Charging device

Abstract

The invention relates to a charging device which comprises a moving vehicle and a connecting seat, and the connecting seat is installed on the moving vehicle and extends in the vertical direction. The sliding table module is mounted on the connecting seat, and at least part of the sliding table module can swing; the pitching mechanism comprises a pitching fixing seat, a camera and a camera base, the pitching fixing seat is installed at the free end of the sliding table module, and the camera base is installed on the pitching fixing seat in a swinging mode; the rotating telescopic mechanism comprises a rotating part and a telescopic module, the rotating part is connected with the camera base, and the telescopic module is installed on the rotating part and moves along a preset axis; and the charging mechanism is arranged on the moving part of the telescopic module and comprises a clamping assembly for clamping the charging gun so as to charge the to-be-charged equipment. According to the equipment, position movement is achieved through the moving trolley, the sliding table module and the pitching mechanism are matched to adjust the angles of the camera and the charging gun, the rotating telescopic mechanism further adjusts the rotating and telescopic positions of the charging gun, and finally accurate charging is achieved through the charging mechanism.

Description

Technical Field

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

[0002] With the rapid growth of the new energy vehicle market and the widespread application of intelligent driving technology, the demand for electric vehicle charging has become increasingly prominent, especially in public charging stations and private garages. The demand for charging robots has become more urgent. However, the existing intelligent car charging robot system has many limitations and challenges in design:

[0003] First, most charging robots are bulky, which not only increases the complexity of vehicle parking areas, but also places higher requirements on the layout and space utilization of charging stations, limiting their application in narrow or crowded environments.

[0004] Secondly, high cost has become one of the main obstacles to the promotion of intelligent charging robots, including the manufacturing cost, maintenance cost and modification cost of the charging station. The high price makes it difficult to meet the needs of large-scale commercial use and popularization.

[0005] In addition, the energy consumption of the intelligent charging robot during the charging process cannot be ignored. The electricity required for its operation not only increases the overall energy consumption of the charging station, but also poses a challenge to the stability of the power grid.

[0006] Finally, the reliability of traditional charging robots when plugging and unplugging charging guns needs to be improved, especially when faced with differences in specifications and positions of charging ports on different models. The lack of sufficient flexibility and adaptability can easily cause failure in plugging and unplugging the charging gun or damage. Summary of the invention

[0007] The main purpose of the present invention is to provide a charging device to solve the technical problem that the charging devices in the prior art lack flexibility and adaptability when facing the differences in specifications and positions of charging ports of different vehicle models.

[0008] To achieve the above-mentioned purpose, the present application provides a charging device, including: a mobile vehicle and a connecting seat, the connecting seat is installed on the mobile vehicle, and the connecting seat extends in a vertical direction; a slide module, the slide module is installed on the connecting seat, and at least a part of the slide module is swingably arranged; a pitch mechanism, which includes a pitch fixing seat, a camera and a camera base, and the pitch fixing seat is installed at the free end of the slide module to move under the drive of the slide module; the camera is installed on the camera base, and the camera base is swingably installed on the pitch fixing seat to adjust the position of the camera; a rotating and telescopic mechanism, which includes a rotating component and a telescopic module, the rotating component is connected to the camera base to swing under the drive of the camera base; the rotating component includes a rotating component that is rotatably arranged, and the telescopic module is installed on the rotating component to rotate around a predetermined rotation axis under the drive of the rotating component; the telescopic module includes a moving component that is movably arranged along the extension direction of the predetermined rotation axis; a charging mechanism, which is installed on the moving component, and the charging mechanism includes a clamping assembly for clamping a charging gun to charge the device to be charged through the charging gun.

[0009] Furthermore, the pitch mechanism also includes a rotating bracket and a pin, and the camera base is installed on the rotating bracket; a positioning hole and a swing hole are provided on the pitch fixing seat, and the swing hole is an arc hole arranged around the positioning hole; the rotating bracket includes a positioning shaft, and the positioning shaft is passed through the positioning hole; the pin is passed through the rotating bracket hole and the swing hole of the rotating bracket, so as to adjust the pitch angle of the camera and the camera base by adjusting the position of the pin in the swing hole.

