Charging alignment assembly and charging method

Abstract

The invention provides a charging alignment assembly and a charging method, and the charging alignment assembly comprises a first detection part which is connected with a charging cylindrical structure of a charging station, the first detection part is used for detecting a first rotation angle theta 1 of the charging cylindrical structure, and the charging cylindrical structure is rotatably arranged around the axis of the charging cylindrical structure; the second detection piece is connected with a charging shaft of the to-be-charged piece, the second detection piece is used for detecting a second rotation angle theta 2 of the charging shaft, the to-be-charged piece is movably arranged in the axial direction of the charging shaft, and the charging shaft of the to-be-charged piece is rotatably arranged around the axis of the charging shaft; and the first detection piece and the second detection piece are both in communication connection with the charging barrel-shaped structure so as to control the charging barrel-shaped structure to rotate according to the second rotation angle theta 2 until the second rotation angle theta 1 is equal to theta 2 + n * 360 degrees, so that the charging shaft is connected with the charging barrel-shaped structure in an inserted mode. The problem that in the prior art, the charging efficiency of an inspection robot is low is solved.

Description

Technical Field

[0001] The invention relates to the technical field of mining inspection robots, and in particular to a charging alignment component and a charging method. Background Art

[0002] Mining inspection robots are usually powered by batteries. When the batteries are low, they need to be charged at a charging station. Since the charging hole of the charging station is an irregular rectangle and the charging shaft of the inspection robot is a tapered shaft, when the charging shaft of the inspection robot is inserted into the charging hole, the charging shaft and the charging hole are usually misaligned. The charging shaft needs to be adjusted multiple times, which takes a long time to charge the inspection robot and results in low charging efficiency. Summary of the invention

[0003] The main purpose of the present invention is to provide a charging alignment component and a charging method to solve the problem of low charging efficiency of the inspection robot in the prior art.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a charging alignment assembly is provided, including: a first detection member, connected to a charging cylindrical structure of a charging station, the first detection member being used to detect a first rotation angle θ1 of the charging cylindrical structure, the charging cylindrical structure being rotatably arranged around the axis of the charging cylindrical structure; a second detection member, connected to a charging shaft of a member to be charged, the second detection member being used to detect a second rotation angle θ2 of the charging shaft, the member to be charged being movably arranged along the axial direction of the charging shaft, the charging shaft of the member to be charged being rotatably arranged around the axis of the charging shaft; the first detection member and the second detection member are both communicatively connected with the charging cylindrical structure to control the rotation of the charging cylindrical structure according to the second rotation angle θ2, until θ1=θ2+n*360°, so that the charging shaft is plug-connected with the charging cylindrical structure.

[0005] Furthermore, the charging alignment assembly also includes a third detection member, which is arranged on the member to be charged, and is used to detect the real-time distance between the charging axis and the charging cylindrical structure. The third detection member is communicatively connected with the member to be charged to control the member to be charged to move along the axial direction of the charging axis toward the charging cylindrical structure when the real-time distance is less than a first preset safety distance.

[0006] Furthermore, a charging hole is provided in the charging cylindrical structure, and the shape of the charging hole is adapted to the shape of the charging shaft so that the charging shaft can be inserted into the charging hole to enable the charging shaft to be plugged and connected to the charging cylindrical structure.

[0007] Furthermore, the charging station and the part to be charged are relatively arranged on a movable track along the axial direction of the charging axis, and a blocking member is provided on the movable track. The blocking member is arranged between the part to be charged and the charging station, and the blocking member is used to abut against at least part of the part to be charged to limit the part to be charged.

[0008] Furthermore, the charging station also includes a first driving member and a first control member, the output shaft of the first driving member is drivingly connected to the charging cylindrical structure, the first detection member is connected to the first control member, the first control member is connected to the movable track, and the first detection member is sleeved on the driving shaft of the first driving member and is rotationally connected to the driving shaft of the first driving member.

