Charging head assembly, charging system and charging method

Abstract

The present invention relates to the field of vehicle charging technology, and in particular, to a charging head assembly, a charging system and a method. The charging head assembly includes a fixed seat unit, a front movable seat unit, a rear movable seat unit, a guide unit and a charging head unit. The base of the fixed seat unit is connected to a front positioning module and a rear positioning module. The front movable module of the front movable seat unit is arranged on a side of the rear positioning module close to the front positioning module. The front elastic module enables the front movable module and the front positioning module to move toward each other. The rear movable module of the rear movable seat unit is arranged on one side of the rear positioning module. The rear elastic module enables the rear movable module and the rear positioning module to move toward each other. The diameter d of the circumscribed circle of the front elastic module at the connection point of the front movable module is smaller than the diameter D of the circumscribed circle of the rear elastic module at the connection point of the rear movable module. The guide unit and the charging head unit are respectively connected to the front movable module and the rear movable module. In this way, the problem of high precision requirements for automatic charging devices is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle charging, and in particular to a charging head assembly, a charging system and a charging method. Background Art

[0002] With the rapid development of science and technology, new energy vehicles are gradually entering thousands of households. Since the construction cost of charging stations is lower than that of battery swap stations, the layout of charging stations in most areas is relatively dense, and new energy vehicles can be recharged by charging, so most users will choose to charge when recharging new energy vehicles. Existing charging devices are usually automatic and manual. In order to prevent users from making mistakes when manually operating the charging device and causing safety hazards, various manufacturers have launched automatic charging devices. Automatic charging devices can not only reduce the probability of user misoperation, but also reduce the steps of user operation, which can improve the user's comfort, but this will require higher accuracy of the automatic charging device.

[0003] The automatic charging device usually obtains the position of the charging base through a visual sensor or a laser sensor, calculates the moving path of the robot arm of the automatic charging device, and then controls the robot arm to drive the charging head to insert into the charging base. This method requires a very high accuracy of the automatic charging device. Summary of the invention

[0004] In order to solve the problem of high precision requirement of automatic charging devices, the present invention provides a charging head assembly, a charging system and a method.

[0005] In the first aspect, the present invention provides a charging component, which includes: a fixed seat unit, which includes a base, a front positioning module, and a rear positioning module; the front positioning module is parallel to the rear positioning module and is spaced apart; the front positioning module is fixedly connected to the base; the rear positioning module is fixedly connected to the base; a front movable seat unit, which includes a front movable module and a front elastic module; the front movable module is arranged on a side of the rear positioning module close to the front positioning module; the front movable module abuts against the front positioning module; the front movable module is spaced apart from the rear positioning module; one end of the front elastic module is detachably connected to the front movable module, and the other end is detachably connected to the front positioning module; the force applied by the front elastic module causes the front movable module and the front positioning module to move towards each other; a rear movable seat unit, which includes a rear movable module, a rear elastic module a module; the rear movable module is arranged on a side of the rear positioning module away from the front positioning module; the rear movable module abuts against the rear positioning module; one end of the rear elastic module is detachably connected to the rear movable module, and the other end is detachably connected to the rear positioning module; the force applied by the rear elastic module causes the rear movable module and the rear positioning module to move towards each other; d<D, wherein d is the diameter of the circumscribed circle of the front elastic module at the connection point of the front movable module, and D is the diameter of the circumscribed circle of the rear elastic module at the connection point of the rear movable module; a guide unit, the guide unit passes through the front movable module and the rear movable module in sequence; the guide unit is detachably connected to the front movable module and the rear movable module respectively; a charging head unit, the charging head unit passes through the front movable module and the rear movable module in sequence; the charging head unit is detachably connected to the front movable module and the rear movable module respectively.

[0006] In some embodiments, the front elastic module includes two front upper tension springs and two front lower tension springs; one end of the front upper tension spring is detachably connected to one side of the front positioning module along the first direction, and the other end is detachably connected to the front movable module; the two front upper tension springs are spaced apart along the second direction; one end of the front lower tension spring is detachably connected to the other side of the front positioning module along the first direction, and the other end is detachably connected to the front movable module; the two front lower tension springs are spaced apart along the second direction; d1<D; d1 is the diameter of the circumscribed circle of the two front upper tension springs and the two front lower tension springs at the connection point of the front movable module.

[0007] In some embodiments, d2>d1; d2 is the diameter of the circumscribed circle of the two front upper tension springs and the two front lower tension springs at the connection point of the front positioning module.

[0008] In some embodiments, the rear elastic module includes two rear upper tension springs and two rear lower tension springs; one end of the rear upper tension spring is detachably connected to one side of the rear positioning module along the first direction, and the other end is detachably connected to the rear movable module; the two rear upper tension springs are spaced apart along the second direction; one end of the rear lower tension spring is detachably connected to the other side of the rear positioning module along the first direction, and the other end is detachably connected to the rear movable module; the two rear lower tension springs are spaced apart along the second direction; d<D1; D1 is the diameter of the circumscribed circle of the two rear upper tension springs and the two rear lower tension springs at the connection point of the rear movable module.

[0009] In some embodiments, D2<D1; D2 is the diameter of the circumscribed circle of the two rear upper tension springs and the two rear lower tension springs at the connection point of the rear positioning module.

[0010] In some embodiments, the elastic force of the rear elastic module is greater than the elastic force of the front elastic module.

[0011] In some embodiments, the front movable module includes a front movable plate, a front movable hole, and a front sliding hole; the front movable plate is arranged on a side of the rear positioning module close to the front positioning module; the front movable plate abuts against the front positioning module; the front movable plate and the rear positioning module are arranged at intervals; the front elastic module is detachably connected to the front movable plate at one end away from the front positioning module; when the front elastic module applies force, the front movable plate and the front positioning module move in a direction approaching each other; the front movable hole and the front sliding hole are arranged at intervals; the front movable hole passes through from one side of the front movable plate to the other side along a third direction; the charging head unit passes through the front movable hole and the rear movable module in turn; the charging head unit is detachably connected to the front movable hole and the rear movable module, respectively; the front sliding hole passes through from one side of the front movable plate to the other side along the third direction; the guide unit passes through the front sliding hole and the rear movable module in turn; the guide unit is detachably connected to the front sliding hole and the rear movable module, respectively.

[0012] In some embodiments, the rear movable module includes a rear movable plate, a rear movable hole, and a rear sliding hole; the rear movable plate is arranged on a side of the rear positioning module away from the front positioning module; the rear movable plate abuts against the rear positioning module; the rear elastic module is detachably connected to the rear movable plate at one end away from the rear positioning module; when the rear elastic module applies force, the rear movable plate and the rear positioning module move toward each other; the rear movable hole and the rear sliding hole are arranged at intervals; the rear movable hole passes through from one side of the rear movable plate to the other side along a third direction; the charging head unit passes through the front movable module and the rear movable hole in turn; the charging head unit is detachably connected to the front movable module and the rear movable hole, respectively; the rear sliding hole passes through from one side of the rear movable plate to the other side along the third direction; the guide unit passes through the front movable module and the rear sliding hole in turn; the guide unit is detachably connected to the front movable module and the rear sliding hole, respectively.