[0010] Furthermore, the pitch mechanism also includes a fastening nut, which is threadedly connected to the end of the pin shaft extending out of the swing hole, and the fastening nut abuts against the pitch fixing seat to lock the pin shaft at the corresponding position of the swing hole; the rotating bracket includes a first swing rod, a second swing rod and a connecting rod arranged opposite to each other, the connecting rod is located between the first swing rod and the second swing rod to connect the first swing rod and the second swing rod, and the connecting rod is provided with a connecting lug with a rotating bracket hole; the first swing rod and the second swing rod are both provided with positioning shafts, and positioning holes are both provided on the two opposite side walls of the pitch fixing seat, and the positioning shaft on the first swing rod and the positioning shaft on the second swing rod are respectively inserted into the positioning holes on the two opposite side walls of the pitch fixing seat.

[0011] Furthermore, the rotating and telescopic mechanism also includes a rotating base, which is mounted on the camera base, and a rotating component is mounted on the rotating base. The rotating component also includes a rotating end cover, which is connected to the rotating component, and the telescopic module is mounted on the rotating end cover.

[0012] Furthermore, the telescopic module includes a telescopic motor and a screw rod, the telescopic motor is drivingly connected to the screw rod, the screw rod extends along the extension direction of the predetermined rotation axis, and the movable connecting part is threadedly connected to the screw rod so as to move along the extension direction of the predetermined rotation axis under the drive of the screw rod; the charging assembly is installed on the movable part.

[0013] Furthermore, the telescopic module also includes a motor support seat and a sleeve, the motor support seat is installed on the rotating component, the telescopic motor is installed in the motor support seat, the sleeve is connected to the motor support seat, the screw rod extends into the sleeve, and a support bearing is provided at the end of the sleeve to support the free end of the screw rod through the support bearing; wherein, an avoidance opening for avoiding the movable connecting part is provided on the sleeve, and the avoidance opening extends along the extension direction of the predetermined rotation axis.

[0014] Furthermore, the charging mechanism also includes a clutch and a buffer assembly. The clamping assembly is clamped on the charging gun. The clutch is connected to the moving part. The clutch is connected to the clamping assembly through the buffer assembly. The clamping assembly and the clutch are distributed along the insertion direction of the charging gun. The buffer assembly is telescopically arranged along the insertion direction of the charging gun.

[0015] Furthermore, the buffer assembly includes a plurality of springs, both ends of each spring are respectively connected to the clamping assembly and the clamp, and the plurality of springs are arranged around the gun body of the charging gun.

[0016] Furthermore, the slide module includes a synchronous motor, a driving wheel assembly, a driven wheel assembly, a synchronous belt assembly and a swing arm assembly. The driving wheel assembly and the driven wheel assembly are distributed in the vertical direction and are respectively rotatably installed on the connecting seat. The synchronous belt assembly is sleeved on the driving wheel assembly and the driven wheel assembly, and the synchronous motor is drivingly connected to the driving wheel assembly; the swing arm assembly is installed on the synchronous belt assembly; wherein the swing arm assembly includes a first swing arm and a second swing arm arranged in sequence, the first swing arm and the second swing arm are rotatably arranged relative to each other, and the pitch mechanism is arranged at the free end of the second swing arm.

[0017] Furthermore, the mobile vehicle is an AGV vehicle.

[0018] The charging equipment solution of this application has significant advantages. Through the coordinated work of the mobile vehicle, the slide module, the pitch mechanism, the rotation and telescopic mechanism, and the charging mechanism, the charging gun can accurately charge the devices to be charged at different positions and angles. Its flexibility and adaptability are greatly improved, especially for production environments with a high degree of automation or logistics warehousing systems, effectively improving the charging efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 A three-dimensional schematic diagram of an embodiment of a charging device of the present invention is shown;

[0021] Figure 2 A first-angle stereoscopic diagram of a pitch mechanism of an embodiment of a charging device of the present invention is shown;

[0022] Figure 3 A second-angle stereoscopic diagram of a pitch mechanism of an embodiment of a charging device of the present invention is shown;