[0009] Furthermore, the part to be charged also includes a second driving part, a power generating part and a second controlling part. The power generating part is electrically connected to the charging shaft, the power generating part is connected to the second controlling part, the second controlling part is connected to the movable track, the second driving part and the second controlling part are drivingly connected, and the second detecting part is sleeved on the charging shaft and rotationally connected to the charging shaft.

[0010] Furthermore, the blocking member includes a blocking plate, the extension direction of the blocking plate is perpendicular to the extension direction of the charging axis, and the second control member is provided with a support frame connected to the movable track, and the support frame abuts against the plate surface of the blocking plate.

[0011] Furthermore, a first controller is provided in the first control component, a second controller is provided in the second control component, the first detection component is communicatively connected to the first controller, the first controller is communicatively connected to the second controller, and the second controller is communicatively connected to the second detection component and the third detection component.

[0012] According to another aspect of the present invention, a charging method is provided, comprising the following steps: S100, obtaining a second rotation angle θ2 and a first rotation angle θ1, and controlling the rotation of the charging cylindrical structure according to the second rotation angle θ2 until θ1=θ2+n*360°; S200, after θ1=θ2+n*360°, the component to be charged moves along the axial direction of the charging axis toward the direction close to the charging cylindrical structure until the real-time distance between the charging axis and the charging cylindrical structure is equal to a second preset safety distance.

[0013] Furthermore, the charging method also includes the following steps: S300, before obtaining the second rotation angle θ2 and the first rotation angle θ1, the charged component moves along the axial direction of the charging axis toward the charging cylindrical structure until the third detection component detects that the real-time distance between the charging axis and the charging cylindrical structure is equal to the first preset safety distance.

[0014] By applying the technical solution of the present invention, the charging alignment component includes a first detection member and a second detection member. Before the charging shaft is plugged and connected with the charging cylindrical structure, the first detection member detects the first rotation angle θ1 of the charging cylindrical structure, and the second detection member detects the second rotation angle θ2 of the charging shaft. The rotation of the charging cylindrical structure is controlled according to the second rotation angle θ2, so that θ1=θ2+n*360°, thereby ensuring that the charging shaft can be aligned with the charging hole in the charging cylindrical structure and that the charging shaft can be quickly plugged and connected with the charging cylindrical structure, thereby eliminating the need to adjust the angle of the charging shaft multiple times, reducing the charging time of the inspection robot, and solving the problem of low charging efficiency of the inspection robot in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 The figure shows an assembly diagram of a charging station and a charged object of a charging alignment assembly according to the present invention.

[0017] The above drawings include the following reference numerals:

[0018] 101. First detection member; 102. Charging cylindrical structure; 103. Second detection member; 104. Charging axis; 105. Third detection member; 107. Moving track; 109. First driving member; 110. Power generating member; 111. Second driving member; 112. First control member; 113. Second control member; 114. Blocking plate; 115. Support frame. DETAILED DESCRIPTION

[0019] 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.

[0020] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0021] Please refer to Figure 1 The present invention provides a charging alignment component, including: a first detection member 101, connected to a charging cylindrical structure 102 of a charging station, the first detection member 101 is used to detect a first rotation angle θ1 of the charging cylindrical structure 102, and the charging cylindrical structure 102 is rotatably arranged around the axis of the charging cylindrical structure 102; a second detection member 103, connected to a charging shaft 104 of a part to be charged, the second detection member 103 is used to detect a second rotation angle θ2 of the charging shaft 104, the part to be charged is movably arranged along the axial direction of the charging shaft 104, and the charging shaft 104 of the part to be charged is rotatably arranged around the axis of the charging shaft 104; the first detection member 101 and the second detection member 103 are both communicatively connected with the charging cylindrical structure 102 to control the rotation of the charging cylindrical structure 102 according to the second rotation angle θ2, until θ1=θ2+n*360°, so that the charging shaft 104 is plug-connected with the charging cylindrical structure 102.

