bow head 4 and the charging port are smoothly docked.

[0058] The position information of the charging port detected by the position detection device includes the circumferential offset angle of the charging port. The multi-dimensional shifting mechanism controls the rotation angle of the fifth motor according to the circumferential offset angle so that the position of the charging bow head is aligned with the position of the charging port on the charging vehicle.

[0059] Example 3

[0060] See also Figure 1 and Figure 2As shown, the third embodiment of the present application further describes the charging device and the charging method in detail. The charging device includes: a charging bow head 4, a planar translation mechanism and a swing frame. The planar translation mechanism includes a first translation drive member 1 and a second translation drive member 2. The swing frame includes a third translation drive member 3. The first translation drive member 1 is transmission-connected to the charging bow head 4 to drive the charging bow head 4 to translate along the first direction. The second translation drive member 2 is transmission-connected to the charging bow head 4 to drive the charging bow head 4 to translate along the second direction. The third translation drive member 3 is transmission-connected to the charging bow head 4 to drive the charging bow head 4 to translate along the third direction. It should be noted that the term "transmission connection" in this application can be a direct connection or an indirect connection.

[0061] The first and second directions are perpendicular to each other, and the third direction can change angles based on the swing of the swing frame. The third direction can be perpendicular to both the first and second directions. The charging device of the present application can control the movement and position of the charging bow head 4 in three-dimensional space. The position of the charging bow head 4 can be adjusted based on the docking position of the charging vehicle, allowing the charging bow head 4 to be precisely aligned with the charging port on the charging vehicle.

[0062] In one possible embodiment, the charging device includes a guide rail 5 and a translation seat 6, the guide rail 5 extending in a first direction, the translation seat 6 being slidably connected to the guide rail 5. The first translation driver 1 is in driving connection with the translation seat 6, driving the translation seat 6 to translate along the guide rail 5. The second translation driver 2 is in driving connection with the guide rail 5, driving the guide rail 5 to translate in a second direction. The third translation driver 3 is connected to the translation seat 6, and the charging bow 4 is connected to the third translation driver.

[0063] The charging device includes a planar frame 7 having two first frame edges 71 spaced apart from each other along a first direction. The guide rails 5 are slidably connected to the two first frame edges 71. The first translation drive member 1 is connected to the guide rails 5.

[0064] In this embodiment, the planar frame 7 is generally rectangular, with the two ends of the guide rail 5 slidably connected to two first frame edges 71. The two first frame edges 71 provide stable support for the guide rail 5. Both first frame edges 71 extend in the second direction. Thus, the first translation driver 1 drives the translation seat 6 to translate along the guide rail 5 (in the first direction), while the second translation driver 2 drives the guide rail 5 to translate along the first frame edges 71 (in the second direction). The first and second translation drivers 1 and 2 cooperate to drive the translation seat 6 to perform planar motion within the planar frame 7.

[0065] In one possible embodiment, the first translation driver 1 includes a first motor 11 and a first screw 12. The translation seat 6 has a threaded groove. The first screw 12 is disposed through the threaded groove. The first motor 11 is disposed on the guide rail 5 and is in driving connection with the first screw 12, driving the first screw 12 to rotate and translate the translation seat 6.

[0066] In this embodiment, the first translation driving member 1 adopts a screw drive, and the displacement of the translation seat 6 in the first direction can be accurately controlled by controlling the rotation angle of the first motor 11.

[0067] In a possible embodiment, the guide rail 5 includes two rails 51 and two movable seats 52. The two movable seats 52 are slidably connected to the two first frame edges 71, respectively. The two ends of the rail 51 are respectively connected to the corresponding movable seats. The first motor 11 is provided on one of the movable seats, and the first screw seat 13 is provided on the other movable seat 52. One end of the first screw 12 is transmission-connected to the first motor 11, and the other end of the first screw 12 is rotatably connected to the first screw seat 13. It should be noted that two first screw seats 13 can be provided, and the two first screw seats 13 are respectively provided on the two movable seats 52. The first screw 12 is located between the two rails 51 and is parallel to the two rails. The first translation drive member 1 and the guide rail 5 are integrated, the structure is compact, and space is saved.