[0013] In some embodiments, the front positioning module includes a front positioning plate and a front positioning hole; the front positioning plate is parallel to and spaced apart from the rear positioning module; the front positioning plate is fixedly connected to the base; the side of the front elastic module away from the front movable module is detachably connected to the front positioning plate; the front positioning hole passes through from one side of the front positioning plate to the other side along a third direction; the rear positioning module includes a rear positioning plate and a rear positioning hole; the front positioning module is parallel to and spaced apart from the rear positioning plate; the rear positioning plate is fixedly connected to the base; the side of the rear elastic module away from the rear movable module is detachably connected to the rear positioning plate; the rear positioning hole passes through from one side of the rear positioning plate to the other side along the third direction; the charging head unit passes through the front positioning hole and the rear positioning hole in sequence; the charging head unit is detachably connected to the front positioning hole and the rear positioning hole, respectively.

[0014] In a second aspect, the present invention provides a charging system, comprising any one of the charging head assemblies in the first aspect, the charging system comprising: a multi-axis robotic arm, the base being detachably connected to the multi-axis robotic arm; a control assembly, the control assembly comprising a visual sensor; the visual sensor being detachably connected to the base; a charging base assembly; a vehicle, the charging base assembly being detachably connected to the vehicle; the charging base assembly being electrically connected to the vehicle; the charging system comprising a charging status; the charging status comprising the charging base assembly being electrically connected to the charging head unit.

[0015] In a third aspect, the present invention provides a charging method, which is applied to the charging system in the second aspect, and the charging method includes: step S11, based on the trigger of the battery replacement instruction, obtaining the position of the charging base assembly; step S12, based on obtaining the position of the charging base assembly, a multi-axis robotic arm drives the charging head assembly to move towards the charging base assembly; step S13, based on the electrical connection between the charging head assembly and the charging base assembly, starting charging.

[0016] In order to solve the problem of high precision requirement of automatic charging device, the present invention has the following advantages:

[0017] The two ends of the front elastic module are respectively connected to the front movable module and the front positioning module, and the two ends of the rear elastic module are respectively connected to the rear movable module and the rear positioning module. The diameter of the circumscribed circle of the front elastic module at the connection point of the front movable module can be smaller than the diameter of the circumscribed circle of the rear elastic module at the connection point of the rear movable module. This method allows the front elastic module to move more easily when the front elastic module and the rear elastic module are subjected to the same force. When there is a certain error in the position of the charging seat assembly and the charging head unit, during the process of inserting the charging head unit and the guide unit into the charging seat assembly, the end of the charging head unit close to the charging seat assembly can rotate around the center of the circumscribed circle of the rear elastic module at the connection point of the rear movable module, thereby allowing the charging head unit to float more flexibly; when the error between the position of the charging seat assembly and the charging head unit is large, the end of the charging head unit away from the charging seat assembly can also float together with the rear movable module, thereby achieving a smoother adaptation effect to the charging seat assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a charging head assembly and a multi-axis robotic arm according to an embodiment is shown;

[0019] Figure 2 A partial schematic diagram of a charging head assembly and a multi-axis robotic arm according to an embodiment is shown;

[0020] Figure 3 A partial schematic diagram of a charging head assembly of another embodiment is shown;

[0021] Figure 4 A schematic diagram of a fixing base unit of a charging head assembly according to an embodiment is shown;

[0022] Figure 5 A schematic diagram of a fixing base unit of a charging head assembly according to another embodiment is shown;

[0023] Figure 6 A schematic diagram of a front positioning module of a charging head assembly according to an embodiment is shown;

[0024] Figure 7 A schematic diagram of a front movable seat unit and a rear movable seat unit of a charging head assembly according to an embodiment is shown;

[0025] Figure 8 A schematic diagram of a guide unit and a position sensor of a charging head assembly according to an embodiment is shown;

[0026] Fig. 9 A schematic diagram of a charging base assembly according to an embodiment is shown;

[0027] Fig.10 A schematic diagram of a charging base assembly according to another embodiment is shown;

[0028] Fig.11 A schematic diagram of a charging base assembly according to another embodiment is shown;

[0029] Fig.12 A schematic diagram of a charging system according to an embodiment is shown;

[0030] Fig.13 A schematic diagram of a charging method according to an embodiment is shown.

[0031] Figure numerals: 01 charging head assembly; 11 fixed seat unit; 111 base; 112 front positioning module; 1121 front positioning plate; 1122 front positioning hole; 1123 front limiting groove; 113 rear positioning module; 1131 rear positioning plate; 1132 rear positioning hole; 1133 rear limiting groove; 114 cable support module; 1141 support rod; 1142 sliding groove; 12 front movable seat unit; 121 front movable module; 1211 front movable plate; 1212 front movable hole; 1213 front sliding hole; 1214 front abutting ball; 122 front elastic module; 1221 front upper tension spring; 1222 front lower tension spring; 13 rear movable seat unit; 131 rear movable module; 1311 rear movable plate; 1312 rear movable hole; 1313 rear sliding hole; 1 314 rear abutment ball; 132 rear elastic module; 1321 rear upper tension spring; 1322 rear lower tension spring; 14 guide unit; 15 charging head unit; 151 charging head cover; 152 charging head core; 153 cable; 02 multi-axis robotic arm; 21 support seat; 22 movable arm; 23 distal rotating arm; 03 control component; 31 visual sensor; 32 position sensor; 33 sensor support rod; 04 charging seat assembly; 41 outer seat module; 411 outer seat body; 412 movable cover; 413 elastic part; 414 outer seat positioning hole; 415 installation light hole; 42 charging seat module; 421 charging seat body; 422 charging seat core; 43 movable locking module; 431 elastic ring; 432 locking bolt; 433 nut; 05 vehicle; 51 vehicle body; 52 battery. DETAILED DESCRIPTION

[0032] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0033] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0034] In order to reduce the probability of misoperation during charging and optimize the user experience, more and more automatic charging devices are installed in charging stations. The automatic charging device uses sensors to obtain the position of the charging seat on the vehicle 05, and then uses the position of the charging seat and the position of the charging head unit 15 as a reference to analyze the movement path of the charging head unit 15 to the charging seat. This method has high requirements for accuracy, and charging cannot be completed if there is a slight deviation.