[0022] The charging alignment assembly of the present invention includes a first detection member 101 and a second detection member 103. Before the charging shaft 104 is plugged and connected with the charging cylindrical structure 102, the first detection member 101 detects the first rotation angle θ1 of the charging cylindrical structure 102, and the second detection member 103 detects the second rotation angle θ2 of the charging shaft 104, and the rotation of the charging cylindrical structure 102 is controlled according to the second rotation angle θ2, so that θ1=θ2+n*360°, thereby ensuring that the charging shaft 104 can be aligned with the charging hole in the charging cylindrical structure 102, and ensuring that the charging shaft 104 can be quickly plugged and connected with the charging cylindrical structure 102, thereby eliminating the need to adjust the angle of the charging shaft multiple times, reducing the charging time of the inspection robot, and thus solving the problem of low charging efficiency of the inspection robot in the prior art.

[0023] Specifically, n is 0, 1, 2, 3, 4, ...

[0024] Optionally, the component to be charged is an inspection robot.

[0025] Specifically, since the charging shaft 104 is aligned with the charging hole in the charging cylindrical structure 102 before the charging shaft 104 is plugged and connected with the charging cylindrical structure 102, the charging shaft 104 does not need to rotate while being inserted into the charging cylindrical structure, resulting in wear at the joint between the charging shaft 104 and the charging cylindrical structure 102, thereby increasing the service life of the charging shaft 104 and the charging cylindrical structure 102.

[0026] Optionally, the first detecting member 101 and the second detecting member 103 are encoders.

[0027] In this embodiment, the charging alignment assembly also includes a third detection member 105, which is arranged on the part to be charged. The third detection member 105 is used to detect the real-time distance between the charging axis 104 and the charging cylindrical structure 102. The third detection member 105 is communicated with the part to be charged to control the part to be charged to move along the axial direction of the charging axis 104 toward the charging cylindrical structure 102 when the real-time distance is less than the first preset safety distance.

[0028] Specifically, the real-time distance between the charging shaft 104 and the charging cylindrical structure 102 is detected by the third detection member 105, so that the charged member can stop moving when the real-time distance is equal to the first preset safety distance, thereby ensuring that the alignment work between the charging shaft 104 and the charging hole in the charging cylindrical structure 102 is completed before the charging shaft 104 is plugged and connected with the charging cylindrical structure 102.

[0029] Specifically, after the alignment work between the charging shaft 104 and the charging hole in the charging cylindrical structure 102 is completed, the charged component continues to move along the axial direction of the charging shaft 104 until the real-time distance is equal to the second preset safety distance and stops moving, so as to prevent the charging shaft 104 from entering the charging cylindrical structure 102 for too long, causing the charging shaft 104 to wear and the charging shaft 104 to be stuck in the charging cylindrical structure 102.

[0030] Optionally, the third detection member 105 is an RFID card reader. An RFID tag card 1 and an RFID identification card 2 are attached to the position of the mobile track 107 near the charging station. When the third detection member 105 identifies the RFID tag card 1, the third detection member 105 detects that the real-time distance is equal to the first preset safety distance; when the third detection member 105 identifies the RFID tag card 2, the third detection member 105 detects that the real-time distance is equal to the second preset safety distance.

[0031] In this embodiment, a charging hole is provided in the charging cylindrical structure 102 , and the shape of the charging hole is adapted to the shape of the charging shaft 104 , so that the charging shaft 104 can be inserted into the charging hole, so that the charging shaft 104 is plugged and connected to the charging cylindrical structure 102 .

[0032] Specifically, the charging shaft 104 is inserted into the charging hole so that the charging shaft 104 is plugged and connected with the charging cylindrical structure 102 , thereby ensuring the connection reliability between the charging shaft 104 and the charging cylindrical structure 102 .

[0033] Optionally, the charging hole is a square hole with a certain depth; the charging axis 104 is a quadrangular pyramid axis, a triangular pyramid, a hexagonal pyramid, a plum blossom pyramid or other conical structures.

[0034] In this embodiment, the charging station and the part to be charged are relatively arranged on the movable track 107 along the axial direction of the charging axis 104. A blocking member is provided on the movable track 107. The blocking member is arranged between the part to be charged and the charging station. The blocking member is used to abut against at least part of the part to be charged to limit the part to be charged.