[0068] In one possible embodiment, the planar frame 7 has two second frame edges 72, which are spaced apart in sequence along the second direction and perpendicularly connected to the two first frame edges 71. The second translation drive member 2 is disposed on the second frame edges 72. In this embodiment, the two first frame edges 71 and the two second frame edges 72 enclose a rectangular or square frame.

[0069] In a possible embodiment, the second translation drive member 2 includes a second motor 21 and a second screw 22, a matching frame is provided on the guide rail 5, a screw nut is provided on the matching frame, the second motor 21 is connected to the second frame edge 72, the second screw 22 passes through the screw nut, and the second screw 22 and the second motor 21 are connected in transmission.

[0070] In this embodiment, the second translation driving member 2 also adopts a screw drive, and the displacement of the translation seat 6 in the second direction can be accurately controlled by controlling the rotation angle of the second motor 21.

[0071] In one possible embodiment, the charging device includes two mounting seats 24, which are respectively arranged on the two second frame edges 72. The second motor 21 is arranged on one mounting seat 24, and the second screw seat 23 is arranged on the other mounting seat 24. One end of the second screw 22 is transmission-connected to the second motor 21, and the other end of the second screw 22 is rotatably connected to the second screw seat 23. The second screw seat 23 can be provided on both second frame edges 72, and the second screw can be rotatably supported on the two second screw workings 23.

[0072] In this embodiment, two mounting bases 24 support the second motor 21 and the second screw base 23 to prevent interference between the second screw 22 and the translation base 6. The space between the second screw 22 and the guide rail 5 must be sufficient for the translation base 6 to translate through.

[0073] In one possible embodiment, the third translation drive member 3 includes a third motor 31, a third lead screw 32, and a translation frame 33. The charging bow 4 is connected to the translation frame 33, the third motor 31 is connected to the translation seat 6, and the third lead screw 32 is threadedly connected to the translation frame 33. The third motor 31 is in driving connection with the third lead screw 32, driving the third lead screw 32 to rotate and thereby drive the translation frame 33 to translate. In this embodiment, the third lead screw 32 can be perpendicular to the planar frame 7, or the third lead screw 32 can have different angles with the planar frame 7.

[0074] In a possible embodiment, the translation seat 6 is connected to a guide frame 8, and a limit block 81 is provided on the guide frame 8, and the limit block 81 has a limit slide groove. A convex rail 331 is provided on the translation frame 33, and the convex rail 331 extends along the length direction of the translation frame 33. The convex rail 331 can slide through the limit slide groove. The guide frame 8 will not perform telescopic movement. The design of the limit block 81 serves to limit the translation frame 33, preventing the translation frame 33 from rotating, so that the translation frame 33 can only telescopic movement along the lead screw. Among them, a third lead screw seat 82 is also fixedly provided at the end of the guide frame 8, and the end of the third lead screw is rotatably connected to the third lead screw seat 82.

[0075] In the embodiment of the present application, the first translation drive 1 and the second translation drive 2 drive the translation seat 6 to move within the plane of the plane frame 7. The third translation drive 3 can drive the charging bow 4 to move in a direction perpendicular to the plane frame 7. When the charging vehicle moves to a certain area at the bottom of the charging device of the present application, the first translation drive 1 and the second translation drive 2 can first drive the translation seat 6 to move so that the charging bow 4 is aligned with the charging port on the charging vehicle, and then, see Figure 2As shown, the third translation drive member 3 drives the charging bow head 4 to move downward, so that the charging bow head 4 is connected to the charging port, thereby charging the charging vehicle.

[0076] Example 4

[0077] See also Figure 5 and Figure 6 As shown in the figure, the fourth embodiment of the present application further illustrates a charging device and charging method. The charging bow head of the charging device can be an adaptive charging bow head 4, which includes: a main beam 41, two side arm assemblies, multiple limiters 44, and an elastic member 45. The two side arm assemblies are respectively disposed at opposite ends of the main beam 41. Each side arm assembly has two swing arms 42, both movably connected to the main beam 41. The two swing arms 42 extend to either side of the main beam 41 and are connected to insulators 43. Each limiter 44 is connected to the main beam 41 and engages with each swing arm 42 to limit the swing angle of each swing arm 42. An elastic member 45 is connected to the main beam 41 and abuts against the side of each swing arm 42 facing away from the insulator 43, causing each swing arm 42 to tilt toward the insulator.

