Six-degree-of-freedom multi-position calibration platform, self-adaptive automobile wireless charging calibration mechanism and method thereof

Abstract

The invention discloses a six-degree-of-freedom multi-position calibration platform, a self-adaptive automobile wireless charging calibration mechanism and a method thereof, and aims to solve the problem that an automobile possibly cannot be ensured to run in a charging area all the time or deviate in the charging area, so that a coupling mechanism is easily misaligned. A bottom sliding part is arranged at the bottom of a lower supporting plate, an upper supporting platform is arranged above the lower supporting plate, and a transmitting end coil is arranged on the upper supporting platform; three telescopic rods are arranged between the upper supporting frame and the lower supporting frame; the six-degree-of-freedom multi-position calibration platform is arranged between the multi-direction transmission assembly and the bearing plate, and the six-degree-of-freedom multi-position calibration platform is driven by the multi-direction transmission assembly to do multi-direction and multi-posture reciprocating motion; the multi-direction transmission assembly drives the six-degree-of-freedom multi-position calibration platform to complete adjustment in the X direction and / or the Y direction, and the multi-degree-of-freedom self-adjustment process of pitching, deflection and lifting of the six-degree-of-freedom multi-position calibration platform is completed till the vehicle-mounted receiving end coil and the transmitting end coil are in the stable transmission state.

Description

Technical Field

[0001] The present invention specifically relates to a six-degree-of-freedom multi-position calibration platform, an adaptive automobile wireless charging calibration mechanism and a method thereof. Background Art

[0002] With the continuous advancement of technology and the reduction of costs, wireless charging is expected to become one of the standard configurations of future cars. This will further promote the intelligent and electrified development of the automotive industry. The main advantage of wireless charging for cars is that wireless charging for cars eliminates the cumbersome steps of plugging and unplugging cables in traditional wired charging, making the charging process more convenient. Users do not need to worry about the entanglement, damage or loss of cables. Wireless charging devices are usually designed to be more compact, which can make more effective use of the space in the car. Without the constraints of cables, the interior environment appears neater and more beautiful. Wireless charging also effectively avoids the risk of device damage or electric shock caused by improper plugging and unplugging of cables. The automatic alignment charging function ensures the stability and safety of the device during the charging process. Users can place the device in the charging area for charging anytime and anywhere without looking for cables or sockets. Wireless charging technology can be combined with the car's intelligent system to achieve smarter charging management. Wireless charging reduces the use and waste of cables, which is beneficial to environmental protection. In the process of using wireless charging for automobiles, the automatic alignment charging method is specifically to charge the car when it is parked in a standard parking space with a wireless charging function. Although it is automatic alignment charging, it often requires extremely strict requirements on the parking position of the car. Even experienced drivers do not park in the correct position at one time. Because in wireless charging, the coupling structure requires the two coils to be calibrated with each other, and the car is easily misaligned when it is parked manually, resulting in reduced power transmission efficiency and increased losses. Frequent misalignment and offset lead to improper handling of misalignment details during the implementation of wireless charging of automobiles, which leads to obstacles in promotion. There is no standardized handling method that can accurately avoid misaligned parking.

[0003] In addition, in dynamic situations, the car travels along the main road. During this process, due to the turning of the lanes and the influence of other traffic participants, the car may not be able to ensure that it always stays in the charging area or may deviate within the charging area, which may easily cause the coupling mechanism to become misaligned.

[0004] In view of the above two situations, an adaptive wireless charging transmitter calibration mechanism is designed, which can respond quickly when the car is misaligned and adjust the position of the transmitter coil and the coupling angle in time to adapt to the deviation of the car and different power transmission requirements. Summary of the invention

[0005] In order to solve the problems mentioned in the above background technology, the purpose of the present invention is to provide a six-degree-of-freedom multi-position calibration platform and an adaptive automobile wireless charging transmitter calibration mechanism composed of the platform.

[0006] A six-degree-of-freedom multi-position calibration platform, comprising a lower support plate, a bottom sliding member, an upper support platform, a transmitting end coil and four multi-degree-of-freedom support seats, wherein the lower support plate is horizontally arranged, the bottom sliding member is arranged at the bottom of the lower support plate, the upper support platform is arranged above the lower support plate, the upper support platform is a rectangular platform, each end corner of the upper support platform is connected to the lower support plate through a multi-degree-of-freedom support seat, and a transmitting end coil is arranged on the top surface of the upper support platform; Each multi-degree-of-freedom support seat includes an upper support frame, a lower support frame and three telescopic rods. The upper support frame and the lower support frame are arranged between the upper support platform and the lower support plate from top to bottom. Three telescopic rods are arranged between the upper support frame and the lower support frame. The upper ends of the three telescopic rods are gathered and arranged on the upper support frame. The upper end of each telescopic rod is hinged to the bottom of the upper support frame. The lower ends of the three telescopic rods are dispersedly arranged on the top of the lower support frame, and the lower end of each telescopic rod is hinged to the top of the lower support frame.

[0007] An adaptive automobile wireless charging calibration mechanism is composed of the above-mentioned six-degree-of-freedom multi-position calibration platform, including a vehicle-mounted receiving end coil, a load-bearing plate, a support box, a multi-directional transmission component and a six-degree-of-freedom multi-position calibration platform, wherein the support box is horizontally arranged, and the top of the support box is an open end, the multi-directional transmission component is arranged in the support box, the load-bearing plate is arranged at the top of the support box, and the load-bearing plate is processed with an opening along the plate thickness direction, the six-degree-of-freedom multi-position calibration platform is arranged between the multi-directional transmission component and the load-bearing plate, the top of the six-degree-of-freedom multi-position calibration platform is arranged in the opening, the bottom of the six-degree-of-freedom multi-position calibration platform is slidably matched with the multi-directional transmission component, and the six-degree-of-freedom multi-position calibration platform performs multi-directional and multi-posture reciprocating motion under the drive of the multi-directional transmission component; The six-degree-of-freedom multi-position calibration platform includes a lower support plate, a bottom sliding member, an upper support platform, a transmitting end coil and four multi-degree-of-freedom support seats, wherein the lower support plate is horizontally arranged, the bottom sliding member is arranged at the bottom of the lower support plate, the upper support platform is arranged above the lower support plate, the upper support platform is a rectangular platform, each end corner of the upper support platform is connected to the lower support plate through a multi-degree-of-freedom support seat, a transmitting end coil is arranged on the top surface of the upper support platform, and a vehicle-mounted receiving end coil is arranged above the transmitting end coil; Each multi-degree-of-freedom support seat includes an upper support frame, a lower support frame and three telescopic rods. The upper support frame and the lower support frame are arranged between the upper support platform and the lower support plate from top to bottom. Three telescopic rods are arranged between the upper support frame and the lower support frame. The upper ends of the three telescopic rods are gathered and arranged on the upper support frame. The upper end of each telescopic rod is hinged to the bottom of the upper support frame. The lower ends of the three telescopic rods are dispersedly arranged on the top of the lower support frame, and the lower end of each telescopic rod is hinged to the top of the lower support frame.