[0023] Figure 4 A schematic plan view of a rotating and retracting mechanism of an embodiment of a charging device of the present invention is shown;

[0024] Figure 5 A cross-sectional view along the AA direction of a rotating and retracting mechanism of an embodiment of a charging device of the present invention is shown;

[0025] Figure 6 A three-dimensional schematic diagram of a charging mechanism of an embodiment of a charging device of the present invention is shown;

[0026] Figure 7 A side view of a charging mechanism of an embodiment of a charging device of the present invention is shown;

[0027] Figure 8 A top view of a charging mechanism of an embodiment of a charging device according to the present invention is shown.

[0028] Reference numerals in the disclosure:

[0029] 1. Mobile vehicle; 2. Connecting seat; 3. Slide module; 301. Synchronous motor; 302. Driving wheel assembly; 303. Driven wheel assembly; 304. Synchronous belt assembly; 4. First swing arm; 6. Second swing arm; 9. Pitch mechanism; 901. Pitch fixing seat; 902. Pin shaft; 903. Camera; 904. Camera base; 905. Positioning hole; 906. Fastening nut; 907. Rotating bracket; 907-1. Rotating bracket hole; 907-2. Positioning shaft; 907-3. First swing rod; 907-4. Second swing rod; 907-5, connecting rod; 907-6, connecting lug; 10, rotating and telescopic mechanism; 101, rotating base; 102, rotating part; 103, rotating end cover; 105, motor support seat; 106, telescopic module; 106-1, telescopic motor; 106-2, screw rod; 107, sleeve; 107-1, avoidance opening; 108, moving part; 109, support bearing; 11, charging assembly; 111, clutch; 112, buffer assembly; 112-1, spring; 113, clamping assembly; 12, charging gun. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0032] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0033] The embodiment of the present application provides a charging device, including: a mobile vehicle 1 and a connecting seat 2, the connecting seat 2 is installed on the mobile vehicle 1, and the connecting seat 2 extends in the vertical direction; a slide module 3, the slide module 3 is installed on the connecting seat 2, and at least part of the slide module 3 is swingably arranged; a pitch mechanism 9, which includes a pitch fixing seat 901, a camera 903 and a camera base 904, the pitch fixing seat 901 is installed at the free end of the slide module 3 to move under the drive of the slide module 3; the camera 903 is installed on the camera base 904, and the camera base 904 is swingably installed on the pitch fixing seat 9 01 to adjust the position of the camera 903; a rotating and telescopic mechanism 10, which includes a rotating component 102 and a telescopic module 106, the rotating component 102 is connected to the camera base 904 to swing under the drive of the camera base 904; the rotating component 102 includes a rotatably arranged rotating component, and the telescopic module 106 is installed on the rotating component 102 to rotate around a predetermined rotation axis under the drive of the rotating component 102; a charging mechanism, which is installed on the moving component 108, and the charging mechanism includes a clamping assembly for clamping the charging gun 12 to charge the charging device through the charging gun 12.

[0034] By applying the technical solution of the present invention, the mobile vehicle 1, the slide module 3, the pitch mechanism 9, the rotation and telescopic mechanism 10 and the charging mechanism work together to achieve accurate charging of the charging gun 12 for devices to be charged at different positions and angles. Its flexibility and adaptability are greatly improved, and it is particularly suitable for production environments or logistics warehousing systems with a high degree of automation, effectively improving the charging efficiency.