[0035] Specifically, by at least partially abutting the blocking member against the member to be charged, the blocking member can limit the position of the member to be charged, thereby preventing the charging shaft 104 from entering the charging cylindrical structure 102 too long, causing the charging shaft 104 to wear and the charging shaft 104 to be stuck in the charging cylindrical structure 102.

[0036] Specifically, when the blocking member abuts against at least a portion of the member to be charged, the third detecting member 105 detects that the real-time distance between the charging shaft 104 and the charging cylindrical structure 102 is equal to the second preset safety distance.

[0037] In this embodiment, the charging station also includes a first driving member 109 and a first control member 112. The output shaft of the first driving member 109 is drivingly connected to the charging cylindrical structure 102. The first detection member 101 is connected to the first control member 112. The first control member 112 is connected to the movable track 107. The first detection member 101 is sleeved on the driving shaft of the first driving member 109 and is rotationally connected to the driving shaft of the first driving member 109.

[0038] Specifically, the first control member 112 is used to connect the movable track 107 and the charging station; the first detection member 101 is mounted on the driving shaft of the first driving member 109 and is rotatably connected to the driving shaft of the first driving member 109, ensuring that the driving shaft of the first driving member 109 can drive the charging tube structure to rotate relative to the first detection member 101, ensuring that the first detection member 101 can accurately detect the first rotation angle θ1 of the charging tube structure 102.

[0039] In this embodiment, the part to be charged also includes a second driving part 111, a power generating part 110 and a second control part 113. The power generating part 110 is electrically connected to the charging shaft 104, the power generating part 110 is connected to the second control part 113, the second control part 113 is connected to the movable track 107, the second driving part 111 and the second control part 113 are drivingly connected, and the second detection part 103 is sleeved on the charging shaft 104 and is rotationally connected to the charging shaft 104.

[0040] Specifically, the second detection member 103 is sleeved on the charging shaft 104 and is rotatably connected to the charging shaft 104 , thereby ensuring that the charging shaft 104 can rotate relative to the second detection member 103 , and ensuring that the second detection member 103 can accurately detect the second rotation angle θ2 of the charging shaft 104 .

[0041] In this embodiment, the blocking member includes a blocking plate 114 , the extension direction of the blocking plate 114 is perpendicular to the extension direction of the charging axis 104 , and a support frame 115 connected to the movable track 107 is provided on the second control member 113 , and the support frame 115 abuts against the plate surface of the blocking plate 114 .

[0042] Specifically, by abutting the blocking plate 114 against the support frame 115 , the blocking plate 114 can limit the charged component to prevent the charging shaft 104 from entering the charging cylindrical structure 102 too long, causing the charging shaft 104 to wear and the charging shaft 104 to be stuck in the charging cylindrical structure 102 .

[0043] In this embodiment, a first controller is provided in the first control component 112, a second controller is provided in the second control component 113, the first detection component 101 is communicatively connected to the first controller, the first controller is communicatively connected to the second controller, and the second controller is communicatively connected to the second detection component 103 and the third detection component 105.

[0044] Specifically, the first detection member 101 can transmit the rotation angle information of the charging cylindrical structure 102 to the first controller in real time, and the second detection member 103 can transmit the rotation angle information of the charging axis 104 to the second controller in real time. At the same time, the first controller is communicatively connected with the second controller, and the second controller can feed back the second rotation angle θ2 to the first controller, thereby ensuring that the first controller can control the rotation of the charging cylindrical structure 102 according to the second rotation angle θ2.

[0045] Specifically, the first controller is connected to the second controller via Ethernet (4G, 5G), and the second controller is connected to the second detection component 103 and the third detection component 105, forming a complete communication and control network that can coordinate the actions between the charging station and the charged component to ensure the accuracy and safety of the charging process.

[0046] Specifically, the first controller is connected to the first driving member 109 for communication, and the second controller is connected to the second driving member 111 for communication.