[0008] An adaptive automobile wireless charging calibration method is implemented using the above-mentioned adaptive automobile wireless charging calibration mechanism. The adaptive automobile wireless charging calibration method is: Install the on-board receiving coil at the bottom of the car, drive the car to the support box in the adaptive car wireless charging calibration mechanism, first drive the car to move to a distance of 30~80cm from the location of the six-degree-of-freedom multi-position calibration platform, and then complete the large and small orderly adjustment process of the six-degree-of-freedom multi-position calibration platform, specifically: First, the six-degree-of-freedom multi-position calibration platform is driven by the multi-directional transmission component to complete the adjustment in the X and / or Y directions. Then, the six-degree-of-freedom multi-position calibration platform's own pitch, yaw and lift multi-degree-of-freedom self-adjustment process is completed through the cooperation between the lower support plate, the bottom sliding part, the upper support platform, the transmitting end coil and the four multi-degree-of-freedom support seats, until the vehicle-mounted receiving end coil and the transmitting end coil are in a stable transmission state.

[0009] Compared with the prior art, the present invention has the following beneficial effects: The six-degree-of-freedom multi-position calibration platform in the present invention is a multi-degree-of-freedom support structure with independent control positions at its multiple end corners. Through the cooperation between the lower support plate, the bottom sliding part, the upper support platform and the four multi-degree-of-freedom support seats, a composite micro-motion adjustment process of the pitch, translation and lifting of the transmitting end coil can be realized, which is conducive to the precise adjustment process of the small-range alignment of the transmitting end coil.

[0010] The adaptive automobile wireless charging calibration mechanism in the present invention can realize the alternating process of large-range multi-degree-of-freedom coarse adjustment and small-range multi-degree-of-freedom fine adjustment of the transmitting end coil through the mutual cooperation between the vehicle-mounted receiving end coil, the load-bearing plate, the supporting box, the multi-directional transmission component and the six-degree-of-freedom multi-position calibration platform. The large-range multi-degree-of-freedom coarse adjustment responds quickly, and the small-range multi-degree-of-freedom fine adjustment can realize the refined pitch, translation and lifting of the middle and end angular position of the transmitting end coil on demand, which is conducive to the fast and accurate adaptation and matching process between the vehicle-mounted receiving end coil and the transmitting end coil.

[0011] The adaptive automobile wireless charging calibration mechanism of the present invention can be used in a variety of usage situations, especially when the automobile is misaligned, it can still respond quickly and adjust the position of the transmitting coil and the coupling angle in time to adapt to the deviation of the automobile and different power transmission requirements.

[0012] The adaptive automobile wireless charging calibration mechanism in the present invention can realize a dual-motion alignment method or a dynamic and static combined tracking processing method. The dual-motion alignment method is that the adaptive automobile wireless charging calibration mechanism and the automobile move simultaneously until the vehicle-mounted receiving end coil and the transmitting end coil are in an adaptive alignment position; the dynamic and static combined tracking processing method is a process of adjusting the transmitting end coil to quickly track and align the vehicle-mounted receiving end coil when the position of the vehicle-mounted receiving end coil is fixed and the adaptation distance with the transmitting end coil is large.

[0013] 5. The adaptive automobile wireless charging calibration method in the present invention is a special and fast calibration method based on the adaptive automobile wireless charging calibration mechanism. The operation mode is flexible and standardized. After the large and small orderly adjustments of the six-degree-of-freedom multi-position calibration platform, a fast and accurate adaptation and matching process is achieved between the vehicle-mounted receiving coil and the transmitting coil. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] For ease of explanation, the present invention is described in detail with reference to the following specific embodiments and accompanying drawings.

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the six-degree-of-freedom multi-position calibration platform; Figure 2 It is a side view structural diagram of a six-degree-of-freedom multi-position calibration platform; Figure 3 It is a top view structural schematic diagram of a six-degree-of-freedom multi-position calibration platform; Figure 4 A side structural diagram showing the connection relationship between the upper support frame, the lower support frame and the three telescopic rods; Figure 5 A first three-dimensional structural schematic diagram of the connection relationship between the upper support frame, the lower support frame and the three telescopic rods; Figure 6 A second three-dimensional structural schematic diagram of the connection relationship between the upper support frame, the lower support frame and the three telescopic rods; Figure 7 Schematic diagram of the three-dimensional structure of the telescopic rod; Figure 8 is a schematic diagram of the three-dimensional structure of the lower support frame; Fig. 9 is a schematic diagram of the three-dimensional structure of the upper support frame; Fig.10 A schematic diagram of the structure of the connection relationship between the upper support frame and the three telescopic rods when viewed from above; Fig.11 It is a top view structural schematic diagram of the connection relationship between the multi-degree-of-freedom support seat and the lower support plate; Fig.12 It is a schematic diagram of the upward structure of the six-degree-of-freedom multi-position calibration platform; Fig.13 It is a top view structural schematic diagram of the connection relationship between the second drive motor, the axial transmission shaft, the lateral support frame, the second bevel gear assembly, the axial lead screw and the six-degree-of-freedom multi-position calibration platform; Fig.14 It is a three-dimensional structural schematic diagram of the connection relationship between the lower support plate, the bottom sliding member, the upper support platform, the multi-degree-of-freedom support seat, the transmitting end coil, the second drive motor, the axial transmission shaft, the lateral support frame, the second bevel gear assembly and the axial lead screw; Fig.15 A top view structural schematic diagram of the connection relationship between the multi-directional transmission assembly and the six-degree-of-freedom multi-position calibration platform; Fig.16 A side view structural diagram of the connection relationship between the multi-directional transmission assembly and the six-degree-of-freedom multi-position calibration platform; Fig.17 It is a top view structural schematic diagram of the connection relationship between the vehicle-mounted receiving end coil, the bearing plate and the stopper; Fig.18 It is a side view structural schematic diagram of an adaptive automobile wireless charging calibration mechanism; Fig.19 A schematic diagram of the position and direction of the coordinate axis for establishing between the adaptive automobile wireless charging calibration mechanism and the automobile; Fig. 20 The top view structural diagram of the connection relationship between the upper support platform, the multi-degree-of-freedom support seat and the transmitting end coil, in which the maximum offset distance of the six-degree-of-freedom multi-position calibration platform is 150mm; Fig.21 It is a top view structural schematic diagram of the connection relationship between the six-degree-of-freedom multi-position calibration platform and the multi-directional transmission assembly, in which the six-degree-of-freedom multi-position calibration platform is twisted 10° along the Y direction; Fig. 22 It is a three-dimensional structural schematic diagram of the connection relationship between the automobile and the adaptive automobile wireless charging calibration mechanism, in which the automobile moves toward the adaptive automobile wireless charging calibration mechanism; Fig.23 A usage status diagram of the adaptive automobile wireless charging calibration mechanism cooperating with the automobile to perform position calibration; Fig.24 It is a schematic diagram of the principle of changing the posture of each end angle of the six-degree-of-freedom motion platform; Fig.25 The following is a comparison chart of the motion posture changes of the six-degree-of-freedom multi-position calibration platform when it rotates 5 degrees along the X-axis and Y-axis respectively.