[0035] This embodiment discloses a charging component, such as Figure 1As shown, the charging head assembly 01 may include a fixed seat unit 11, a front movable seat unit 12, a rear movable seat unit 13, a guide unit 14, and a charging head unit 15. The fixed seat unit 11 may include a base 111, a front positioning module 112, and a rear positioning module 113. The front positioning module 112 may be arranged parallel to and spaced apart from the rear positioning module 113. The front positioning module 112 may be fixedly connected to the base 111. The rear positioning module 113 may be fixedly connected to the base 111. The fixed connection method may increase the strength of the connection, thereby increasing the service life.

[0036] The front movable seat unit 12 may include a front movable module 121 and a front elastic module 122. The front movable module 121 may be arranged on a side of the rear positioning module 113 close to the front positioning module 112. The front movable module 121 may abut against the front positioning module 112. The front movable module 121 may be spaced apart from the rear positioning module 113. One end of the front elastic module 122 may be detachably connected to the front movable module 121, and the other end may be detachably connected to the front positioning module 112. The force applied by the front elastic module 122 enables the front movable module 121 and the front positioning module 112 to move in a direction close to each other. The front movable module 121 may move relative to the front positioning module 112 when subjected to an applied force, and the front movable module 121 may abut against the front positioning module 112 when not subjected to an applied force to maintain relative stability. Since in most cases the central axis of the charging seat assembly 04 can be close to horizontal after the vehicle 05 stops in the battery exchange area, the force applied by the front elastic module 122 can prevent the charging head unit 15 from having too large an angle with the horizontal plane when the charging seat assembly 04 is not inserted, thereby reducing the steps of controlling the central axis angle of the charging head unit 15, thereby improving the charging efficiency.

[0037] The rear movable seat unit 13 may include a rear movable module 131 and a rear elastic module 132. The rear movable module 131 may be arranged on a side of the rear positioning module 113 away from the front positioning module 112. The rear movable module 131 may abut against the rear positioning module 113. One end of the rear elastic module 132 may be detachably connected to the rear movable module 131, and the other end may be detachably connected to the rear positioning module 113. The force applied by the rear elastic module 132 enables the rear movable module 131 and the rear positioning module 113 to move toward a direction close to each other. The rear movable module 131 may move relative to the rear positioning module 113 when subjected to an applied force, and the rear movable module 131 may abut against the rear positioning module 113 when not subjected to an applied force to maintain relative stability. Since in most cases the central axis of the charging seat assembly 04 can be close to horizontal after the vehicle 05 stops in the battery exchange area, the force applied by the rear elastic module 132 can prevent the charging head unit 15 from having too large an angle with the horizontal plane when the charging seat assembly 04 is not inserted, thereby reducing the steps of controlling the central axis angle of the charging head unit 15, thereby improving the charging efficiency.

[0038] The charging head unit 15 can pass through the front movable module 121 and the rear movable module 131 in sequence. The charging head unit 15 can be detachably connected to the front movable module 121 and the rear movable module 131 respectively. When the charging head unit 15 moves toward the charging seat assembly 04 on the target vehicle 05, even if there is a certain error between the position of the charging head unit 15 and the charging seat assembly 04, when the charging head unit 15 is inserted into the charging seat assembly 04, the charging head unit 15 detachably connected to the front movable module 121 and the rear movable module 131 can be relatively displaced with the front positioning module 112 and the rear positioning module 113, so as to adapt to the charging seat assembly 04, so that even if there is an error between the position of the charging head unit 15 and the charging seat assembly 04, the charging head unit 15 can be inserted into the charging seat assembly 04 to complete charging.

[0039] The guide unit 14 can pass through the front movable module 121 and the rear movable module 131 in sequence. The guide unit 14 can be detachably connected to the front movable module 121 and the rear movable module 131 respectively. The cross-sectional area of ​​the guide unit 14 along the radial direction of the guide unit 14 can be gradually reduced along the direction from the rear movable module 131 to the front movable module 121, so that a slope is formed at one end of the guide unit 14. When the charging head assembly 01 moves toward the charging seat assembly 04, the guide unit 14 can first abut against the charging seat assembly 04. When the charging head assembly 01 moves toward the charging seat assembly 04 but there is a certain error between the position of the charging head unit 15 and the charging seat assembly 04, the slope of the guide unit 14 can guide the guide unit 14 to insert into the charging seat assembly 04, and at the same time, the front movable module 121 and the rear movable module 131 can allow the guide unit 14 to have a relative displacement with the front positioning module 112 and the rear positioning module 113, so that the guide unit 14 adapts to the charging seat assembly 04, so that the guide unit 14 guides the charging head unit 15 to insert into the charging seat assembly 04.

[0040] like Figure 2 , Figure 3 , Figure 7As shown, the diameter d of the circumscribed circle of the connection point between the front elastic module 122 and the front movable module 121 can be smaller than the diameter D of the circumscribed circle of the connection point between the rear elastic module 132 and the rear movable module 131. This arrangement makes it easier for the front movable module 121 to move when the front movable module 121 and the rear movable module 131 are subjected to the same force. When there is a certain error in the position of the charging seat assembly 04 and the charging head unit 15, during the process of inserting the charging head unit 15 and the guide unit 14 into the charging seat assembly 04, the end of the charging head unit 15 close to the charging seat assembly 04 and the front movable module 121 can rotate around the rear elastic module 132 at the center of the circumscribed circle of the connection point of the rear movable module 131, so that the end of the charging head unit 15 and the guide unit 14 close to the charging seat assembly 04 can float more flexibly, and the end of the charging head unit 15 and the guide unit 14 away from the charging seat assembly 04 can provide stable support; when the error between the positions of the charging seat assembly 04 and the charging head unit 15 is large, the end of the charging head unit 15 away from the charging seat assembly 04 floats with the rear movable module 131, and the end of the charging head unit 15 close to the charging seat assembly 04 floats with the front movable module 121, thereby achieving the effect of more smoothly adapting to the charging seat assembly 04.

