Adaptive automobile wireless charging calibration mechanism and method thereof

Abstract

The application discloses a self-adaptive automobile wireless charging calibration mechanism and a method thereof. The automobile may not be guaranteed to always travel in a charging area or to be offset in the charging area, and the coupling mechanism is prone to misalignment crisis. In the application, a bottom sliding piece is arranged at the bottom of a lower supporting plate, an upper supporting platform is arranged above the lower supporting plate, a transmitting end coil is arranged on the upper supporting platform, three telescopic rods are arranged between an upper supporting frame and a lower supporting frame, a six-degree-of-freedom multi-position calibration platform is arranged between a multi-directional transmission assembly and a bearing plate, and the six-degree-of-freedom multi-position calibration platform is driven by the multi-directional transmission assembly to make multi-directional and multi-posture reciprocating motion. The multi-directional transmission assembly drives the six-degree-of-freedom multi-position calibration platform to complete X-direction and / or Y-direction adjustment, complete a multi-degree-of-freedom self-adjusting process of pitch, roll and lift of the six-degree-of-freedom multi-position calibration platform, and the process is completed until the vehicle-mounted receiving end coil and the transmitting end coil are in a stable transmission state.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of self-adapting car wireless charging calibration mechanism and method thereof. BACKGROUND

[0002] With the continuous progress of technology and cost reduction, wireless charging is expected to become one of the standard configurations of future cars. This will further promote the intelligentization and electrification development of the automotive industry. The advantages of car wireless charging mainly include that car wireless charging 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 problems of cable entanglement, damage or loss. Wireless charging devices are usually designed more compactly, which can more effectively utilize the space inside the car. Without the constraint of cable, the car environment appears more clean and beautiful. Wireless charging method also effectively avoids the risk of equipment damage or electric shock caused by improper plugging and unplugging of cable, and the automatic alignment charging function ensures the stability and safety of the equipment during charging. Users can place the equipment in the charging area at any time for charging without searching for cables or sockets. Wireless charging technology can be combined with the intelligent system of the car to achieve more intelligent charging management. Wireless charging reduces the use and disposal of cables, which is beneficial to environmental protection. In the use process of car wireless charging, the automatic alignment charging method is to park the car in a standard parking space with wireless charging function for charging. Although it is automatic alignment charging, it is often required that the parking position of the car is extremely demanding. Even experienced drivers may not have a one-time position matching parking situation. Since in wireless charging, the coupling structure is extremely required to align two coils with each other, and under manual driving parking condition, misalignment is easy to occur, which leads to reduced power transmission efficiency and increased loss. Misalignment offset frequently occurs, which leads to the problem that misalignment details are not handled properly in the implementation process of car wireless charging, resulting in hindered popularization. There is no related specification processing method that can accurately avoid misaligned parking.

[0003] In addition, under dynamic conditions, the car travels along the main road. During this process, due to the turning of the lane and the influence of other road users, the car may not always travel in the charging area or deviate within the charging area. At this time, it is also easy to cause misalignment of the coupling mechanism.

[0004] A self-adapting wireless charging transmitting end calibration mechanism is designed for the above two cases. When the car deviates, it can still quickly respond and adjust the position and coupling angle of the transmitting end coil to adapt to the deviation of the car and different power transmission requirements. SUMMARY

[0005] To solve the problems mentioned in the above background art, the purpose of the present application is to provide a self-adapting car wireless charging calibration mechanism and method thereof.

[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, 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 corner of the upper support platform is connected with the lower support plate through a multi-degree-of-freedom support seat, and the top surface of the upper support platform is provided with the transmitting end coil;

[0007] Each multi-degree-of-freedom support seat comprises an upper support frame, a lower support frame and three telescopic rods, the upper support frame and the lower support frame are sequentially arranged from top to bottom between the upper support platform and the lower support plate, 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, and 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 mechanism is composed of the six-degree-of-freedom multi-position calibration platform, comprising a vehicle-mounted receiving end coil, a bearing plate, a support box, a multi-direction transmission assembly and the six-degree-of-freedom multi-position calibration platform, the support box is horizontally arranged, the top end of the support box is an open end, the multi-direction transmission assembly is arranged in the support box, the bearing plate is arranged at the top end of the support box, the bearing plate is processed with an opening along the thickness direction of the plate, the six-degree-of-freedom multi-position calibration platform is arranged between the multi-direction transmission assembly and the 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 in sliding fit with the multi-direction transmission assembly, and the six-degree-of-freedom multi-position calibration platform is driven by the multi-direction transmission assembly to make multi-directional and multi-pose reciprocating motion.