[0016] In the figure: 1 - lower support plate; 2 - bottom sliding part; 2-1 - circular through hole; 2-2 - limiting convex rib; 3 - upper support platform; 4 - multi-degree-of-freedom support base; 4-1 - upper support frame; 4-2 - lower support frame; 4-3 - telescopic rod; 5 - transmitting end coil; 6 - vehicle-mounted receiving end coil; 7 - load-bearing plate; 8 - support box body; 9-1 - C-shaped support frame; 9-2 - Y-direction transmission shaft; 9-3 - first driving motor; 9-4 - first bevel gear assembly; 9-5 - Y-direction lead screw; 9-6 - second driving motor; 9-7 - X-direction transmission shaft; 9-8 - transverse support frame; 9-9 - second bevel gear assembly; 9-10 - X-direction lead screw; 10 - six-degree-of-freedom multi-position calibration platform; 11 - opening; 20 - vehicle; 13 - stop block. Detailed implementation mode

[0017] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be described below through specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and do not limit the scope of the present invention. The structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in this technology to understand and read, and are not used to limit the limiting conditions under which the present invention can be implemented. Therefore, they do not have technical essence. Any modification of the structure, change of the ratio relationship or adjustment of the size, without affecting the effects that the present invention can produce and the objectives that can be achieved, should still fall within the scope covered by the technical content disclosed by the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0018] Here, it should also be noted that in order to avoid obscuring the present invention due to unnecessary details, only the structures and / or processing steps closely related to the solution according to the present invention are shown in the drawings, and other details less related to the present invention are omitted.

[0019] Detailed implementation mode one: Combine Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig. 20 , Fig.21 , Fig. 22 , Fig.24 and Fig.25The six-degree-of-freedom multi-position calibration platform 10 of the present embodiment is a platform structure that can independently adjust each end angle. The six-degree-of-freedom multi-position calibration platform 10 includes a lower support plate 1, a bottom sliding member 2, an upper support platform 3, a transmitting end coil 5 and four multi-degree-of-freedom support seats 4. The lower support plate 1 is horizontally arranged, and the lower support plate 1 plays a bottom support role. The bottom sliding member 2 is arranged at the bottom of the lower support plate 1. The bottom sliding member 2 is a matching component that increases the sliding movement of the lower support plate 1. Fig.12 As shown, the bottom sliding member 2 includes a plurality of slide plates, and the plurality of slide plates are arranged at the end corners of the lower support plate 1. When the lower support plate 1 is a rectangular or square plate body, the number of correspondingly configured slide plates is four, and the four slide plates are respectively arranged at the four end corners of the bottom of the lower support plate 1; In this embodiment, the upper support platform 3 is arranged above the lower support plate 1. The upper support platform 3 is a rectangular plate. Each end corner of the upper support platform 3 is connected to the lower support plate 1 through a multi-degree-of-freedom support seat 4. A transmitting end coil 5 is arranged on the top surface of the upper support platform 3. Furthermore, the skateboard is a rectangular plate body, and an arc groove is processed on the bottom of the skateboard. The inner wall of the arc groove is an arc wall, and the longitudinal cross-section shape of the arc groove along the groove height direction is an arc shape. The central angle corresponding to the arc groove is less than 180 degrees. When the central angle corresponding to the arc groove is 180 degrees, the arc groove is replaced by a circular through hole 2-1.

[0020] Furthermore, both sides of the bottom of the slide plate are processed with limiting ridges 2-2 respectively, which are used to cooperate with the slide plate in the sliding movement and to assist in regulating the sliding trajectory.

[0021] In this embodiment, the multi-degree-of-freedom support seat 4 is a multi-degree-of-freedom support member used locally at the end corners. Each multi-degree-of-freedom support seat 4 includes an upper support frame 4-1, a lower support frame 4-2 and three telescopic rods 4-3. The upper support frame 4-1 and the lower support frame 4-2 are arranged between the upper support platform 3 and the lower support plate 1 from top to bottom, and three telescopic rods 4-3 are arranged between the upper support frame 4-1 and the lower support frame 4-2. The upper ends of the three telescopic rods 4-3 are gathered and arranged on the upper support frame 4-1, and the upper end of each telescopic rod 4-3 is hinged at the bottom of the upper support frame 4-1. The lower ends of the three telescopic rods 4-3 are dispersedly arranged at the top of the lower support frame 4-2, and the lower end of each telescopic rod 4-3 is hinged at the top of the lower support frame 4-2. Through the different telescopic lengths and angles of the three telescopic rods 4-3, the upper support frame 4-1 and the lower support frame 4-2 are driven to different posture states in different pitch, yaw or lifting positions.

[0022] Furthermore, the respective telescopic lengths and angles of the multiple telescopic rods 4 - 3 can be controlled by existing electrical controls, and the existing electrical control program can be used to achieve rapid adjustment response of the corresponding positions.