[0035] In the above embodiment, this design enables the charging device to adapt to charging interfaces at different heights, thereby improving the flexibility and scope of application of the device. This capability is particularly important in automated production lines or smart warehouses, because the devices to be charged may be located at different heights, and traditional fixed-height charging stations cannot meet the needs. The swinging ability of the slide module 3 further enhances the adaptability of the device, ensuring that the charging gun 12 is accurately aligned with the charging interface even when the position of the target device is fine-tuned or the device itself is slightly offset. This is very critical for devices operating in dynamic environments, such as AGV carts, because their positions may change with changes in tasks. The telescopic module 106 includes a movable component 108 that is movably arranged along the extension direction of a predetermined rotation axis; the use of the rotating telescopic mechanism 10 enables the charging gun 12 to not only rotate in the horizontal direction, but also to telescope in the vertical direction. This all-round adjustment capability ensures that the charging interface can be accurately aligned in any complex environment, greatly improving the success rate and efficiency of charging. The pitch angle adjustment function of the camera 903 enables the device to identify and locate the charging port at different angles. Even if the port is located above or below the device, the image can be captured by adjusting the angle of the camera 903 for precise positioning. This is particularly useful for devices that are charged on multi-layer shelves or in high-bay warehouses, as the charging ports may be located in different vertical positions. The clamping assembly of the charging mechanism can firmly fix the charging gun 12, ensuring the stability of the charging gun 12 during the charging process, avoiding charging failures due to vibration or movement, and improving the reliability and safety of charging.

[0036] Furthermore, the pitch mechanism 9 also includes a rotating bracket 907 and a pin 902, and the camera base 904 is installed on the rotating bracket 907; the rotating bracket 907 includes a positioning shaft 907-2, and the positioning shaft 907-2 is inserted into the positioning hole 905; the pitch fixing seat 901 is provided with a positioning hole 905 and a swing hole, and the swing hole is an arc hole arranged around the positioning hole 905, and the pin 902 is inserted into the rotating bracket hole 907-1 and the swing hole of the rotating bracket 907, so as to adjust the pitch angle of the camera 903 and the camera base 904 by adjusting the position of the pin 902 in the swing hole. This mechanical adjustment method is simple and reliable, does not require an additional power source, reduces the complexity and cost of the equipment, and ensures the accuracy and stability of the angle adjustment of the camera 903. The pitch mechanism 9 of the mechanical adjustment method not only simplifies the equipment structure and reduces the maintenance cost, but also ensures the accuracy of the positioning of the camera 903, which is crucial for charging in an environment with high precision requirements. For example, in factories for semiconductor manufacturing or precision instrument assembly, the location of the charging interface of the equipment often needs to be accurate to the millimeter level. The mechanically adjusted pitch mechanism 9 can meet this high-precision positioning requirement, ensuring the smooth progress of the charging process, while also reducing energy consumption and cost issues caused by the increased complexity of the equipment.

[0037] Furthermore, the pitch mechanism 9 further includes a fastening nut 906, which is threadedly connected to the end of the pin shaft 902 extending out of the swing hole, and the fastening nut 906 abuts against the pitch fixing seat 901 to lock the pin shaft 902 at the corresponding position of the swing hole; the rotating bracket 907 includes a first swing rod 907-3, a second swing rod 907-4 and a connecting rod 907-5 which are arranged opposite to each other, and the connecting rod 907-5 is located between the first swing rod 907-3 and the second swing rod 907-4 to connect the first swing rod 907-3 The first and second swing arms 907-4 and the connecting rod 907-5 are provided with a connecting lug 907-6 having a rotating bracket hole 907-1; the first and second swing arms 907-3 and 907-4 are both provided with a positioning shaft 907-2, and the two opposite side walls of the pitch fixing seat 901 are both provided with positioning holes 905, and the positioning shafts 907-2 on the first and second swing arms 907-3 and 907-4 are respectively inserted into the positioning holes 905 on the two opposite side walls of the pitch fixing seat 901. The pin 902 is locked by tightening the nut 906, which ensures that the angle of the camera 903 after adjustment is stable, avoids the angle change caused by vibration during the charging process, and improves the accuracy of positioning. At the same time, the design of the first and second swing arms 907-3 and 907-4 increases the stability and strength of the structure, and can withstand the additional load of the camera 903 during the adjustment process. The use of the fastening nut 906 and the pin 902, as well as the structural design of the first swing arm 907-3 and the second swing arm 907-4, together enhance the stability of the camera 903 after the angle is adjusted, and avoid the angle change of the camera 903 caused by the vibration of the device in a complex working environment, which is especially important for charging devices in a high-dynamic environment. For example, in logistics centers in earthquake-prone areas, the stability and earthquake resistance of the equipment are crucial. The design of the fastening nut 906 and the double swing arm can ensure that even in a slight earthquake or device vibration, the camera 903 can still maintain the preset angle, accurately identify and locate the charging interface, and ensure the reliable operation of the charging device in various environments.