[0041] In some embodiments, Figure 2 , Figure 3 , Figure 7As shown, the front elastic module 122 may include two front upper tension springs 1221 and two front lower tension springs 1222. One end of the front upper tension spring 1221 may be detachably connected to one side of the front positioning module 112 along the first direction (the first direction may be the height direction of the front positioning module 112), and the other end of the front upper tension spring 1221 may be detachably connected to the front movable module 121. The two front upper tension springs 1221 may be arranged at intervals along the second direction (the second direction may be the length direction of the front positioning module 112). One end of the front lower tension spring 1222 may be detachably connected to the other side of the front positioning module 112 along the first direction, and the other end of the front lower tension spring 1222 may be detachably connected to the front movable module 121. The two front lower tension springs 1222 may be arranged at intervals along the second direction. In this way, the two front upper tension springs 1221, the two front lower tension springs 1222, and the front positioning module 112 may be subjected to uniform force, and the service life may be extended. The circumscribed circle diameter d1 of the connection points between the two front upper tension springs 1221 and the two front lower tension springs 1222 and the front movable module 121 may be smaller than the circumscribed circle diameter D of the connection point between the rear elastic module 132 and the rear movable module 131 . The front movable module 121 is closer to the charging seat assembly 04 than the rear movable module 131. The mode of d1<D can make the end of the charging head unit 15 close to the charging seat assembly 04 more flexible. When there is a certain position error between the charging seat assembly 04 and the charging head unit 15, during the process of inserting the charging head unit 15 and the guide unit 14 into the charging seat assembly 04, the charging head unit 15 can rotate around the rear elastic module 132 at the center of the circumscribed circle of the connection point of the rear movable module 131, so that the charging head unit 15 can float more flexibly; when the position error between the charging seat assembly 04 and the charging head unit 15 is large, the end of the charging head unit 15 away from the charging seat assembly 04 floats with the rear movable module 131, and the end of the charging head unit 15 close to the charging seat assembly 04 floats with the front movable module 121, so as to achieve the effect of more smoothly adapting to the charging seat assembly 04. The forces applied by the two front upper tension springs 1221 and the two front lower tension springs 1222 can make the front movable module 121 and the front positioning module 112 move towards each other. Since in most cases the central axis of the charging seat assembly 04 can be close to horizontal after the vehicle 05 stops in the battery exchange area, the force applied by the two front upper tension springs 1221 and the two front lower tension springs 1222 can prevent the charging head unit 15 from having too large an angle with the horizontal plane when the charging seat assembly 04 is not inserted, thereby reducing the steps of controlling the central axis angle of the charging head unit 15, thereby improving the charging efficiency.

[0042] In other embodiments, the elastic force of the front upper tension spring 1221 may be greater than the elastic force of the front lower tension spring 1222 , thereby compensating for the downward movement caused by the weight of the charging head unit 15 .

[0043] In some embodiments, Figure 2As shown, since the structure of the front positioning module 112 is compact and the distances between the two front upper tension springs 1221 and the two front lower tension springs 1222 at the connection points with the front movable module 121 are very close, in order to prevent the two front upper tension springs 1221 and the two front lower tension springs 1222 from interfering with each other and the front movable module 121 from being too flexible, the diameter d2 of the circumscribed circle of the connection points between the two front upper tension springs 1221 and the two front lower tension springs 1222 and the front positioning module 112 can be larger than the diameter d1 of the circumscribed circle of the connection points between the two front upper tension springs 1221 and the two front lower tension springs 1222 and the front movable module 121 respectively. This method can also allow the two front upper tension springs 1221 and the two front lower tension springs 1222 to have a certain inclination relative to the first direction (the first direction can be the height direction of the front positioning module 112) and the second direction (the second direction can be the length direction of the front positioning module 112), so that the two front upper tension springs 1221 and the two front lower tension springs 1222 can provide the front movable module 121 with sufficient force along the first direction and the second direction, thereby preventing the front movable module 121 from being too flexible and causing the charging head unit 15 to be too flexible, thereby ensuring that the charging head unit 15 is sufficiently stable when inserted into the charging seat assembly 04.

[0044] In some embodiments, Figure 2As shown, the rear elastic module 132 may include two rear upper tension springs 1321 and two rear lower tension springs 1322. One end of the rear upper tension spring 1321 may be detachably connected to one side of the rear positioning module 113 along the first direction (the first direction may be the height direction of the front positioning module 112), and the other end of the rear upper tension spring 1321 may be detachably connected to the rear movable module 131. The two rear upper tension springs 1321 may be spaced apart along the second direction (the second direction may be the length direction of the front positioning module 112). One end of the rear lower tension spring 1322 may be detachably connected to the other side of the rear positioning module 113 along the first direction, and the other end of the rear lower tension spring 1322 may be detachably connected to the rear movable module 131. The two rear lower tension springs 1322 are spaced apart along the second direction. The circumscribed circle diameter d of the connection point between the front elastic module 122 and the front movable module 121 may be smaller than the circumscribed circle diameter D1 of the connection points between the two rear upper tension springs 1321 and the two rear lower tension springs 1322 and the rear movable module 131. The larger the circumscribed circle diameter of the connection point, the more stable it is. The front movable module 121 is closer to the charging base assembly 04 than the rear movable module 131. The method of d<D1 can make the end of the charging head unit 15 close to the charging base assembly 04 more flexible. When there is a certain error in the position of the charging base assembly 04 and the charging head unit 15, during the process of inserting the charging head unit 15 and the guide unit 14 into the charging base assembly 04, the charging head unit 15 can rotate around the center of the circumscribed circle of the connection point between the two rear upper tension springs 1321 and the two rear lower tension springs 1322 and the rear movable module 131, respectively, so that the charging head unit 15 can float more flexibly; when the position error between the charging base assembly 04 and the charging head unit 15 is large, the end of the charging head unit 15 away from the charging base assembly 04 and the rear movable module 131, and the end of the charging head unit 15 close to the charging base assembly 04 and the front movable module 121 can float together, thereby achieving the effect of more smoothly adapting to the charging base assembly 04. The force applied by the two rear upper tension springs 1321 and the two rear lower tension springs 1322 can move the rear movable module 131 and the rear positioning module 113 toward each other. Since the central axis of the charging seat assembly 04 can be nearly horizontal after the vehicle 05 stops in the battery exchange area in most cases, the force applied by the two rear upper tension springs 1321 and the two rear lower tension springs 1322 can prevent the charging head unit 15 from being too far away from the horizontal plane when it is not inserted into the charging seat assembly 04, and can reduce the steps of controlling the central axis angle of the charging head unit 15, thereby improving the charging efficiency.

[0045] In other embodiments, the elastic force of the rear upper tension spring 1321 may be greater than the elastic force of the rear lower tension spring 1322 , thereby compensating for the downward movement caused by the weight of the charging head unit 15 .

[0046] In some embodiments, Figure 2As shown, the circumscribed circle diameter D2 of the connection points between the two rear upper tension springs 1321 and the two rear lower tension springs 1322 and the rear positioning module 113 can be smaller than the circumscribed circle diameter D1 of the connection points between the two rear upper tension springs 1321 and the two rear lower tension springs 1322 and the rear movable module 131. The distance between the connection points of the two rear upper tension springs 1321 and the two rear lower tension springs 1322 at the rear movable module 131 is large enough, and the distance between the connection points of the two rear upper tension springs 1321 and the two rear lower tension springs 1322 at the rear positioning module 113 is small, so that the charging head assembly 01 can be made compact without interfering with each other between the two rear upper tension springs 1321 and the two rear lower tension springs 1322. At the same time, this method can also make the two rear upper tension springs 1321 and the two rear lower tension springs 1322 have a certain inclination relative to the first direction and the second direction, so that the two front upper tension springs 1221 and the two front lower tension springs 1222 can provide sufficient force along the first direction and the second direction for the front movable module 121. When the position error between the charging head unit 15 and the charging base assembly 04 is small, the two rear upper tension springs 1321 and the two rear lower tension springs 1322 can stably limit the movement range of the charging head unit 15 away from one end of the charging base assembly 04 through the rear movable module 131, so that the charging head unit 15 is more flexible near the end of the charging base assembly 04 and the front movable module 121. The charging head unit 15 away from the end of the charging base assembly 04 and the rear movable module 131 will only be displaced when the position error between the charging base assembly 04 and the charging head unit 15 is large, so that the charging head unit 15 away from the end of the charging base assembly 04 provides support when the position error between the charging base assembly 04 and the charging head unit 15 is small, thereby improving the smoothness of the charging head unit 15 inserted into the charging base assembly 04.