[0023] Specific implementation method two: This implementation method is a further limitation of specific implementation method one. In this implementation method, the upper support frame 4-1 is a small L-shaped support frame, and the lower support frame 4-2 is a large L-shaped support frame. The composite frame structure of the upper and lower positions of the L-shape can realize multi-posture movement under the streamlined hinge structure of the three telescopic rods 4-3. The triangular layout formed by the three telescopic rods 4-3 is conducive to the formation of posture conversion under a stable state, and improves the durability support effect of the multi-degree-of-freedom support seat 4. The upper ends of the three telescopic rods 4-3 are respectively hinged at the middle and both ends of the upper support frame 4-1, and the lower ends of the three telescopic rods 4-3 are respectively hinged. Connected to the middle and both ends of the lower support frame 4-2, that is, the first telescopic rod 4-3 of the three telescopic rods 4-3 is hinged between one end of the upper support frame 4-1 and one end of the lower support frame 4-2, the second telescopic rod 4-3 of the three telescopic rods 4-3 is hinged between the middle of the upper support frame 4-1 and the middle of the lower support frame 4-2, the third telescopic rod 4-3 of the three telescopic rods 4-3 is hinged between the middle of the upper support frame 4-1 and the middle of the lower support frame 4-2, the middle of the upper support frame 4-1 is the intersection of its own horizontal section and vertical section, and similarly, the lower support frame 4-2 is the intersection of its own horizontal section and vertical section.

[0024] Specific implementation method three: This implementation method is a further limitation of specific implementation methods one or two. In this implementation method, the telescopic rod 4-3 is a hydraulic support rod or a gas spring. The telescopic rod 4-3 is an existing product, and its working principle is the same as the working principle of the existing hydraulic support rod or gas spring.

[0025] Furthermore, the telescopic rod 4-3 may also be provided with an electrical control unit for controlling its telescopic length and rotation angle in real time.

[0026] Specific implementation method four: Combination Figures 1 to 25The present embodiment is described. The adaptive automobile wireless charging calibration mechanism in the present embodiment can adapt to the misalignment between the receiving end and the transmitting end during the wireless charging of the automobile, and provide a matching mechanism for the automobile 20 to quickly and adaptively calibrate and adjust the position. The mechanism provides a solution for the design of the wireless charging structure layout and design of the future new energy automobile 20. The adaptive automobile wireless charging calibration mechanism specifically includes an on-board receiving end coil 6, a bearing plate 7, a support box 8, a multi-directional transmission component and a six-degree-of-freedom multi-position calibration platform 10. The support box 8 is horizontally arranged, and the top of the support box 8 is an open end. The multi-directional transmission component is arranged in the support box 8, and the bearing plate 7 is arranged at the top of the support box 8. The bearing plate 7 is processed with an opening 11 along the thickness direction thereof. The six-degree-of-freedom multi-position calibration platform 10 is arranged between the multi-directional transmission component and the bearing plate 7. The top of the six-degree-of-freedom multi-position calibration platform 10 is arranged in the opening 11. The bottom of the six-degree-of-freedom multi-position calibration platform 10 is slidably matched with the multi-directional transmission component. The six-degree-of-freedom multi-position calibration platform 10 makes multi-directional and multi-posture reciprocating motions driven by the multi-directional transmission component. Among them, two blocks 13 are arranged side by side on the top surface of the load-bearing plate 7. The two blocks 13 are used to provide limiting positions for the two rear wheels of the two cars 20, so that the cars 20 can move quickly and approach the range of the six-degree-of-freedom multi-position calibration platform 10, thereby reducing the difficulty of matching the position and shortening the matching time.

[0027] The six-degree-of-freedom multi-position calibration platform 10 is a platform structure that can independently adjust each end angle. The six-degree-of-freedom multi-position calibration platform 10 includes a lower support plate 1, a bottom sliding member 2, an upper support platform 3, a transmitting end coil 5 and four multi-degree-of-freedom support seats 4. The lower support plate 1 is horizontally arranged, and the lower support plate 1 plays a bottom support role. The bottom sliding member 2 is arranged at the bottom of the lower support plate 1. The bottom sliding member 2 is a matching component that increases the sliding movement of the lower support plate 1. Fig.12 As shown, the bottom sliding member 2 includes a plurality of slide plates, and the plurality of slide plates are arranged at the end corners of the lower support plate 1. When the lower support plate 1 is a rectangular or square plate, the corresponding number of slide plates is four, and the four slide plates are respectively arranged at the four end corners of the bottom of the lower support plate 1; the maximum offset distance of the multi-degree-of-freedom support seat 4 is 150 mm.

[0028] In this embodiment, the upper support platform 3 is arranged above the lower support plate 1. The upper support platform 3 is a rectangular platform. Each end corner of the upper support platform 3 is connected to the lower support plate 1 through a multi-degree-of-freedom support seat 4. A transmitting end coil 5 is arranged on the top surface of the upper support platform 3. A vehicle-mounted receiving end coil 6 is arranged above the transmitting end coil 5. The vehicle-mounted receiving end coil 6 is fixedly installed at the bottom of the automobile 20, close to the chassis of the rear wheel of the vehicle.

[0029] Furthermore, the skateboard is a rectangular plate body, and an arc groove is processed on the bottom of the skateboard. The inner wall of the arc groove is an arc wall, and the longitudinal cross-section shape of the arc groove along the groove height direction is an arc shape. The central angle corresponding to the arc groove is less than 180 degrees. When the central angle corresponding to the arc groove is 180 degrees, the arc groove is replaced by a circular through hole 2-1.

[0030] Furthermore, both sides of the bottom of the slide plate are processed with limiting ridges 2-2 respectively, which are used to cooperate with the slide plate in the sliding movement and to assist in regulating the sliding trajectory.

[0031] In this embodiment, the multi-degree-of-freedom support seat 4 is a multi-degree-of-freedom support member used locally at the end corners. Each multi-degree-of-freedom support seat 4 includes an upper support frame 4-1, a lower support frame 4-2 and three telescopic rods 4-3. The upper support frame 4-1 and the lower support frame 4-2 are arranged between the upper support platform 3 and the lower support plate 1 from top to bottom, and three telescopic rods 4-3 are arranged between the upper support frame 4-1 and the lower support frame 4-2. The upper ends of the three telescopic rods 4-3 are gathered and arranged on the upper support frame 4-1, and the upper end of each telescopic rod 4-3 is hinged at the bottom of the upper support frame 4-1. The lower ends of the three telescopic rods 4-3 are dispersedly arranged at the top of the lower support frame 4-2, and the lower end of each telescopic rod 4-3 is hinged at the top of the lower support frame 4-2. Through the different telescopic lengths and angles of the three telescopic rods 4-3, the upper support frame 4-1 and the lower support frame 4-2 are driven to different posture states in different pitch, yaw or lifting positions.

[0032] Furthermore, the respective telescopic lengths and angles of the multiple telescopic rods 4 - 3 can be controlled by existing electrical controls, and the existing electrical control program can be used to achieve rapid adjustment response of the corresponding positions.