[0047] The present invention also provides a charging method, comprising the following steps: S100, obtaining a second rotation angle θ2 and a first rotation angle θ1, and controlling the rotation of the charging cylindrical structure 102 according to the second rotation angle θ2 until θ1=θ2+n*360°; S200, after θ1=θ2+n*360°, controlling the component to be charged to move along the axial direction of the charging axis 104 toward the direction close to the charging cylindrical structure 102 until the real-time distance between the charging axis 104 and the charging cylindrical structure 102 is equal to the second preset safety distance.

[0048] In this embodiment, the charging method also includes the following steps: S300, before obtaining the second rotation angle θ2 and the first rotation angle θ1, controlling the charged component to move along the axial direction of the charging axis 104 toward the charging cylindrical structure 102 until the third detection component 105 detects that the real-time distance between the charging axis 104 and the charging cylindrical structure 102 is equal to the first preset safety distance.

[0049] During specific implementation, 1. after the installation of the mobile track 107, the charged component and the charging station is completed, the RFID marker card 1 and the RFID identification card 2 are pasted on the position of the mobile track 107 near the charging station, and the second driving member 111 controls the charged component to move along the axial direction of the charging shaft 104 toward the direction close to the charging cylindrical structure 102. When the third detection member 105 recognizes the RFID marker card 1, the third detection member 105 detects that the real-time distance between the charging shaft 104 and the charging cylindrical structure 102 is equal to the first preset safety distance, the charged component stops moving, the first detection member 101 starts to detect the first rotation angle θ1 of the charging cylindrical structure 102, and the second detection member 103 starts to detect the second rotation angle θ2 of the charging shaft 104.

[0050] 2. The first detection member 101 feeds back the first rotation angle θ1 to the first controller, and the second detection member 103 feeds back the second rotation angle θ2 to the first controller. The first controller compares the second rotation angle θ2 with the first rotation angle θ1, and the first controller controls the first driving member 109 to drive the charging cylindrical structure 102 of the charging station to rotate until θ1=θ2+n*360°, ensuring that the alignment work between the charging shaft 104 and the charging hole in the charging cylindrical structure 102 is completed.

[0051] 3. After θ1=θ2+n*360°, the second driving member 111 controls the component to be charged to move along the axial direction of the charging shaft 104 toward the charging cylindrical structure 102, so that the charging shaft 104 is gradually inserted into the charging hole. When the third detection member 105 recognizes the RFID tag card 2, the third detection member 105 detects that the real-time distance between the charging shaft 104 and the charging cylindrical structure 102 is equal to the second preset safety distance. The component to be charged stops moving and sends a charging permission instruction to the charging station.

[0052] 4. After receiving the charging permission instruction from the device to be charged, the charging station starts to supply power to the device to be charged until the charging of the device to be charged is completed.

[0053] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0054] The charging alignment assembly of the present invention includes a first detection member 101 and a second detection member 103. Before the charging shaft 104 is plugged and connected with the charging cylindrical structure 102, the first detection member 101 detects the first rotation angle θ1 of the charging cylindrical structure 102, and the second detection member 103 detects the second rotation angle θ2 of the charging shaft 104, and the rotation of the charging cylindrical structure 102 is controlled according to the second rotation angle θ2, so that θ1=θ2+n*360°, thereby ensuring that the charging shaft 104 can be aligned with the charging hole in the charging cylindrical structure 102, and ensuring that the charging shaft 104 can be quickly plugged and connected with the charging cylindrical structure 102, thereby eliminating the need to manually adjust the angle of the charging shaft multiple times, thereby reducing the charging time of the inspection robot, thereby solving the problem of low charging efficiency of the inspection robot in the prior art.

[0055] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0056] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0057] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0058] 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 alignment assembly, characterized in that: include: A first detection member (101) is connected to a charging cylindrical structure (102) of the charging station, the first detection member (101) is used to detect a first rotation angle θ1 of the charging cylindrical structure (102), and the charging cylindrical structure (102) is rotatably arranged around an axis of the charging cylindrical structure (102); A second detection member (103) is connected to a charging shaft (104) of the member to be charged, the second detection member (103) is used to detect a second rotation angle θ2 of the charging shaft (104), the member to be charged is movably arranged along the axial direction of the charging shaft (104), and the charging shaft (104) of the member to be charged is rotatably arranged around the axis of the charging shaft (104); The first detection member (101) and the second detection member (103) are both connected in communication with the charging cylindrical structure (102) to control the rotation of the charging cylindrical structure (102) according to the second rotation angle θ2 until θ1=θ2+n*360°, so that the charging shaft (104) is plugged and connected with the charging cylindrical structure (102).