[0078] When the charging vehicle is parked on an uneven surface or the tire pressures on both sides of the charging vehicle are inconsistent, causing the left and right sides of the charging port to tilt up and down, the adaptive charging bow head 4 can automatically tilt to a corresponding angle when the charging bow head 4 approaches the charging vehicle and connects. The electrode on the insulator 43 on one of the swing arms 42 in the side arm assembly first contacts one interface of the charging vehicle, while the other swing arm 42 of the side arm assembly tilts downward until the electrode on the insulator 43 contacts another interface of the charging vehicle that has been lowered due to the tilt of the vehicle body. When the charging vehicle is parked on an uneven surface or the tire pressures on both sides of the charging vehicle are inconsistent, causing the charging port to tilt, the adaptive charging bow head 4 of the present application can automatically tilt to a corresponding angle, so that the electrodes on the insulators 43 on the charging bow head 4 can each stably connect or contact with the corresponding interfaces on the charging port, making the charging circuit not easily disconnected and allowing the charging vehicle to be stably charged.

[0079] In one possible embodiment, see Figure 5 As shown, the limiting member 44 includes a first limiting beam 441 and a second limiting beam 442 , and the first limiting beam 441 and the second limiting beam 442 are respectively located on both sides of the corresponding swing rod 42 along the swing direction.

[0080] In this embodiment, two limiting beams restrict the swing angle of the pendulum 42, ensuring that it remains within its effective range. For example, the pendulum 42 can be adjusted within a relatively small range of ±2 to 3°. This allows the vehicle to smoothly dock with the charging bow 4 even within this relatively small range. When the pendulum 42 reaches its extreme position, the limiting beams contact the pendulum 42, ensuring that the electrode on the insulator 43 of the pendulum 42 securely docks with the charging port on the battery swap vehicle, preventing disengagement.

[0081] In one possible embodiment, the swing link 42 is provided with a first upper inclined surface 421 and a first lower inclined surface 422 on both side end surfaces along the swing direction. The first position-limiting beam 441 is provided with a second upper inclined surface on the side facing the swing link 42, and the second position-limiting beam 442 is provided with a second lower inclined surface on the side facing the swing link 42. When the swing link 42 is swung to the first extreme position, the first upper inclined surface 421 and the second upper inclined surface abut against each other. When the swing link 42 is swung to the second extreme position, the second lower inclined surface abuts against each other.

[0082] In this embodiment, when the rocker arm 42 swings to the extreme position, the inclined surface on the rocker arm 42 and the inclined surface on the limiting beam can fit smoothly. This surface-to-surface fitting has good stability and reduces wear between the rocker arm 42 and the limiting beam.

[0083] In one possible embodiment, see Figure 5 As shown, the position-limiting member 44 further includes a connecting beam 443 connecting the first position-limiting beam 441 and the second position-limiting beam 442. A circular ring 46 is sleeved on the main beam 41, and extension rods are provided on both sides of the circular ring 46, which are connected to the connecting beam 443. The circular ring 46 is connected to the main beam 41, and the circular ring 46 and the main beam 41 are limited in position and cannot rotate relative to the main beam 41. An extension rod is provided on each side of the circular ring 46 to connect the connecting beams 443 on the position-limiting member 44 on both sides.

[0084] In a possible embodiment, the elastic member 45 includes a spiral portion 451 and torsion arms 452 located at both ends of the spiral portion 451. The spiral portion 451 is sleeved on the main beam 41, and the two torsion arms 452 respectively press against the end of the corresponding rocker 42 away from the insulator 43.

[0085] The first limiting beam 441 is located at the top of the second limiting beam 442. In this embodiment, the two torsion arms 452 apply force to the two rocker arms 42 respectively, so that the two rocker arms 42 are respectively fitted to the second limiting beams 442 on the corresponding limiting parts 44, so that under normal conditions, the two rocker arms 42 are stably supported on the second limiting beams 442 of the limiting parts 44. When the top of the battery swapping vehicle is tilted, when the adaptive charging bow head 4 and the battery swapping vehicle are docked for charging, the two rocker arms 42 can automatically adjust the tilt angle. When the tilt angle of the rocker arm 42 is greater, the elastic force of the torsion arm 452 is greater, so that the electrode on the insulator 43 on the rocker arm 42 can be more stably docked with the charging port and will not be easily disconnected.