[0033] The present embodiment is a further limitation of the first embodiment. In the present embodiment, the upper support frame 4-1 is a small L-shaped support frame, and the lower support frame 4-2 is a large L-shaped support frame. The composite frame structure of the upper and lower positions of the L-shape can realize multi-posture movement under the streamlined hinge structure of the three telescopic rods 4-3. The triangular arrangement of the three telescopic rods 4-3 is conducive to the formation of posture conversion in a stable state, and improves the durability support effect of the multi-degree-of-freedom support seat 4. The upper ends of the three telescopic rods 4-3 are respectively hinged to the middle and both ends of the upper support frame 4-1, and the lower ends of the three telescopic rods 4-3 are respectively hinged to the lower support frame 4-1. The middle and both ends of the support frame 4-2, that is, the first telescopic rod 4-3 of the three telescopic rods 4-3 is hinged between one end of the upper support frame 4-1 and one end of the lower support frame 4-2, the second telescopic rod 4-3 of the three telescopic rods 4-3 is hinged between the middle of the upper support frame 4-1 and the middle of the lower support frame 4-2, the third telescopic rod 4-3 of the three telescopic rods 4-3 is hinged between the middle of the upper support frame 4-1 and the middle of the lower support frame 4-2, the middle of the upper support frame 4-1 is the intersection between its own horizontal section and vertical section, and similarly, the lower support frame 4-2 is the intersection between its own horizontal section and vertical section.

[0034] In this embodiment, the telescopic rod 4-3 is a hydraulic support rod or a gas spring. The telescopic rod 4-3 is an existing product, and its working principle is the same as that of the existing hydraulic support rod or gas spring. The telescopic rod 4-3 can also be equipped with an electric control unit for real-time control of its telescopic length and rotation angle.

[0035] Specific implementation method 5: This implementation method is a further limitation of specific implementation method 4. Figures 13 to 16As shown in the figure, in this embodiment, the multi-directional transmission assembly includes a first sliding track and a second sliding track. The first sliding track is arranged along the length direction of the support box body 8, and the second sliding track is arranged on the first sliding track and is arranged along the width direction of the support box body 8. The first sliding track includes a U-shaped support frame 9-1, a Y-direction transmission shaft 9-2, a first driving motor 9-3, two first bevel gear assemblies 9-4, and two Y-direction lead screws 9-5. The U-shaped support frame 9-1 is horizontally arranged, the Y-direction transmission shaft 9-2 and the two Y-direction lead screws 9-5 are both arranged on the U-shaped support frame 9-1. The two Y-direction lead screws 9-5 are arranged in parallel, the Y-direction transmission shaft 9-2 is arranged between the two Y-direction lead screws 9-5, and the two ends of the Y-direction transmission shaft 9-2 are respectively connected to the two Y-direction lead screws 9-5 through the two first bevel gear assemblies 9-4. The power output shaft of the first driving motor 9-3 is connected to any one of the two first bevel gear assemblies 9-4. The second sliding track includes a second driving motor 9-6, an X-direction transmission shaft 9-7, two transverse support frames 9-8, two second bevel gear assemblies 9-9, and two X-direction lead screws 9-10. The two transverse support frames 9-8 are arranged in parallel on the two Y-direction lead screws 9-5. The two ends of the bottom of each transverse support frame 9-8 are respectively in sliding fit with the two Y-direction lead screws 9-5. An X-direction lead screw 9-10 is correspondingly arranged at the top of each transverse support frame 9-8. The length direction of each X-direction lead screw 9-10 is the same as the length direction of the transverse support frame 9-8. The X-direction transmission shaft 9-7 is arranged between the two transverse support frames 9-8. The two ends of the X-direction transmission shaft 9-7 are respectively connected to the two X-direction lead screws 9-10 through the two second bevel gear assemblies 9-9. The power output shaft of the second driving motor 9-6 is connected to any one of the two second bevel gear assemblies 9-9. The six-degree-of-freedom multi-position calibration platform 10 is in sliding fit with the two X-direction lead screws 9-10 through the bottom sliding member 2. The six-degree-of-freedom multi-position calibration platform 10 makes a reciprocating motion along the length direction of the X-direction lead screw 9-10, and the six-degree-of-freedom multi-position calibration platform 10 and the second sliding track make a synchronous reciprocating motion along the length direction of the Y-direction lead screw 9-5.

[0036] Combined with Fig.19 As shown in the figure, the orientation of this embodiment forms its own coordinate axis position, and a three-dimensional coordinate is established. The origin position of the coordinate is at the upper plate surface of the lower support plate 1. The direction where the X-axis is located is the X direction, and the X direction is the length direction of the lower support plate 1, and also the length direction along the load-bearing plate 7. The direction where the Y-axis is located is the Y direction, and the Y direction is the width direction of the lower support plate 1, and also the width direction along the load-bearing plate 7. The direction where the Z-axis is located is the Z direction, and the Z direction is the thickness direction of the lower support plate 1, and also the thickness direction along the load-bearing plate 7.

[0037] Through the synergistic effect between the multi-directional transmission component and the four multi-degree-of-freedom support seats 4 in the six-degree-of-freedom multi-position calibration platform 10, the maximum offset in the X direction of the adaptive automobile wireless charging calibration mechanism is 780 mm, and the maximum offset in the Y direction is 3600 mm.

[0038] Specific embodiment 6: This embodiment is a further limitation of specific embodiment 4 or 5. In this embodiment, the shapes of the vehicle-mounted receiving end coil 6 and the transmitting end coil 5 are matched and arranged, and the shape of the vehicle-mounted receiving end coil 6 is a field shape. The arrangement direction of the field shape is uniform and circumferential, which is conducive to effective and evenly arranged in combination with the characteristics of the coil itself.

[0039] Specific implementation method seven: This implementation method is a further limitation of specific implementation methods four, five or six. In this implementation method, the adaptive automobile wireless charging calibration method is to install the vehicle-mounted receiving end coil 6 at the bottom of the automobile 20, drive the automobile 20 to the support box 8 in the adaptive automobile wireless charging calibration mechanism, first drive the automobile 20 to move to the six-degree-of-freedom multi-position calibration platform 10, and then drive the six-degree-of-freedom multi-position calibration platform 10 to move, so as to drive the transmitting end coil 5 and the vehicle-mounted receiving end coil 6 at the bottom of the automobile 20 to achieve precise matching and corresponding process. The movement process of the six-degree-of-freedom multi-position calibration platform 10 includes large-scale and small-scale orderly adjustment processes, specifically: First, the six-degree-of-freedom multi-position calibration platform 10 is driven by the multi-directional transmission component to complete the adjustment in the X and / or Y directions, and then the six-degree-of-freedom multi-position calibration platform 10's own pitch, yaw and lift multi-degree-of-freedom self-adjustment process is completed through the cooperation between the lower support plate 1, the bottom sliding part 2, the upper support platform 3, the transmitting end coil 5 and the four multi-degree-of-freedom support seats 4, until the vehicle-mounted receiving end coil 6 and the transmitting end coil 5 are in a stable transmission state.