[0038] Furthermore, the rotating telescopic mechanism 10 also includes a rotating base 101, which is mounted on the camera base 904, and a rotating component 102 is mounted on the rotating base 101. The rotating component 102 also includes a rotating end cover 103, which is connected to the rotating component, and a telescopic module 106 is mounted on the rotating end cover 103. The arrangement of the rotating base 101 and the rotating end cover 103 not only provides a mounting platform for the rotating component 102, but also ensures a stable connection between the rotating component 102 and the telescopic module 106, so that the telescopic action and the rotation action can be coordinated, thereby improving the overall operating efficiency and accuracy of the device. The structure of the rotating base 101 and the rotating end cover 103 provides a solid physical foundation for the efficient operation of the rotating telescopic mechanism 10, ensuring the coordination of the telescopic and rotation actions, which is essential for automatically finding and connecting the charging port in a changing environment. For example, in an outdoor unmanned logistics delivery system, the equipment may need to travel on complex terrain. The coordinated action of the rotating and telescopic mechanism 10 can ensure that the charging gun 12 can be quickly and accurately aligned with the charging port even when the angle and distance need to be greatly adjusted, thereby ensuring the continuous operation of the equipment and delivery efficiency.

[0039] Furthermore, the telescopic module 106 includes a telescopic motor 106-1 and a screw 106-2, the telescopic motor 106-1 is drivingly connected to the screw 106-2, the screw 106-2 extends along the extension direction of the predetermined rotation axis, and the movable connecting member is threadedly connected to the screw 106-2 to move along the extension direction of the predetermined rotation axis under the drive of the screw 106-2; the charging assembly 11 is installed on the moving part 108. The combination of the telescopic motor 106-1 and the screw 106-2 provides precise telescopic control, which can adjust the telescopic distance of the charging gun 12 according to the specific position of the device to be charged, ensure the accurate docking of the charging gun 12 with the charging interface, and improve the efficiency and success rate of charging. The precise coordination of the telescopic motor 106-1 and the screw 106-2 enables the telescopic module 106 to accurately control the telescopic movement of the charging gun 12 within a range of several millimeters to several meters, which is very critical for charging automated equipment in factories or warehouses with complex layouts. For example, in a dense production line layout, the space between devices is extremely limited. The precise control of the telescopic module 106 can ensure that the charging gun 12 can be accurately connected to the charging port even in the narrowest space, avoiding charging failures due to space limitations and improving the continuous operation capability and operating efficiency of the production line.

[0040] Furthermore, the telescopic module 106 also includes a motor support seat 105 and a sleeve 107. The motor support seat 105 is installed on the rotating component 102. The telescopic motor 106-1 is installed in the motor support seat 105. The sleeve 107 is connected to the motor support seat 105. The screw rod 106-2 extends into the sleeve 107. The end of the sleeve 107 is provided with a support bearing 109 to support the free end of the screw rod 106-2 through the support bearing 109; wherein, the sleeve 107 is provided with an avoidance opening 107-1 for avoiding the moving connecting member, and the avoidance opening 107-1 extends along the extension direction of the predetermined rotation axis. The setting of the motor support seat 105 and the sleeve 107 not only provides a stable installation position for the telescopic motor 106-1, but also supports the screw rod 106-2 through the support bearing 109, thereby ensuring the smoothness and accuracy of the telescopic action. The design of the avoidance opening 107-1 avoids interference between the mobile connector and the sleeve 107 during movement, ensuring smooth telescopic movement. The design of the motor support seat 105 and the sleeve 107 not only solves the installation problem of the telescopic motor 106-1, but also ensures the stability of the screw rod 106-2 during high-speed movement through the support bearing 109, avoiding the problem of inaccurate telescopic movement caused by the vibration of the screw rod 106-2. The design of the avoidance opening 107-1 further ensures the smooth movement of the mobile connector, which is crucial for accurate charging in environments with high precision requirements, such as production lines for precision electronic equipment. It can ensure that even with the slightest adjustment requirements, the charging gun 12 can be accurately and correctly docked to the charging port, avoiding charging failures due to equipment interference or poor movement, and improving the stability and efficiency of the production line.