[0086] In one possible embodiment, see Figure 5 As shown, the main beam 41 has a main shaft, a limiting section, an end shaft and an anti-slip sleeve 411, the limiting section is connected to the end of the main shaft, the end shaft is connected to the end of the limiting section, the anti-slip sleeve 411 is fixedly sleeved on the end shaft, the cross section of the limiting section can be non-circular, such as polygonal, the center hole of the annulus can also be a polygonal hole, the annulus is sleeved on the limiting section and will not rotate around the limiting section, the diameter of the end shaft is smaller than the limiting section and the main shaft, the anti-slip sleeve 411 is sleeved on the end of the end shaft, the ends of two rocking rods 42 are rotatably sleeved on the end shaft, the rocking rod 42 is limited between the limiting section and the anti-slip sleeve 411, and the spiral portion 451 is sleeved on the anti-slip sleeve 411. Wherein, the anti-slip sleeve 411 can be threadedly connected to the end shaft.

[0087] In a possible implementation, the adaptive charging bow head 4 includes a connecting seat 47 , the insulator 43 is connected to the connecting seat 47 , and the connecting seat 47 is hinged to the rocker 42 .

[0088] In this embodiment, the connecting seat 47 is hinged to the rocker arm 42, so that the connecting seat 47 can move freely, which is beneficial for adaptively adjusting the position and smoothly docking with the charging port during the docking process of the charging bow head and the charging vehicle.

[0089] In one possible embodiment, the connector 47 has a top surface and two lugs disposed thereon. The lugs are disposed on either side of the swing arm 42 and are hingedly connected to the swing arm 42, with a gap between the top surface and the swing arm 42. This allows the connector 47 to have a wide range of free swing. At the same time, gravity maintains the connector 47 and the insulator in a vertically downward position, facilitating smooth docking of the electrodes on the insulator 43 of the connector 47 with the charging port on the charging vehicle during the downward movement of the adaptive charging bow 4.

[0090] In a possible implementation, the charging bow 4 further includes a pressure sensor 48 , which is connected to the connection base 47 , and the insulator 43 is connected to the pressure sensor 48 .

[0091] In this embodiment, a pressure sensor 48 is provided on the adaptive charging bow head 4. When the charging bow head and the charging vehicle start to control contact, if the pressure value detected by the pressure sensor 48 is less than the preset value, it means that the charging bow head 4 and the battery swap vehicle are not in safe and sufficient contact, which may easily cause arcing during the charging process. Therefore, the charging bow head 4 needs to be controlled to move further toward the charging vehicle. As the charging bow head 4 moves, the pressure detected by the pressure sensor 48 increases accordingly. When the maximum pressure detected is greater than the preset value, it means that the charging bow head and the charging vehicle are in full contact, and the steps such as the power-on protocol handshake between the charging bow head 4 and the charging vehicle can be implemented.

[0092] In a possible embodiment, the connecting seat 47 has a thread groove, the insulator 43 is provided with a thread groove, the pressure sensor 48 has a sensor body and two studs respectively arranged at both ends of the sensor body, and the two studs are respectively threadedly connected to the two thread grooves.

[0093] A connection hole is provided at one end of the insulator 43 away from the connection seat 47 , and the electrode is fixed to the connection hole by a fastener.

[0094] During the contact (docking) between the charging bow head and the charging vehicle, the charging device obtains the pressure value detected by the pressure sensor in real time. If the pressure value is less than the set value, it is determined that the charging bow head and the battery-swapping vehicle are not in sufficient contact. The charging device controls the charging bow head to approach the battery-swapping vehicle (such as controlling the third translation drive component to drive the charging bow head to move up and down) until the pressure value detected by the pressure sensor is not less than the set value.

[0095] During the process of docking the charging bow with the charging port on the charging vehicle to charge the vehicle, the charging device obtains the pressure value detected by the pressure sensor. If the pressure value is less than a set value, the charging bow is determined to be disconnected from the battery swap vehicle, and the charging device controls the execution of a protection procedure. The protection procedure includes either or both of controlling power off and controlling the retraction of the charging bow (controlled by the third translation drive member).

[0096] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with this patent can make slight changes or modifications to equivalent embodiments using the above-mentioned technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the solution of the present invention.