[0040] Specific implementation method eight: This implementation method is a further limitation of specific implementation methods one, two, three, four, five, six or seven. Fig.19 As shown, in the WPT charging scenario in this embodiment, whether it is static wireless charging SWC or dynamic wireless charging DWC, there is inevitably misalignment deviation. Unfortunately, the existence of misalignment deviation is a key factor affecting power efficiency, increasing leakage magnetic field, and aggravating the heating problem of coupling coil. There are two types of misalignment: First: horizontal displacement, including the front and rear longitudinal components of the car 20 and the door-to-door lateral components of the car 20, mainly due to the irregular length of the coil and the deviation that is difficult to avoid due to human driving, especially for the lateral component; Second: angular offset, including the component of rotation around the X-axis when the car 20 tilts left and right, the component of rotation around the Y-axis when the car 20 tilts forward and backward, and the offset component of rotation around the Z-axis between the front and rear of the car. This is mainly due to climate change, foreign objects on the road, heavy objects in the trunk of the car 20, tire pressure changes, non-straight driving, etc., which cause an angle between the chassis and the ground or between the body and the driving direction. In the dynamic wireless charging scenario, the lateral component of horizontal displacement and the component of rotation around the X-axis and the component of rotation around the Y-axis of the angular offset are considered. In addition, the longitudinal component, which exists continuously when the car 20 is driving in the driving direction, does not need to be considered. The DWPT defaults to straight driving, and the component of rotation around the Z-axis can be ignored. According to the relevant specifications of SAE J2594 / 1, the range of misalignment tolerances for translation along the axis and rotation around the axis that need to be considered, Fig.19 The right-hand three-dimensional coordinate diagram of an electric vehicle using WPT is shown in FIG. 1 . In this coordinate system, the origin is at the center of the transmitting coil 5, the positive direction of the X axis is the driving direction of the vehicle 20, the positive direction of the Y axis is the left side of the vehicle 20, and the positive direction of the Z axis is vertical to the ground. The positive and negative directions of the horizontal displacement deviation are related to Figure 1 The range of misalignment deviation is as shown in the table. It does not exceed 75mm along the driving direction, does not exceed 100mm along the lateral direction of the car, and the rotation angle around the X / Y axis does not exceed 2 deg, and the rotation angle around the Z axis does not exceed 3 deg. The relevant data obtained are as shown in Table 1: Table 1 Summary of data on coupling mechanism misalignment deviation

[0041] When there is a misalignment deviation, the coupling between the ground subsystem and the vehicle 20 subsystem will be weakened, the mutual inductance will be reduced, the efficiency will be reduced, and in severe cases, the power transmission will even fail. In order to maintain the rated charging power, a larger current is required to excite the primary coil, and the loss related to the primary current increases, resulting in an increase in the temperature of the coil surface. Therefore, it is necessary to comprehensively analyze and study the impact of the misalignment deviation on the system performance indicators, including power, efficiency, leakage magnetic field, and coil heating, from the perspective of the misalignment deviation, in order to obtain the price paid by the misalignment deviation for the system performance.

[0042] As the offset distance of the receiving end increases, the mutual inductance M of the magnetic coupling mechanism will decay. When the attenuation of M reaches a certain level, it will affect the operation of the system and make wireless power transmission impossible. Reducing the attenuation rate of M due to errors in the transmitting and receiving ends and increasing the error tolerance of the magnetic coupling mechanism are the main indicators for judging the performance of the magnetic coupling mechanism.

[0043] The high-frequency electromagnetic field characteristics generated by the inductor determine its electrical characteristics. From Maxwell's equations, we know that the electric field and magnetic field generated by the coil have the following relationship:

[0044] Among them, the above formula expresses the principle of mutual conversion between electric field and magnetic field in time-varying electromagnetic field. It represents the process of converting the time-varying electric field into the magnetic field. Its integral form can be expressed as:

[0045] Among them, Φ is the magnetic flux passing through the pickup coil. From the above formula, it can be seen that when f is a constant, within a certain area S, the larger the B value, the larger the M value of the electromagnetic coupling mechanism, and the maximum output power P of the system outm It can be expressed as:

[0046] The above formula shows the correlation between the electrical characteristics of the electromagnetic coupling mechanism and the electromagnetic field. That is, if the output power level of the system is to be increased, the magnetic flux passing through the pickup coil needs to be increased to increase the magnetic induction intensity on the pickup coil plane. In the above formula, E is the electric field intensity; is the magnetic field strength; is the conduction current density; is the displacement current density; I p is the current flowing through the inductor coil; Φ is the magnetic flux passing through the pickup coil; F is the frequency; S is the mutual inductance area; B is the magnetic field; M is the mutual inductance value; P outm is the maximum output power of the system.

[0047] Specific implementation method 9: This implementation method is a further limitation of specific implementation methods 1, 2, 3, 4, 5, 6 or 7. Fig.24 As shown, in this embodiment, each multi-degree-of-freedom support seat 4 includes an upper support frame 4-1, a lower support frame 4-2 and three telescopic rods 4-3. The six-degree-of-freedom multi-position calibration platform 10 has a total of twelve telescopic rods 4-3. The twelve telescopic rods 4-3 are respectively arranged on the six-degree-of-freedom motion platform 10 counterclockwise and divided into four groups, namely, group A, group B, group C and group D, and each group is numbered 1, 2 and 3 counterclockwise, which can be summarized into the following typical cases: Case 1: When groups A, B, C and D move simultaneously, the offset in the Z-axis direction can be achieved; Case 2: When D 1 , A 3 , C 2 , B 2 Push the extended motion platform to move in one direction toward the Y axis; otherwise, it moves in the D 2 , A 1 , C 3 , B 1 ; Other telescopic rods are at the necessary height and remain stationary; Case 3: When A 2 , B2 , D 3 , C 1 Push the extended motion platform to move in one direction toward the X axis; otherwise, it will be D 2 , C 2 , A 1 , B 3 ; Other telescopic rods are at the necessary height and remain stationary; Case 4: When the AD group pushes the extended motion platform to rotate in one direction toward the X-axis to achieve tilt; otherwise, it is the CB group; the other telescopic rods are at the necessary height and remain stationary; Case 5: When the AB group pushes the extended motion platform to rotate in one direction toward the Y axis to achieve tilt; otherwise, it is the CD group; the other telescopic rods are at the necessary height and remain stationary; Case 6: When A 1 B 1 C 1 D 1 The group pushes the extended motion platform to rotate in one direction toward the Z axis; otherwise, it is A 3 B 3 C 3 D 3 group; other telescopic rods are at the necessary height and remain stationary; The combination of the above six telescopic methods can realize the transmitting end coil motion platform to meet the required six-degree-of-freedom limited angle arbitrary posture.