[0041] Furthermore, the charging mechanism also includes an clasper 111 and a buffer assembly 112, a clamping assembly 113 is clamped on the charging gun 12, the clasper 111 is connected to the moving part 108, the clasper 111 is connected to the clamping assembly 113 through the buffer assembly 112, the clamping assembly 113 and the clasper 111 are distributed along the insertion direction of the charging gun 12, and the buffer assembly 112 is telescopically arranged along the insertion direction of the charging gun 12. The arrangement of the clasper 111 and the buffer assembly 112 allows the charging gun 12 to be inserted more gently into the charging interface, avoiding damage to the charging gun 12 or the interface caused by hard collision, extending the service life of the device, and also improving the safety of the charging process. The design of the clutch 111 and the buffer component 112 greatly improves the safety and reliability of the connection between the charging gun 12 and the interface, especially in high-speed automated equipment, such as high-speed AGV vehicles. This design can ensure that the charging gun 12 can be smoothly and accurately inserted into the charging interface even during high-speed connection, avoiding equipment damage caused by high-speed collisions and ensuring the continuous operation and production efficiency of the equipment. At the same time, the buffer component 112 can absorb the impact force during the connection process, extend the service life of the charging gun 12 and the interface, and reduce the maintenance cost of the equipment.

[0042] Furthermore, the buffer assembly 112 includes a plurality of springs 112-1, and the two ends of each spring 112-1 are respectively connected to the clamping assembly 113 and the clutch 111, and the plurality of springs 112-1 are arranged around the gun body of the charging gun 12. The use of the plurality of springs 112-1 not only provides sufficient buffering force, but also ensures the uniform distribution of the buffering force by surrounding the gun body of the charging gun 12, so that the charging gun 12 can be more stable when contacting the charging interface, and the reliability and efficiency of charging are improved. The buffering design of the plurality of springs 112-1 surrounding the gun body ensures that a uniform buffering effect can be obtained regardless of the direction from which the charging interface is inserted, which is crucial for charging requirements in multiple directions and angles. For example, in an intelligent logistics system, the AGV trolley may need to approach the charging station from the front, side or even obliquely. The design of the plurality of springs 112-1 can ensure smooth docking when the charging interface is inserted at any angle, thereby improving the flexibility and efficiency of the charging process, while reducing equipment damage caused by improper angles and extending the service life of the overall system.

[0043] Furthermore, the slide module 3 includes a synchronous motor 301, a driving wheel assembly 302, a driven wheel assembly 303, a synchronous belt assembly 304 and a swing arm assembly. The driving wheel assembly 302 and the driven wheel assembly 303 are distributed in the vertical direction and are rotatably mounted on the connecting seat 2 respectively. The synchronous belt assembly 304 is sleeved on the driving wheel assembly 302 and the driven wheel assembly 303. The synchronous motor 301 is drivingly connected to the driving wheel assembly 302; the swing arm assembly is mounted on the synchronous belt assembly 304; wherein the swing arm assembly includes a first swing arm 4 and a second swing arm 6 which are arranged in sequence, the first swing arm 4 and the second swing arm 6 are relatively rotatably arranged, and the pitch mechanism 9 is arranged at the free end of the second swing arm 6. The combination of the slide module 3 and the swing arm assembly realizes the precise movement and swinging of the device in the vertical direction. This high-precision positioning capability is particularly important for charging in a dense device environment, which can avoid charging failures caused by inaccurate positioning and improve the charging efficiency and reliability of the device. The high-precision positioning capability of the slide module 3 and the swing arm assembly enables the charging device to accurately locate the charging object in a dense equipment environment, avoiding charging failures caused by positioning errors, especially in equipment-intensive scenarios, such as between multi-layer shelves in smart warehouses. This design ensures that even in the most compact space, the charging gun 12 can accurately find the charging port, improving the space utilization and charging efficiency of the overall system. At the same time, the rotatable design of the swing arm assembly enables the charging gun 12 to be fine-tuned in the horizontal direction, further improving the positioning accuracy, which plays a significant role in ensuring the safety and reliability of equipment charging in complex environments.