[0009] The six-degree-of-freedom multi-position calibration platform comprises a lower support plate, a bottom sliding member, an upper support platform, a transmitting end coil and four multi-degree-of-freedom support seats, 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 corner of the upper support platform is connected with the lower support plate through a multi-degree-of-freedom support seat, and the top surface of the upper support platform is provided with the transmitting end coil, and a vehicle-mounted receiving end coil is arranged above the transmitting end coil.

[0010] Each multi-degree-of-freedom support seat comprises an upper support frame, a lower support frame and three telescopic rods, the upper support frame and the lower support frame are sequentially arranged from top to bottom between the upper support platform and the lower support plate, 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, and 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.

[0011] The adaptive automobile wireless charging calibration method is realized by using the adaptive automobile wireless charging calibration mechanism, and the adaptive automobile wireless charging calibration method is:

[0012] The vehicle-mounted receiving end coil is installed at the bottom of the automobile, the automobile is driven to the support box of the adaptive automobile wireless charging calibration mechanism, first, the automobile is driven to move to a position 30-80 cm away from the six-degree-of-freedom multi-position calibration platform, and then the orderly adjustment process of the six-degree-of-freedom multi-position calibration platform is completed, specifically:

[0013] First, the six-degree-of-freedom multi-position calibration platform is driven by the multidirectional transmission assembly to complete the adjustment in the X direction and / or the Y direction, and then the multidirectional self-adjustment process of the pitch, yaw and lift of the six-degree-of-freedom multi-position calibration platform is completed through the cooperation between the lower support plate, the bottom sliding element, the upper support platform, the transmitting end coil and the four multidirectional support seats, until the vehicle-mounted receiving end coil and the transmitting end coil are in a stable transmission state.

[0014] Compared with the prior art, the adaptive automobile wireless charging calibration mechanism has the following advantages:

[0015] The six-degree-of-freedom multi-position calibration platform in the application is a multidirectional support structure with independent control of the end angles, and the multidirectional self-adjustment process of the pitch, translation and lift of the transmitting end coil can be realized through the cooperation between the lower support plate, the bottom sliding element, the upper support platform and the four multidirectional support seats, which is beneficial to the precise adjustment of the transmitting end coil in a small range.

[0016] The adaptive automobile wireless charging calibration mechanism in the application can realize the alternating process of large-range multidirectional coarse adjustment and small-range multidirectional fine adjustment of the transmitting end coil through the cooperation between the vehicle-mounted receiving end coil, the bearing plate, the support box, the multidirectional transmission assembly and the six-degree-of-freedom multi-position calibration platform. The large-range multidirectional coarse adjustment is fast, and the small-range multidirectional fine adjustment can realize the corresponding adjustment of the pitch, translation and lift of the end angle position of the transmitting end coil as needed, which is beneficial to the rapid and accurate matching process between the vehicle-mounted receiving end coil and the transmitting end coil.

[0017] The adaptive automobile wireless charging calibration mechanism in the application can be used in various situations, especially when the automobile is misaligned and deviated, the position and coupling angle of the transmitting end coil can still be quickly adjusted to adapt to the deviation of the automobile and different power transmission requirements.

[0018] The adaptive automobile wireless charging calibration mechanism in the application can realize a double-movement alignment mode or a dynamic-static combined track processing mode, the double-movement alignment mode is that the adaptive automobile wireless charging calibration mechanism and the automobile are moved simultaneously until the vehicle-mounted receiving end coil and the transmitting end coil are in an adaptive alignment position, and the dynamic-static combined track processing mode is that the transmitting end coil is quickly adjusted to align the vehicle-mounted receiving end coil under the condition that the vehicle-mounted receiving end coil position is fixed and the adaptive distance with the transmitting end coil is large.