[0048] Specific implementation method ten: Combination Figures 1 to 23 As shown, the adaptive automobile wireless charging calibration method in this embodiment is to install the vehicle receiving end coil 6 at the bottom of the automobile 20, drive the automobile 20 to the support box 8 in the adaptive automobile wireless charging calibration mechanism, firstly perform a rough adjustment of the driving automobile 20 to a position close to the six-degree-of-freedom multi-position calibration platform 10, and then complete the large and small amplitude orderly adjustment process of the six-degree-of-freedom multi-position calibration platform 10, specifically: First, the six-degree-of-freedom multi-position calibration platform 10 is driven by the multi-directional transmission component to complete the adjustment in the X and / or Y directions, and then the six-degree-of-freedom multi-position calibration platform 10's own pitch, yaw and lift multi-degree-of-freedom self-adjustment process is completed through the cooperation between the lower support plate 1, the bottom sliding part 2, the upper support platform 3, the transmitting end coil 5 and the four multi-degree-of-freedom support seats 4, until the vehicle-mounted receiving end coil 6 and the transmitting end coil 5 are in a stable transmission state.

[0049] Specific implementation method eleven: Combination Fig. 22As shown, the six-degree-of-freedom multi-position calibration platform 10 in this embodiment can also be used for the calibration process of dynamic misalignment deviation when multiple six-degree-of-freedom multi-position calibration platforms 10 are arranged to form a straight line, and the working principle of the six-degree-of-freedom multi-position calibration platform 10 in cooperation with the automobile 20 is that during the dynamic driving of the vehicle, the automobile 20 realizes the autonomous offset calibration of the transmitting end induction coil when it deviates from the center of the road to ensure the predetermined transmission efficiency. The structures and connection relationships not mentioned in this embodiment are the same as those in the specific embodiments one, two, three, four, five, six, seven, eight, nine or ten.

[0050] Specific embodiment twelfth: This embodiment is a further limitation of specific embodiments four, five, six, seven, eight or nine. In this embodiment, the load-bearing plate 7 is processed with an opening 11 along its plate thickness direction. There are two forms of the opening 11. One is a square hole processed to fit the top shape of the six-degree-of-freedom multi-position calibration platform 10. The edge size is 5 to 20 mm larger than the size of the upper support platform 3, which is convenient for the fine-tuning process of the yaw and pitch of the six-degree-of-freedom multi-position calibration platform 10.

[0051] The other is a long hole processed along the length direction of the load-bearing plate 7, which is used to adapt the six-degree-of-freedom multi-position calibration platform 10 to achieve a wide range of adjustment under the cooperation of the multi-directional transmission component, forming a working mode in which the six-degree-of-freedom multi-position calibration platform 10 drives the transmitting end coil 5 to quickly track the vehicle-mounted receiving end coil 6 at the bottom of the car 20. The specific working process is: The vehicle-mounted receiving-end coil 6 is installed at the bottom of the vehicle 20, and the vehicle 20 is driven to the supporting box 8 in the adaptive vehicle wireless charging calibration mechanism and stays at any position on the load-bearing plate 7. The six-degree-of-freedom multi-position calibration platform 10 realizes long-distance horizontal and vertical adjustment with the cooperation of the multi-directional transmission component, so that the six-degree-of-freedom multi-position calibration platform 10 drives the transmitting-end coil 5 to move to the bottom of the vehicle 20 directly below the vehicle-mounted receiving-end coil 6, and the vehicle-mounted receiving-end coil 6 cooperates with the transmitting-end coil 5 to complete the charging process of the vehicle 20.

Claims

1. A six-degree-of-freedom multi-position calibration platform, characterized in that: The invention comprises a lower support plate (1), a bottom sliding member (2), an upper support platform (3), a transmitting end coil (5) and four multi-degree-of-freedom support seats (4), wherein the lower support plate (1) is arranged horizontally, the bottom sliding member (2) is arranged at the bottom of the lower support plate (1), the upper support platform (3) is arranged above the lower support plate (1), the upper support platform (3) is a rectangular platform, each end corner of the upper support platform (3) is connected to the lower support plate (1) via a multi-degree-of-freedom support seat (4), and the transmitting end coil (5) is arranged on the top surface of the upper support platform (3); Each multi-degree-of-freedom support seat (4) comprises an upper support frame (4-1), a lower support frame (4-2) and three telescopic rods (4-3); the upper support frame (4-1) and the lower support frame (4-2) are arranged in sequence from top to bottom between the upper support platform (3) and the lower support plate (1); three telescopic rods (4-3) are arranged between the upper support frame (4-1) and the lower support frame (4-2); the upper ends of the three telescopic rods (4-3) are gathered and arranged on the upper support frame (4-1); the upper end of each telescopic rod (4-3) is hinged to the bottom of the upper support frame (4-1); the lower ends of the three telescopic rods (4-3) are dispersedly arranged on the top of the lower support frame (4-2); and the lower end of each telescopic rod (4-3) is hinged to the top of the lower support frame (4-2).

2. The six-degree-of-freedom multi-position calibration platform according to claim 1, characterized in that: The upper support frame (4-1) is a small L-shaped support frame, the lower support frame (4-2) is a large L-shaped support frame, the upper ends of the three telescopic rods (4-3) are respectively hinged to the middle part and both ends of the upper support frame (4-1), and the lower ends of the three telescopic rods (4-3) are respectively hinged to the middle part and both ends of the lower support frame (4-2).

3. The six-degree-of-freedom multi-position calibration platform according to claim 1 or 2, characterized in that: The telescopic rod (4-3) is a hydraulic support rod or a gas spring.