[0044] Furthermore, the mobile vehicle 1 is an AGV. As a mobile vehicle 1, the AGV can not only navigate autonomously, but also move flexibly in a complex environment without manual intervention, which greatly improves the automation of the charging equipment and reduces the operating cost. It is particularly suitable for large warehouses, factories or logistics centers. These places usually have a large number of equipment and are widely distributed. The use of AGV can achieve efficient and automated charging management. As a mobile platform for charging equipment, the AGV has the ability to navigate autonomously and move flexibly, so that the charging equipment can automatically find and connect to the receiving charging equipment without manual intervention, which is particularly important for the automated management of large warehouses, factories or logistics centers. In these places, there are a large number of equipment and they are widely distributed. Manual charging is not only inefficient, but also increases operating costs. The use of the AGV fully automates the charging process, and can efficiently manage charging according to the real-time location and charging needs of the equipment, greatly improving the continuous operation capability of the automated equipment, reducing labor costs, and also improving the operating efficiency and response speed of the entire system. For example, in large storage centers, AGV carts can autonomously navigate between shelves and find equipment that needs to be charged, achieving precise positioning and efficient docking for charging, ensuring the continuous operation of the entire storage system and improving logistics efficiency.

[0045] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A charging device, characterized in that: include: A moving vehicle (1) and a connecting seat (2), wherein the connecting seat (2) is mounted on the moving vehicle (1), and the connecting seat (2) extends in a vertical direction; A slide module (3), the slide module (3) being mounted on the connecting seat (2), and at least a part of the slide module (3) being swingably arranged; A pitch mechanism (9), the pitch mechanism (9) comprising a pitch fixing seat (901), a camera (903) and a camera base (904), the pitch fixing seat (901) being mounted on the free end of the slide module (3) so as to move under the drive of the slide module (3); the camera (903) being mounted on the camera base (904), and the camera base (904) being swingably mounted on the pitch fixing seat (901) so as to adjust the position of the camera (903); A rotating and telescopic mechanism (10), the rotating and telescopic mechanism (10) comprising a rotating component (102) and a telescopic module (106), the rotating component (102) being connected to the camera base (904) so ​​as to swing under the drive of the camera base (904); the rotating component (102) comprising a rotating component rotatably arranged, the telescopic module being mounted on the rotating component so as to rotate around a predetermined rotation axis under the drive of the rotating component; the telescopic module comprising a moving component (108) movably arranged along the extension direction of the predetermined rotation axis; A charging mechanism is installed on the moving part (108), and comprises a clamping assembly (11) for clamping a charging gun (12) so as to charge a device to be charged through the charging gun (12).

2. The charging device according to claim 1, characterized in that: The pitch mechanism (9) further comprises a rotating bracket (907) and a pin (902), and the camera base (904) is mounted on the rotating bracket (907); a positioning hole (905) and a swing hole (908) are provided on the pitch fixing seat (901), and the swing hole (908) is an arc-shaped hole arranged around the positioning hole (905); the rotating bracket (907) comprises a positioning shaft (907-2), and the positioning shaft (907-2) is inserted into the positioning hole (905); the pin (902) is inserted into the rotating bracket hole (907-1) and the swing hole (908) of the rotating bracket (907), so as to adjust the pitch angle of the camera (903) and the camera base (904) by adjusting the position of the pin (902) in the swing hole (908).