[0047] In some embodiments, the elastic force of the rear elastic module 132 can be greater than the elastic force of the front elastic module 122. When the position error between the charging seat assembly 04 and the charging head unit 15 is small, the end of the charging head unit 15 close to the charging seat assembly 04 moves flexibly together with the front movable module 121, and the end of the charging head unit 15 away from the charging seat assembly 04 provides support together with the rear movable module 131; when the position error between the charging seat assembly 04 and the charging head unit 15 is large, the end of the charging head unit 15 away from the charging seat assembly 04 and the rear movable module 131, and the end of the charging head unit 15 close to the charging seat assembly 04 and the front movable module 121 are displaced, thereby making it smoother for the charging head unit 15 to be inserted into the charging seat assembly 04.

[0048] In some embodiments, Figure 7As shown, the front movable module 121 may include a front movable plate 1211, a front movable hole 1212, and a front sliding hole 1213. The front movable plate 1211 may be arranged on a side of the rear positioning module 113 close to the front positioning module 112. The front movable plate 1211 may abut against a side of the front positioning module 112 close to the rear positioning module 113. The front movable plate 1211 may be spaced apart from the rear positioning module 113 to provide a certain movable space for the front movable plate 1211. The end of the front elastic module 122 away from the front positioning module 112 may be detachably connected to the front movable plate 1211. Since the front elastic module 122 is often stretched and compressed and easily damaged, the detachable connection method can facilitate the replacement of the front elastic module 122, which can shorten the maintenance time of the charging head assembly 01. When the front elastic module 122 applies force, the front movable plate 1211 and the front positioning module 112 can move in a direction close to each other. The front movable hole 1212 and the front sliding hole 1213 can be arranged at intervals to avoid interference. The front movable hole 1212 can penetrate from one side of the front movable plate 1211 to the other side along the third direction (the third direction can be the thickness direction of the front movable plate 1211). The charging head unit 15 can pass through the front movable hole 1212 and the rear movable module 131 in sequence. The front movable hole 1212 can be sleeved on the outer peripheral side of the charging head unit 15. The charging head unit 15 can be detachably connected to the front movable hole 1212 and the rear movable module 131 respectively, so that the charging head unit 15 can move with the front movable plate 1211 and the rear movable module 131. The front sliding hole 1213 can penetrate from one side of the front movable plate 1211 to the other side along the third direction. The guide unit 14 can pass through the front sliding hole 1213 and the rear movable module 131 in sequence. The front sliding hole 1213 can be sleeved on the outer peripheral side of the guide unit 14. The guide unit 14 can be detachably connected to the front sliding hole 1213 and the rear movable module 131 respectively, so that the guide unit 14 can move with the front movable plate 1211 and the rear movable module 131.

[0049] In some embodiments, Figure 7As shown, the rear movable module 131 may include a rear movable plate 1311, a rear movable hole 1312, and a rear sliding hole 1313. The rear movable plate 1311 may be arranged on the side of the rear positioning module 113 away from the front positioning module 112. The rear movable plate 1311 may abut against the side of the rear positioning module 113 away from the front positioning module 112. The end of the rear elastic module 132 away from the rear positioning module 113 may be detachably connected to the rear movable plate 1311. Since the rear elastic module 132 is often stretched and compressed and easily damaged, the detachable connection method can facilitate the replacement of the rear elastic module 132. The force applied by the rear elastic module 132 can make the rear movable plate 1311 and the rear positioning module 113 move in a direction close to each other, so that the rear movable plate 1311 can move only when subjected to an external force, and can remain fixed when not subjected to an external force. When there is no error between the positions of the charging head unit 15 and the charging seat assembly 04, the charging head unit 15 can be directly inserted into the charging seat assembly 04. The rear movable hole 1312 and the rear sliding hole 1313 can be arranged at intervals to avoid interference. The rear movable hole 1312 can penetrate from one side of the rear movable plate 1311 to the other side along the third direction (the third direction can be the thickness direction of the front movable plate 1211). The rear movable hole 1312 can be sleeved on the outer peripheral side of the charging head unit 15. The charging head unit 15 can pass through the front movable module 121 and the rear movable hole 1312 in sequence. The charging head unit 15 can be detachably connected to the front movable module 121 and the rear movable hole 1312 respectively, so that the charging head unit 15 can move with the front movable module 121 and the rear movable plate 1311. The rear sliding hole 1313 can penetrate from one side of the rear movable plate 1311 to the other side along the third direction. The guide unit 14 can pass through the front movable module 121 and the rear sliding hole 1313 in sequence. The guide unit 14 can be detachably connected to the front movable module 121 and the rear sliding hole 1313 respectively, so that the guide unit 14 can move with the front movable module 121 and the rear movable plate 1311.

[0050] In some embodiments, Figure 4 , Figure 5 As shown, the front positioning module 112 may include a front positioning plate 1121 and a front positioning hole 1122. The front positioning plate 1121 may be parallel to and spaced apart from the rear positioning module 113. The front positioning plate 1121 may be fixedly connected to the base 111, and the fixed connection method may allow the front positioning plate 1121 to be firmly connected to the base 111, thereby increasing the service life. The side of the front elastic module 122 away from the front movable module 121 may be detachably connected to the front positioning plate 1121, and the detachable connection method may facilitate the replacement of the fragile front elastic module 122. The front positioning hole 1122 may pass through from one side of the front positioning plate 1121 to the other side along a third direction (the third direction may be the thickness direction of the front movable plate 1211).

[0051] The rear positioning module 113 may include a rear positioning plate 1131 and a rear positioning hole 1132. The front positioning plate 1121 may be parallel to the rear positioning plate 1131 and spaced apart. The rear positioning plate 1131 may be fixedly connected to the base 111, and the fixed connection method may allow the rear positioning plate 1131 to be firmly connected to the base 111, thereby increasing the service life. The side of the rear elastic module 132 away from the rear movable module 131 may be detachably connected to the rear positioning plate 1131, and the detachable connection method may facilitate the replacement of the fragile rear elastic module 132. The rear positioning hole 1132 may pass through from one side of the rear positioning plate 1131 to the other side along the third direction. The charging head unit 15 may pass through the front positioning hole 1122 and the rear positioning hole 1132 in sequence. The charging head unit 15 may be detachably connected to the front positioning hole 1122 and the rear positioning hole 1132, respectively.