2. The charging alignment assembly according to claim 1, characterized in that: The charging alignment assembly also includes a third detection member (105), which is arranged on the member to be charged, and is used to detect the real-time distance between the charging shaft (104) and the charging cylindrical structure (102). The third detection member (105) is communicatively connected with the member to be charged so as to control the member to be charged to move along the axial direction of the charging shaft (104) toward the charging cylindrical structure (102) when the real-time distance is less than a first preset safety distance.

3. The charging alignment assembly according to claim 1, characterized in that: A charging hole is provided in the charging cylindrical structure (102), and the shape of the charging hole is adapted to the shape of the charging shaft (104), so that the charging shaft (104) can be inserted into the charging hole, so that the charging shaft (104) and the charging cylindrical structure (102) are plugged and connected.

4. The charging alignment assembly according to claim 1, characterized in that: The charging station and the part to be charged are arranged relatively to each other on a movable track (107) along the axial direction of the charging axis (104); a blocking member is arranged on the movable track (107); the blocking member is arranged between the part to be charged and the charging station; the blocking member is used to abut against at least part of the part to be charged so as to limit the position of the part to be charged.

5. The charging alignment assembly according to claim 4, characterized in that: The charging station further comprises a first driving member (109) and a first control member (112); the output shaft of the first driving member (109) is drivingly connected to the charging cylindrical structure (102); the first detecting member (101) is connected to the first control member (112); the first control member (112) is connected to the movable track (107); the first detecting member (101) is sleeved on the driving shaft of the first driving member (109) and is rotationally connected to the driving shaft of the first driving member (109).

6. The charging alignment assembly according to claim 5, characterized in that: The member to be charged further comprises a second driving member (111), a power generating member (110) and a second control member (113); the power generating member (110) is electrically connected to the charging shaft (104); the power generating member (110) is connected to the second control member (113); the second control member (113) is connected to a movable track (107); the second driving member (111) is drivingly connected to the second control member (113); and the second detecting member (103) is sleeved on the charging shaft (104) and is rotationally connected to the charging shaft (104).

7. The charging alignment assembly according to claim 6, characterized in that: The blocking member comprises a blocking plate (114), the extension direction of the blocking plate (114) is perpendicular to the extension direction of the charging axis (104), and the second control member (113) is provided with a support frame (115) connected to the movable track (107), and the support frame (115) abuts against the plate surface of the blocking plate (114).

8. The charging alignment assembly according to claim 6, characterized in that: A first controller is disposed in the first control component (112), a second controller is disposed in the second control component (113), the first detection component (101) is communicatively connected to the first controller, the first controller is communicatively connected to the second controller, and the second controller is communicatively connected to the second detection component (103) and the third detection component (105).

9. A charging method, characterized in that: The following steps are involved: S100, obtaining a second rotation angle θ2 and a first rotation angle θ1, and controlling the charging cylindrical structure (102) to rotate according to the second rotation angle θ2 until θ1=θ2+n*360°; S200, after θ1=θ2+n*360°, control the part to be charged to move along the axial direction of the charging axis (104) toward the charging cylindrical structure (102) until the real-time distance between the charging axis (104) and the charging cylindrical structure (102) is equal to a second preset safety distance.

10. The charging method according to claim 9, characterized in that: The charging method further comprises the following steps: S300, before obtaining the second rotation angle θ2 and the first rotation angle θ1, control the to-be-charged component to move along the axial direction of the charging axis (104) toward the charging cylindrical structure (102) until the third detection component (105) detects that the real-time distance between the charging axis (104) and the charging cylindrical structure (102) is equal to a first preset safety distance.

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