Claims

1. A charging method for a charging device, wherein the charging device comprises a multi-dimensional displacement mechanism, a position detection device, and a charging bow connected to the multi-dimensional displacement mechanism, characterized in that: Charging methods include: When the charging vehicle reaches the charging area, the position detection device detects the position information of the charging port on the charging vehicle; The multi-dimensional shifting mechanism adjusts the position of the charging bow according to the position information so that the position of the charging bow is aligned with the position of the charging port on the charging vehicle; Wherein, the charging bow head includes: main beam; Two side arm assemblies, each of which is provided at both ends of the main beam, each of which has two swing arms, both of which are movably connected to the main beam, and extend to both sides of the main beam, respectively, and are connected to insulators; A plurality of limiting members, each of which is connected to the main beam, and each of which is respectively engaged with each of the swing arms to limit the swing angle of each of the swing arms; an elastic member connected to the main beam, the elastic member abutting against a side of each swing rod facing away from the insulator; the elastic member comprising a spiral portion and torsion arms at both ends of the spiral portion, the spiral portion being sleeved on the main beam, the two torsion arms respectively abutting against an end of the corresponding swing rod facing away from the insulator; The limiting member includes a first limiting beam and a second limiting beam; The first limiting beam and the second limiting beam are respectively located on both sides of the corresponding swing rod along the swing direction; The limiting member further includes a connecting beam connecting the first limiting beam and the second limiting beam, a circular ring is sleeved on the main beam, and extension rods are provided on both sides of the circular ring, and the extension rods are connected to the connecting beam; The method further comprises: The two torsion arms apply force to the two swing rods respectively, so that the two swing rods are respectively fitted to the second limiting beams on the corresponding limiting parts, so that in a normal state, the two swing rods are stably supported on the second limiting beams of the limiting parts. When the top of the battery-swapping vehicle is tilted and the adaptive charging bow head and the battery-swapping vehicle are docked for charging, the two rocker arms automatically adjust the tilt angle. The greater the tilt angle of the rocker arm, the greater the elastic force exerted on the torsion arm, making the electrode on the insulator on the rocker arm and the charging port dock more stably.

2. The charging method of the charging device according to claim 1, characterized in that: The charging device has a planar frame, and the multi-dimensional shifting mechanism is arranged on the planar frame; The position detection device is arranged on any one of the planar frame, the multi-dimensional shifting mechanism and the charging bow head.

3. The charging method of the charging device according to claim 1, characterized in that: The position detection device includes an image acquisition module; The position detection device obtains the position information of the charging port by collecting an image of the charging port auxiliary mark on the charging vehicle.

4. The charging method of the charging device according to claim 2, characterized in that: The multi-dimensional shifting mechanism comprises: a first translation driving member, configured to drive the charging bow head to translate along a first direction; a second translation driving member, the second translation driving member being used to drive the charging bow head to translate along a second direction; a third translation driving member, configured to drive the charging bow head to translate along a third direction; The location information includes the first direction coordinate, the second direction coordinate and the third direction coordinate of the charging port; The multi-dimensional shifting mechanism controls the translation amounts of the first translation driving member, the second translation driving member and the third translation driving member respectively according to the first direction coordinate, the second direction coordinate and the third direction coordinate.

5. The charging method of the charging device according to claim 4, characterized in that: The multi-dimensional shifting mechanism includes a guide rail and a translation seat, wherein the guide rail extends along a first direction and the translation seat is slidably connected to the guide rail; The first translation driving member is in transmission connection with the translation seat, driving the translation seat to translate along the guide rail; The second translation driving member is in driving connection with the guide rail, driving the guide rail to translate along the second direction; The third translation driving member is connected to the translation seat, and the charging bow is connected to the third translation driving member.

6. The charging method of the charging device according to claim 5, characterized in that: The plane frame has two first frame edges that are sequentially spaced apart along a first direction; The guide rails are slidably connected to the two first frame edges respectively; The first translation driving member is connected to the guide rail.

7. The charging method of the charging device according to claim 6, characterized in that: The first translation drive member includes a first motor and a first lead screw, and the translation seat has a thread groove; The first lead screw is arranged to pass through the thread groove; The first motor is disposed on the guide rail and is in transmission connection with the first lead screw, driving the first lead screw to rotate and drive the translation seat to translate.