3. The charging device according to claim 2, characterized in that: The pitch mechanism (9) further comprises a fastening nut (906), wherein the fastening nut (906) is threadedly connected to the end of the pin shaft (902) extending out of the swing hole (908), and the fastening nut (906) abuts against the pitch fixing seat (901) to lock the pin shaft (902) at a corresponding position of the swing hole (908); and / or The rotating bracket (907) comprises a first swing rod (907-3), a second swing rod (907-4) and a connecting rod (907-5) which are arranged opposite to each other. The connecting rod (907-5) is located between the first swing rod (907-3) and the second swing rod (907-4) to connect the first swing rod (907-3) and the second swing rod (907-4). The connecting rod (907-5) is provided with a connecting lug (907-1) having the rotating bracket hole (907-1). 07-6); the first rocker arm (907-3) and the second rocker arm (907-4) are both provided with the positioning shaft (907-7), and the two opposite side walls of the pitch fixing seat (901) are both provided with the positioning hole (905), and the positioning shaft (907-7) on the first rocker arm (907-3) and the positioning shaft on the second rocker arm (907-4) are respectively inserted into the positioning holes (905) on the two opposite side walls of the pitch fixing seat (901).

4. The charging device according to claim 1, characterized in that: The rotating telescopic mechanism (10) further comprises a rotating base (101), wherein the rotating base (101) is mounted on a camera base (904), wherein the rotating component (102) is mounted on the rotating base (101), wherein the rotating component (102) further comprises a rotating end cover (103), wherein the rotating end cover (103) is connected to the rotating component, and wherein the telescopic module (106) is mounted on the rotating end cover (103).

5. The charging device according to claim 1, characterized in that: The telescopic module (106) comprises a telescopic motor (106-1) and a screw rod (106-2), wherein the telescopic motor (106-1) is drivingly connected to the screw rod (106-2), the screw rod (106-2) extends along the extension direction of the predetermined rotation axis, and the movable connecting member (108) is threadedly connected to the screw rod (106-2) so as to move along the extension direction of the predetermined rotation axis under the drive of the screw rod (106-2); the charging component (11) is mounted on the movable member (108).

6. The charging device according to claim 5, characterized in that: The telescopic module (106) further comprises a motor support seat (105) and a sleeve (107), wherein the motor support seat (105) is mounted on the rotating component (102), the telescopic motor (106-1) is mounted in the motor support seat (105), the sleeve (107) is connected to the motor support seat (105), the screw rod (106-2) extends into the sleeve (107), and a support bearing (109) is provided at the end of the sleeve (107) so as to support the free end of the screw rod (106-2) through the support bearing (109); wherein the sleeve (107) is provided with an avoidance opening (107-1) for avoiding the movable connecting member (108), and the avoidance opening (107-1) extends along the extension direction of the predetermined rotation axis.

7. The charging device according to any one of claims 1 to 6, characterized in that: The charging mechanism (11) further comprises a clutch (111) and a buffer assembly (112); the clamping assembly (113) is clamped on the charging gun (12); the clutch (111) is connected to the moving component (108); the clutch (111) is connected to the clamping assembly (113) via the buffer assembly (112); the clamping assembly (113) and the clutch (111) are distributed along the insertion direction of the charging gun (12); and the buffer assembly (112) is telescopically arranged along the insertion direction of the charging gun (12).

8. The charging device according to claim 7, characterized in that: The buffer assembly (112) comprises a plurality of springs (112-1), the two ends of each of the springs (112-1) being respectively connected to the clamping assembly (113) and the clutch (111), and the plurality of springs (112-1) are arranged around the gun body of the charging gun (12).

9. The charging device according to any one of claims 1 to 6, characterized in that: The slide module (3) comprises a synchronous motor (301), a driving wheel assembly (302), a driven wheel assembly (303), a synchronous belt assembly (304) and a swing arm assembly. The driving wheel assembly (302) and the driven wheel assembly (303) are distributed in the vertical direction and are rotatably mounted on the connecting seat (2) respectively. The synchronous belt assembly (304) is sleeved on the driving wheel assembly (302) and the driven wheel assembly (303). The synchronous motor (301) is drivingly connected to the driving wheel assembly (302); the swing arm assembly is mounted on the synchronous belt assembly (304); wherein the swing arm assembly comprises a first swing arm (4) and a second swing arm (6) which are arranged in sequence. The first swing arm (4) and the second swing arm (6) are rotatably arranged relative to each other, and the pitch mechanism (9) is arranged at the free end of the second swing arm (6).

10. The charging device according to any one of claims 1 to 6, characterized in that: The mobile vehicle (1) is an AGV vehicle.

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