[0052] In other embodiments, Figure 7 As shown, the front movable module 121 may further include a front abutment ball 1214; a portion of the front abutment ball 1214 may be embedded in the front movable plate 1211. Figure 6 As shown, the front positioning module 112 may also include a front limiting groove 1123. The front limiting groove 1123 is recessed from one side of the front positioning plate 1121 close to the rear positioning plate 1131 toward the other side along the thickness direction of the front positioning plate 1121. The front movable plate 1211 may abut against the limiting groove via the front abutment ball 1214. When the front movable plate 1211 moves, there is rolling friction between the front abutment ball 1214 and the front limiting groove 1123, which may slow down the wear speed of the front positioning module 112, and may further make the relative movement of the front movable plate 1211 and the front positioning module 112 more flexible, so that even if there is a certain error between the positions of the charging head unit 15 and the charging seat assembly 04, the charging head unit 15 may be smoothly inserted into the charging seat assembly 04. As shown Figure 7 As shown, the rear movable module 131 may further include a rear abutment ball 1314; a portion of the rear abutment ball 1314 may be embedded in the rear movable plate 1311. Figure 5As shown, the rear positioning module 113 may also include a rear limiting groove 1133. The rear limiting groove 1133 is recessed from one side of the rear positioning plate 1131 away from the front positioning plate 1121 to the other side along the thickness direction of the rear positioning plate 1131. When the rear movable plate 1311 moves, there is rolling friction between the rear abutment ball 1314 and the rear limiting groove 1133, which can slow down the wear speed of the rear positioning module 113, and can further make the relative movement of the rear movable plate 1311 and the rear positioning module 113 more flexible, even if there is a certain error between the position of the charging head unit 15 and the charging seat assembly 04, the charging head unit 15 can be smoothly inserted into the charging seat assembly 04. The front movable seat unit 12 may include a plurality of front abutment balls 1214; the plurality of front abutment balls 1214 may be arranged at intervals. The plurality of rear abutment balls 1314 can increase the abutment area with the rear positioning module 113, and can make the force of the rear positioning module 113 more uniform. The maximum circumscribed circle diameter of the plurality of rear abutment balls 1314 may be greater than the maximum circumscribed circle diameter of the plurality of front abutment balls 1214. In the process of inserting the charging head unit 15 into the charging seat assembly 04, this method allows the front movable module 121 to move flexibly compared to the rear movable module 131, so that the end of the charging head unit 15 close to the charging seat assembly 04 can not only move in a direction parallel to the front positioning module 112, but also change the angle between the central axis of the charging head unit 15 and the side of the front positioning module 112 away from the front movable module 121, so that the charging head unit 15 can adapt to the charging seat assembly 04 more flexibly and quickly, thereby making the process of inserting the charging head unit 15 into the charging seat assembly 04 smoother. The maximum circumscribed circle diameter of the front abutment ball 1214 may be smaller than the maximum circumscribed circle diameter of the rear elastic module 132 at the connection point of the rear movable module 131, which can further make the front movable module 121 more flexible than the rear movable module 131. The depth of the front limit groove 1123 can be 1 / 5 to 1 / 4 of the diameter of the rear abutment ball 1314; the diameter of the front limit groove 1123 can be larger than the diameter of the rear abutment ball 1314. In this way, the front abutment ball 1214 has a larger range of movement in the front limit groove 1123, making the front movable module 121 more flexible, thereby making the end of the charging head unit 15 close to the charging seat assembly 04 more flexible. When the position error between the charging seat assembly 04 and the charging head unit 15 is large, the shallow depth of the front limit groove 1123 can also allow the front abutment ball 1214 to move from the front limit groove 1123 to the surface of the front positioning plate 1121, so that the front abutment ball 1214 can have a larger range of movement according to actual conditions. When there is an error between the position of the charging head unit 15 and the charging seat assembly 04, the charging head unit 15 can also be inserted into the charging seat assembly 04 and start charging.

[0053] The rear movable seat unit 13 may include a plurality of rear abutment balls 1314; the plurality of rear abutment balls 1314 may be arranged at intervals. The plurality of rear abutment balls 1314 may increase the abutment area with the rear positioning module 113, so that the force of the rear positioning module 113 may be more uniform. The rear positioning module 113 may include a plurality of rear limiting grooves 1133; the rear limiting grooves 1133 may be arranged corresponding to the rear abutment balls 1314, so that each rear abutment ball 1314 may be limited by the rear limiting grooves 1133. The maximum circumscribed circle diameter of the multiple rear abutment balls 1314 can be larger than the maximum circumscribed circle diameter of the rear elastic module 132 at the connection point of the rear movable module 131, which can effectively prevent the rear movable module 131 from being subjected to force from the charging head unit 15 and the guide unit 14, and the abutment ball on one side abuts against the rear positioning module 113 and the rear abutment ball 1314 on the other side is spaced apart from the rear positioning module 113, so that the charging head unit 15 can be more stable away from one end of the charging seat assembly 04, and can provide stable support when the charging head unit 15 is inserted into the charging seat assembly 04. The depth of the rear limit groove 1133 can be 1 / 4~1 / 3 of the diameter of the rear abutment ball 1314, and the diameter of the rear limit groove 1133 can be equal to the diameter of the rear abutment ball 1314. When the rotation of the front movable module 121 is supported, the rear abutment ball 1314 can have a small range of movement when rolling in the rear limit groove 1133, further expanding the movement range of the front movable module 121 and the charging head unit 15 near the end of the charging seat assembly 04; when the position error between the charging head unit 15 and the charging seat assembly 04 is large, so that the rear movable module 131 needs to have a large displacement, the rear abutment ball 1314 can move from the rear limit groove 1133 to the surface of the rear positioning plate 1131, so that when there is a position error between the charging head unit 15 and the charging seat assembly 04, the charging head unit 15 can also be smoothly inserted into the charging seat assembly 04.

[0054] In this embodiment, a charging system is provided, and the charging system includes any charging head assembly 01 in the above embodiments, such as Fig.12 As shown, the charging system may include: a multi-axis robot arm 02, a control component 03, a charging base component 04, and a vehicle 05. The base 111 may be detachably connected to the multi-axis robot arm 02, and the multi-axis robot arm 02 may drive the base 111 to move according to a predetermined program.

[0055] The control component 03 may include a visual sensor 31. The visual sensor 31 is detachably connected to the base 111. The visual sensor 31 can obtain the position of the charging base component 04.

[0056] The charging base assembly 04 can be detachably connected to the vehicle 05. The charging base assembly 04 can be electrically connected to the vehicle 05, and the charging head unit 15 can supplement the power of the vehicle 05 through the charging base assembly 04.