8. The charging method of the charging device according to claim 7, characterized in that: The guide rail includes two rails and two movable seats; The two movable seats are slidably connected to the two first frame edges respectively; Both ends of the rail are respectively connected to corresponding sliding seats; The first motor is arranged on one of the sliding seats, and the first lead screw seat is arranged on the other sliding seat; One end of the first lead screw is transmission-connected to the first motor, and the other end of the first lead screw is rotatably connected to the first lead screw seat.

9. The charging method of the charging device according to claim 6, characterized in that: The plane frame has two second frame edges, the two second frame edges are sequentially spaced apart along the second direction, and the second frame edges are respectively vertically connected to the two first frame edges; The second translation driving member is arranged on the second frame edge.

10. The charging method of the charging device according to claim 9, characterized in that: The second translation drive member includes a second motor and a second lead screw; A matching frame is provided on the guide rail, and a lead screw nut is provided on the matching frame; The second motor is connected to the second frame edge, the second lead screw passes through the lead screw nut, and the second lead screw is transmission-connected to the second motor.

11. The charging method of the charging device according to claim 10, characterized in that: It comprises two mounting seats, which are respectively arranged on two sides of the second frame; The second motor is arranged on one of the mounting seats, and a second lead screw seat is arranged on the other mounting seat; One end of the second lead screw is transmission-connected to the second motor, and the other end of the second lead screw is rotatably connected to the second lead screw seat.

12. The charging method of the charging device according to claim 5, characterized in that: The third translation driving member includes a third motor, a third lead screw and a translation frame; The charging bow is connected to the translation frame, the third motor is connected to the translation seat, and the third lead screw is threadedly connected to the translation frame; The third motor is in driving connection with the third lead screw, driving the third lead screw to rotate to drive the translation frame to translate.

13. The charging method of the charging device according to claim 12, characterized in that: The translation seat is connected to a guide frame, a limit block is provided on the guide frame, and the limit block has a limit sliding groove; A convex rail is provided on the translation frame, and the convex rail can slidably pass through the limiting sliding groove.

14. The charging method of a charging device according to claim 1, characterized in that: The charging device has a planar frame, and the multi-dimensional shifting mechanism includes a planar translation mechanism, a translation seat and a swing frame; The plane translation mechanism is arranged on the plane frame; The translation seat is in transmission connection with the planar translation mechanism, and the planar translation mechanism can drive the translation seat to translate along the first direction and / or the second direction on the planar frame; The swing frame is connected to the translation seat, and a charging bow head is connected to the swing frame. The swing frame can swing around the translation seat to drive the charging bow head to move closer to or away from the planar frame; When the charging device receives a charging end instruction, the charging device controls the swing frame to swing and drives the charging bow head to approach the plane frame; When the charging device receives a charging instruction, the charging device controls the swing frame to swing to drive the charging bow head away from the planar frame.

15. The charging method of the charging device according to claim 14, characterized in that: A fourth motor is provided on the translation seat, and the fourth motor is transmission-connected to the swing frame to drive the swing frame to swing; The charging device controls the swing angle of the swing frame by controlling the rotation angle of the fourth motor.

16. The charging method of the charging device according to claim 15, characterized in that: The translation seat is also rotatably provided with a turbine and a worm; The fourth motor is in transmission connection with the turbine, and the worm is meshed with the turbine; The swing frame is connected to the worm.

17. The charging method of the charging device according to claim 16, characterized in that: The swing frame has two connecting walls, and the two connecting walls are respectively connected to the two ends of the worm.

18. The charging method of a charging device according to claim 14, characterized in that: The planar translation mechanism includes a first translation driving member and a second translation driving member; The first translation driving member and the second translation driving member are both arranged on the planar frame; The first translation driving member and the second translation driving member are perpendicular to each other; The second translation driving member is located on a side of the first translation driving member away from the swing frame; The plane where the swing track of the swing frame lies is parallel to the second translation driving member.

19. The charging method of the charging device according to claim 18, characterized in that: The planar translation mechanism includes a guide rail, the guide rail is slidably connected to the planar frame, a matching frame is provided on the guide rail, and a lead screw nut is provided on the matching frame; The first translation driving member is disposed on the guide rail, and is in transmission connection with the translation seat, driving the translation seat to translate along the guide rail; The second translation driving member comprises a second lead screw, the second lead screw is perpendicular to the guide rail, and the second lead screw is threadedly connected to the lead screw nut; The charging bow head has a plurality of insulators; After the charging device receives the instruction indicating that charging is complete, the charging device controls the swing frame to swing parallel to the planar frame, and the insulators are located on both sides of the second lead screw.