4. An adaptive automobile wireless charging calibration mechanism, comprising the six-degree-of-freedom multi-position calibration platform of claim 1, 2 or 3, characterized in that: The invention comprises a vehicle-mounted receiving end coil (6), a load-bearing plate (7), a support box (8), a multi-directional transmission component and a six-degree-of-freedom multi-position calibration platform (10), wherein the support box (8) is arranged horizontally, the top of the support box (8) is an open end, the multi-directional transmission component is arranged in the support box (8), the load-bearing plate (7) is arranged at the top of the support box (8), the load-bearing plate (7) is processed with an opening (11) along the plate thickness direction, the six-degree-of-freedom multi-position calibration platform (10) is arranged between the multi-directional transmission component and the load-bearing plate (7), the top of the six-degree-of-freedom multi-position calibration platform (10) is arranged in the opening (11), the bottom of the six-degree-of-freedom multi-position calibration platform (10) is slidably matched with the multi-directional transmission component, and the six-degree-of-freedom multi-position calibration platform (10) performs multi-directional and multi-posture reciprocating motion under the drive of the multi-directional transmission component; The six-degree-of-freedom multi-position calibration platform (10) comprises a lower support plate (1), a bottom sliding member (2), an upper support platform (3), a transmitting end coil (5) and four multi-degree-of-freedom support seats (4), wherein the lower support plate (1) is arranged horizontally, the bottom sliding member (2) is arranged at the bottom of the lower support plate (1), the upper support platform (3) is arranged above the lower support plate (1), the upper support platform (3) is a rectangular platform, each end corner of the upper support platform (3) is connected to the lower support plate (1) via a multi-degree-of-freedom support seat (4), a transmitting end coil (5) is arranged on the top surface of the upper support platform (3), and a vehicle-mounted receiving end coil (6) is arranged above the transmitting end coil (5); Each multi-degree-of-freedom support seat (4) comprises an upper support frame (4-1), a lower support frame (4-2) and three telescopic rods (4-3); the upper support frame (4-1) and the lower support frame (4-2) are arranged in sequence from top to bottom between the upper support platform (3) and the lower support plate (1); three telescopic rods (4-3) are arranged between the upper support frame (4-1) and the lower support frame (4-2); the upper ends of the three telescopic rods (4-3) are gathered and arranged on the upper support frame (4-1); the upper end of each telescopic rod (4-3) is hinged to the bottom of the upper support frame (4-1); the lower ends of the three telescopic rods (4-3) are dispersedly arranged on the top of the lower support frame (4-2); and the lower end of each telescopic rod (4-3) is hinged to the top of the lower support frame (4-2).

5. The adaptive automobile wireless charging calibration mechanism according to claim 4, characterized in that: The multi-directional transmission assembly includes a first sliding track and a second sliding track. The first sliding track is arranged along the length direction of the support box body (8), and the second sliding track is arranged on the first sliding track and along the width direction of the support box body (8). The first sliding track includes a U-shaped support frame (9-1), a Y-direction transmission shaft (9-2), a first driving motor (9-3), two first bevel gear assemblies (9-4) and two Y-direction lead screws (9-5). The U-shaped support frame (9-1) is horizontally arranged. The Y-direction transmission shaft (9-2) and the two Y-direction lead screws (9-5) are both arranged on the U-shaped support frame (9-1). The two Y-direction lead screws (9-5) are arranged in parallel. The Y-direction transmission shaft (9-2) is arranged between the two Y-direction lead screws (9-5). The two ends of the Y-direction transmission shaft (9-2) are respectively connected to the two Y-direction lead screws (9-5) through the two first bevel gear assemblies (9-4). The power output shaft of the first driving motor (9-3) is connected to any one of the two first bevel gear assemblies (9-4). The second sliding track includes a second driving motor (9-6), an X-direction transmission shaft (9-7), two transverse support frames (9-8), two second bevel gear assemblies (9-9) and two X-direction lead screws (9-10). The two transverse support frames (9-8) are arranged in parallel on the two Y-direction lead screws (9-5). The two ends of the bottom of each transverse support frame (9-8) are respectively in sliding fit with the two Y-direction lead screws (9-5). One X-direction lead screw (9-10) is correspondingly arranged at the top of each transverse support frame (9-8). The length direction of each X-direction lead screw (9-10) is the same as the length direction of the transverse support frame (9-8). The X-direction transmission shaft (9-7) is arranged between the two transverse support frames (9-8). The two ends of the X-direction transmission shaft (9-7) are respectively connected to the two X-direction lead screws (9-10) through the two second bevel gear assemblies (9-9). The power output shaft of the second driving motor (9-6) is connected to any one of the two second bevel gear assemblies (9-9). The six-degree-of-freedom multi-position calibration platform (10) is in sliding fit with the two X-direction lead screws (9-10) through the bottom sliding parts (2). The six-degree-of-freedom multi-position calibration platform (10) makes a reciprocating motion along the length direction of the X-direction lead screw (9-10). The six-degree-of-freedom multi-position calibration platform (10) and the second sliding track make a synchronous reciprocating motion along the length direction of the Y-direction lead screw (9-5).

6. The adaptive automobile wireless charging calibration mechanism according to claim 4, characterized in that: The shapes of the vehicle-mounted receiving end coil (6) and the transmitting end coil (5) are matched, and the shape of the vehicle-mounted receiving end coil (6) is a cross shape.

7. An adaptive automobile wireless charging calibration method, implemented by using the adaptive automobile wireless charging calibration mechanism according to claim 5 or 6, characterized in that: The adaptive wireless charging calibration method for vehicles is as follows: The vehicle receiving end coil (6) is installed at the bottom of the vehicle (20), and the vehicle (20) is driven to the support box (8) in the adaptive vehicle wireless charging calibration mechanism. The vehicle (20) is first driven to move to a position 30 to 80 cm away from the position of the six-degree-of-freedom multi-position calibration platform (10), and then the six-degree-of-freedom multi-position calibration platform (10) is adjusted in large and small amplitudes in an orderly manner, specifically: First, the six-degree-of-freedom multi-position calibration platform (10) is driven by a multi-directional transmission component to complete the adjustment in the X direction and / or Y direction, and then the six-degree-of-freedom multi-position calibration platform (10) is self-adjusted in pitch, yaw and lifting by cooperating with each other through the lower support plate (1), the bottom sliding member (2), the upper support platform (3), the transmitting end coil (5) and the four multi-degree-of-freedom support seats (4), until the vehicle-mounted receiving end coil (6) and the transmitting end coil (5) are in a stable transmission state.

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