[0057] The charging system may include a charging state. The charging state may include the charging head unit 15 being driven by the multi-axis robot 02 to be electrically connected to the charging base assembly 04 , so that the charging head unit 15 can charge the vehicle 05 through the charging base assembly 04 .

[0058] In other embodiments, the charging head unit 15 may include a charging head cover 151, a charging head core 152, and a cable 153. The charging head cover 151 may pass through the front positioning module 112, the front movable module 121, the rear positioning module 113, and the rear movable module 131 in sequence. The charging head cover 151 may be detachably connected to the front movable module 121 and the rear movable module 131, respectively. The charging head cover 151 may be sleeved on the outer peripheral side of the charging head core 152; the charging head cover 151 may be detachably connected to the charging head core 152; and the charging head core 152 may be electrically connected to the cable 153.

[0059] The multi-axis robot arm 02 may include a support base 21, a movable arm 22, and a terminal rotating arm 23 that are detachably connected in sequence. The support base 21 may be used to support the movable arm 22 and the terminal rotating arm 23. The movable arm 22 may drive the terminal rotating arm 23 to move according to a predetermined program. The terminal rotating arm 23 may be detachably connected to the base 111, and may drive the base 111 to rotate with the central axis of the terminal rotating arm 23 as the rotation center.

[0060] The control component 03 may also include a controller, a position sensor 32, and a sensor support rod 33. Figure 8 As shown, the position sensor 32 can be detachably connected to the guide unit 14 and arranged in the hollow cavity of the guide unit 14, so that the guide unit 14 can resist foreign objects for the position sensor 32. The controller can be electrically connected to the visual sensor 31, the position sensor 32, the sensor support rod 33, and the multi-axis robot 02 respectively, so as to obtain parameters for calculating the moving path of the multi-axis robot 02.

[0061] The vehicle 05 may include a vehicle body 51 and a battery 52. ​​The vehicle body 51 may be detachably connected to the battery 52. ​​The vehicle body 51 may be electrically connected to the battery 52.

[0062] like Fig. 9 , Fig.10 , Fig.11As shown, the charging seat assembly 04 may include an outer seat module 41, a charging seat module 42, and a movable locking module 43. The outer seat module 41 may include an outer seat body 411, a movable cover 412, an elastic part 413, an outer seat positioning hole 414, and an installation light hole 415. The outer seat body 411 may be detachably connected to the battery 52. ​​The outer seat body 411 may be electrically connected to the battery 52. ​​The outer seat positioning hole 414 may be recessed from one side of the outer seat body 411 toward the other side. The installation light hole 415 may pass through from one side of the outer seat body 411 to the other side. The elastic part 413 may be detachably connected to the outer seat body 411. The movable cover 412 may be movably connected to the outer seat body 411. The elastic part 413 may be drivably connected to the movable cover 412. The movable cover 412, driven by the elastic part 413, allows the outer seat body 411 and the movable cover 412 to form a closed space, which can prevent foreign objects from entering when the vehicle 05 is not charged. The charging seat module 42 may include a charging seat body 421 and a charging seat core 422. The mounting light hole 415 may be sleeved on the outer peripheral side of the charging seat body 421. The charging seat body 421 may be sleeved on the outer peripheral side of the charging seat core 422, and the charging seat body 421 may be detachably connected to the charging seat core 422. The charging seat core 422 may be electrically connected to the battery 52. ​​The movable locking module 43 may include an elastic ring 431, a locking bolt 432, and a nut 433. The locking bolt 432 may pass through the charging seat body 421, the outer seat body 411, the elastic ring 431, and the nut 433 in sequence, and the nut 433 may be detachably connected to the locking bolt 432. The elastic ring 431 may be a flexible material, which may allow a certain relative displacement between the charging seat body 421 and the outer seat body 411, thereby further reducing the accuracy requirements during automatic charging. The sensor support rod 33 may be detachably connected to the outer seat body 411.

[0063] The fixed seat unit 11 may also include a cable support module 114. The cable support module 114 may include a support rod 1141 and a sliding groove 1142. One end of the support rod 1141 may be detachably connected to the base 111, and the other end may extend in a direction away from the base 111. The sliding groove 1142 may be detachably connected to the end of the support rod 1141 away from the base 111. Part of the cable 153 may be detachably connected to the sliding groove 1142, thereby avoiding interference with the cable 153 during the movement of the multi-axis robot 02.

[0064] The charging state also includes the movable arm 22 driving the charging head cover 151 on the base 111 through the end rotating arm 23, so that the charging head cover 151 and / or the guide unit 14 push the movable cover 412, so that the charging seat core 422 is electrically connected to the charging head core 152, at least part of the guide unit 14 is located in the space surrounded by the outer seat positioning hole 414, and the position sensor 32 is electrically connected to the sensor support rod 33, so that the charging head unit 15 can recharge the vehicle 05 through the charging seat assembly 04.

[0065] In this embodiment, a charging method is provided, and the charging method is applied to the charging system in the above embodiment, such as Fig.13 As shown, the charging method may include: step S11, based on the triggering of the battery replacement instruction, obtaining the position of the charging seat assembly 04;

[0066] Step S12, based on obtaining the position of the charging base assembly 04, the multi-axis robot arm 02 drives the charging head assembly 01 to move towards the charging base assembly 04;

[0067] Step S13, charging starts based on the electrical connection between the charging head assembly 01 and the charging base assembly 04.

[0068] In this embodiment, if Fig.13 As shown, the charging method may include step S11 to step S13, and each step may be described in detail below.

[0069] In step S11, when the visual sensor 31 detects that the vehicle 05 has arrived at the battery swapping area, a battery swapping instruction can be triggered. After the battery swapping instruction is triggered, the visual sensor 31 can obtain the position of the charging seat assembly 04 on the vehicle 05 in the battery swapping area, thereby making a reasonable judgment on the path for the multi-axis robot arm 02 to drive the charging head unit 15 to move.

[0070] In step S12, after the visual sensor 31 obtains the position of the charging base assembly 04, the multi-axis robot arm 02 can drive the charging head assembly 01 to move toward the charging base assembly 04;

[0071] In step S13 , when the charging head assembly 01 is moved to be electrically connected with the charging base assembly 04 under the drive of the multi-axis robot arm 02 , charging can begin to replenish energy for the vehicle 05 .