20. The charging method of the charging device according to claim 14, characterized in that: The swing frame includes a connecting frame and a third translation driving member; The connecting frame is swingably connected to the translation seat; The third translation driving member is connected to the connecting frame, and the charging bow is connected to the third translation driving member.

21. The charging method of the charging device according to claim 20, characterized in that: The third translation driving member includes a third motor, a third lead screw and a translation frame; The third motor is arranged on the connecting frame, the third lead screw is threadedly connected to the translation frame, and the charging bow head is connected to the translation frame. The third motor is in driving connection with the third lead screw, driving the third lead screw to rotate to drive the translation frame to translate.

22. The charging method of the charging device according to claim 21, characterized in that: The third translation driving member further includes a guide frame, wherein the guide frame is fixedly connected to the connecting frame; The guide frame comprises a bottom end beam and a plurality of guide beams, wherein the guide beams are parallel to the third lead screw, and the bottom end beam is connected to each of the guide beams; The end of the third lead screw is rotatably connected to the bottom end beam.

23. The charging method of the charging device according to claim 22, characterized in that: The translation frame comprises a matching beam and a plurality of translation beams; the matching beam is threadedly connected to the third lead screw, each of the translation beams is connected to the matching beam, and each of the translation beams is parallel to the third lead screw; The charging bow head is connected to each of the translation beams.

24. The charging method of the charging device according to claim 23, characterized in that: In the circumferential direction along the third lead screw, the translation beams and the guide beams are staggered.

25. The charging method of the charging device according to claim 23, characterized in that: A limit block is provided on the bottom end beam, and the limit block has a limit sliding groove; A convex rail is provided on the translation beam, and the convex rail can slidably pass through the limiting sliding groove.

26. The charging method of the charging device according to claim 25, characterized in that: A plurality of outer extension plates are provided on the bottom end beam, each of the outer extension plates extends toward a corresponding translation beam, and each outer extension plate is connected to a connecting plate; A plurality of limit blocks are respectively connected to corresponding connection plates.

27. The charging method of the charging device according to claim 26, characterized in that: The connecting plate is provided with a plurality of connecting holes, and the fasteners pass through the connecting holes and are connected to the limiting blocks.

28. The charging method of the charging device according to claim 21, characterized in that: The swing frame also includes a bottom frame and a fifth motor; The bottom frame is connected to the translation frame; The fifth motor is connected to the bottom frame, and the fifth motor has an output shaft; The charging bow is connected to the output shaft; The position information of the charging port detected by the position detection device includes the circumferential offset angle of the charging port; The multi-dimensional shifting mechanism controls the rotation angle of the fifth motor according to the circumferential offset angle so that the position of the charging bow is aligned with the position of the charging port on the charging vehicle.

29. The charging method of the charging device according to claim 28, characterized in that: It comprises a connecting seat, the insulator is connected to the connecting seat, and the connecting seat is hinged to the rocker.

30. The charging method of the charging device according to claim 29, characterized in that: The connecting seat has a top surface and two lugs arranged on the top surface; The two lugs are respectively arranged on both sides of the swing rod, and the two lugs are hinged to the swing rod; There is a gap between the top surface and the rocker.

31. The charging method of the charging device according to claim 29, characterized in that: It also includes a pressure sensor, the pressure sensor is connected to the connecting seat, and the insulator is connected to the pressure sensor; The pressure sensor detects a pressure value; During the contact between the charging bow head and the charging vehicle, the charging device obtains the pressure value detected by the pressure sensor in real time. If the pressure value is less than the set value, it is determined that the charging bow head and the battery-swapping vehicle are not in sufficient contact. The charging device controls the charging bow head to approach the battery-swapping vehicle until the pressure value detected by the pressure sensor is not less than the set value.

32. The charging method of the charging device according to claim 31, characterized in that: When the charging bow is docked with the charging port on the charging vehicle to charge the vehicle, the charging device obtains the pressure value detected by the pressure sensor. If the pressure value is less than the set value, it is determined that the charging bow is disconnected from the battery swap vehicle, and the charging device controls the execution of the protection program. The protection program includes either or both of controlling power off and controlling a regenerative charging bow.

Images