[0072] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. A charging head assembly, characterized in that: The charging head assembly comprises: A fixed seat unit, the fixed seat unit comprises a base, a front positioning module, and a rear positioning module; the front positioning module and the rear positioning module are arranged in parallel and at intervals; the front positioning module is fixedly connected to the base; the rear positioning module is fixedly connected to the base; A front movable seat unit, the front movable seat unit comprises a front movable module and a front elastic module; the front movable module is arranged on a side of the rear positioning module close to the front positioning module; the front movable module abuts against the front positioning module; the front movable module and the rear positioning module are arranged at intervals; one end of the front elastic module is detachably connected to the front movable module, and the other end is detachably connected to the front positioning module; the force applied by the front elastic module causes the front movable module and the front positioning module to move towards each other; the front elastic module comprises two front upper tension springs and two front lower tension springs; one end of the front upper tension spring is detachably connected to one side of the front positioning module along a first direction, and the other end is detachably connected to the front movable module; the two front upper tension springs are arranged at intervals along the second direction; one end of the front lower tension spring is detachably connected to the other side of the front positioning module along the first direction, and the other end is detachably connected to the front movable module; the two front lower tension springs are arranged at intervals along the second direction; A rear movable seat unit, the rear movable seat unit comprising a rear movable module and a rear elastic module; the rear movable module is arranged on a side of the rear positioning module away from the front positioning module; the rear movable module abuts against the rear positioning module; one end of the rear elastic module is detachably connected to the rear movable module, and the other end is detachably connected to the rear positioning module; the force applied by the rear elastic module causes the rear movable module and the rear positioning module to move towards each other; d<D, wherein d is the diameter of the circumscribed circle of the front elastic module at the connection point of the front movable module, and D is the diameter of the circumscribed circle of the rear elastic module at the connection point of the rear movable module; A guide unit, the guide unit sequentially passes through the front movable module and the rear movable module; the guide unit is detachably connected to the front movable module and the rear movable module respectively; A charging head unit, the charging head unit passes through the front movable module and the rear movable module in sequence; the charging head unit is detachably connected to the front movable module and the rear movable module respectively.

2. A charging head assembly according to claim 1, characterized in that: d1<D; d1 is the diameter of the circumscribed circle of the two front upper tension springs and the two front lower tension springs at the connection point of the front movable module.

3. A charging head assembly according to claim 2, characterized in that: d2>d1; d2 is the diameter of the circumscribed circle of the two front upper tension springs and the two front lower tension springs at the connection point of the front positioning module.

4. A charging head assembly according to claim 2, characterized in that: The rear elastic module includes two rear upper tension springs and two rear lower tension springs; one end of the rear upper tension spring is detachably connected to one side of the rear positioning module along the first direction, and the other end is detachably connected to the rear movable module; the two rear upper tension springs are spaced apart along the second direction; one end of the rear lower tension spring is detachably connected to the other side of the rear positioning module along the first direction, and the other end is detachably connected to the rear movable module; the two rear lower tension springs are spaced apart along the second direction; d<D1; D1 is the diameter of the circumscribed circle of the two rear upper tension springs and the two rear lower tension springs at the connection point of the rear movable module.

5. A charging head assembly according to claim 4, characterized in that: D2<D1; D2 is the diameter of the circumscribed circle of the two rear upper tension springs and the two rear lower tension springs at the connection point of the rear positioning module.

6. A charging head assembly according to claim 1, characterized in that: The elastic force of the rear elastic module is greater than the elastic force of the front elastic module.

7. A charging head assembly according to claim 1, characterized in that: The front movable module includes a front movable plate, a front movable hole, and a front sliding hole; the front movable plate is arranged on a side of the rear positioning module close to the front positioning module; the front movable plate abuts against the front positioning module; the front movable plate and the rear positioning module are arranged at intervals; the front elastic module is detachably connected to the front movable plate at one end away from the front positioning module; when the front elastic module applies force, the front movable plate and the front positioning module move in the approaching direction; the front movable hole and the front sliding hole are arranged at intervals; the front movable hole passes through from one side of the front movable plate to the other side along the third direction; the charging head unit passes through the front movable hole and the rear movable module in turn; the charging head unit is detachably connected to the front movable hole and the rear movable module respectively; the front sliding hole passes through from one side of the front movable plate to the other side along the third direction; the guide unit passes through the front sliding hole and the rear movable module in turn; the guide unit is detachably connected to the front sliding hole and the rear movable module respectively.

8. A charging head assembly according to claim 1, characterized in that: The rear movable module includes a rear movable plate, a rear movable hole, and a rear sliding hole; the rear movable plate is arranged on a side of the rear positioning module away from the front positioning module; the rear movable plate abuts against the rear positioning module; the rear elastic module is detachably connected to the rear movable plate at one end away from the rear positioning module; when the rear elastic module applies force, the rear movable plate and the rear positioning module move in a approaching direction; the rear movable hole and the rear sliding hole are arranged at intervals; the rear movable hole passes through from one side of the rear movable plate to the other side along a third direction; the charging head unit passes through the front movable module and the rear movable hole in turn; the charging head unit is detachably connected to the front movable module and the rear movable hole, respectively; the rear sliding hole passes through from one side of the rear movable plate to the other side along the third direction; the guide unit passes through the front movable module and the rear sliding hole in turn; the guide unit is detachably connected to the front movable module and the rear sliding hole, respectively.

9. A charging head assembly according to claim 1, characterized in that: The front positioning module comprises a front positioning plate and a front positioning hole; the front positioning plate is parallel to the rear positioning module and is spaced apart; the front positioning plate is fixedly connected to the base; the side of the front elastic module away from the front movable module is detachably connected to the front positioning plate; the front positioning hole passes through from one side of the front positioning plate to the other side along the third direction; The rear positioning module includes a rear positioning plate and a rear positioning hole; the front positioning module is parallel to the rear positioning plate and is spaced apart; the rear positioning plate is fixedly connected to the base; the side of the rear elastic module away from the rear movable module is detachably connected to the rear positioning plate; the rear positioning hole passes through from one side of the rear positioning plate to the other side along a third direction; the charging head unit passes through the front positioning hole and the rear positioning hole in sequence; the charging head unit is detachably connected to the front positioning hole and the rear positioning hole, respectively.

10. A charging system, characterized in that The charging system comprises a charging head assembly as claimed in any one of claims 1 to 9, and the charging system comprises: A multi-axis mechanical arm, wherein the base is detachably connected to the multi-axis mechanical arm; A control component, wherein the control component includes a visual sensor; the visual sensor is detachably connected to the base; Charging dock assembly; A vehicle, wherein the charging seat assembly is detachably connected to the vehicle; and the charging seat assembly is electrically connected to the vehicle; The charging system includes a charging state; the charging state includes the charging seat assembly being electrically connected to the charging head unit.

11. A charging method, characterized in that The charging method is applied to the charging system described in claim 10, and the charging method comprises: Step S11, based on the trigger of the battery replacement instruction, obtaining the position of the charging seat assembly; Step S12, based on obtaining the position of the charging base assembly, the multi-axis robot arm drives the charging head assembly to move toward the charging base assembly; Step S13, starting charging based on the electrical connection between the charging head unit and the charging base assembly.

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