[0019] Five, the adaptive automobile wireless charging calibration method in the application is a special and fast calibration method formed on the basis of the adaptive automobile wireless charging calibration mechanism, the operation mode is flexible and normative, and after the ordered adjustment of the six-degree-of-freedom multi-position calibration platform in a large amplitude and a small amplitude, the fast and accurate adaptive matching process between the vehicle-mounted receiving end coil and the transmitting end coil is realized. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to facilitate the description, the application is described in detail by the following specific embodiments and drawings.

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the six-degree-of-freedom multi-position calibration platform.

[0022] Figure 2 It is a schematic diagram of the side view structure of the six-degree-of-freedom multi-position calibration platform.

[0023] Figure 3 It is a schematic diagram of the top view structure of the six-degree-of-freedom multi-position calibration platform.

[0024] Figure 4 It is a schematic diagram of the side view structure of the connection relationship between the upper support frame, the lower support frame and the three telescopic rods.

[0025] Figure 5 It is a first schematic diagram of the three-dimensional structure of the connection relationship between the upper support frame, the lower support frame and the three telescopic rods.

[0026] Figure 6 It is a second schematic diagram of the three-dimensional structure of the connection relationship between the upper support frame, the lower support frame and the three telescopic rods.

[0027] Figure 7 It is a schematic diagram of the three-dimensional structure of the telescopic rod.

[0028] Figure 8 It is a schematic diagram of the three-dimensional structure of the lower support frame.

[0029] Figure 9 It is a schematic diagram of the three-dimensional structure of the upper support frame.

[0030] Figure 10 It is a schematic diagram of the bottom view structure of the connection relationship between the upper support frame and the three telescopic rods.

[0031] Figure 11 The top view structural schematic diagram of the connection relationship between the multi-degree-of-freedom support seat and the lower support plate;

[0032] Figure 12 The bottom view structural schematic diagram of the six-degree-of-freedom multi-position calibration platform;

[0033] Figure 13 The top view structural schematic diagram of the connection relationship between the second driving motor, the transmission shaft, the transverse support frame, the second bevel gear assembly, the lead screw and the six-degree-of-freedom multi-position calibration platform;

[0034] Figure 14 The three-dimensional structural schematic diagram of the connection relationship between the lower support plate, the bottom sliding piece, the upper support platform, the multi-degree-of-freedom support seat, the transmitting end coil, the second driving motor, the transmission shaft, the transverse support frame, the second bevel gear assembly and the lead screw;

[0035] Figure 15 The top view structural schematic diagram of the connection relationship between the multi-direction transmission assembly and the six-degree-of-freedom multi-position calibration platform;

[0036] Figure 16 The side view structural schematic diagram of the connection relationship between the multi-direction transmission assembly and the six-degree-of-freedom multi-position calibration platform;

[0037] Figure 17 The top view structural schematic diagram of the connection relationship between the vehicle-mounted receiving end coil, the bearing plate and the stopper;

[0038] Figure 18 The side view structural schematic diagram of the adaptive automobile wireless charging calibration mechanism;

[0039] Figure 19 The position and direction schematic diagram of establishing the coordinate axis between the adaptive automobile wireless charging calibration mechanism and the automobile;

[0040] Figure 20 The top view structural schematic diagram of the connection relationship between the upper support platform, the multi-degree-of-freedom support seat and the transmitting end coil, wherein the maximum deviation distance of the six-degree-of-freedom multi-position calibration platform is 150 mm;

[0041] Figure 21 The top view structural schematic diagram of the connection relationship between the six-degree-of-freedom multi-position calibration platform and the multi-direction transmission assembly, wherein the six-degree-of-freedom multi-position calibration platform is twisted by 10° along the Y direction;

[0042] Figure 22 The three-dimensional structural schematic diagram of the connection relationship between the automobile and the adaptive automobile wireless charging calibration mechanism, wherein the automobile moves towards the adaptive automobile wireless charging calibration mechanism;

[0043] Figure 23The use state diagram of the adaptive automobile wireless charging calibration mechanism cooperating with the automobile for position calibration;

[0044] Figure 24 The principle diagram of the posture change of each end angle of the six-degree-of-freedom motion platform;

[0045] Figure 25 The motion posture change comparison diagram of the six-degree-of-freedom multi-position calibration platform when rotating 5 degrees along the X-axis and the Y-axis respectively.

[0046] In the figure: 1 - lower support plate; 2 - bottom sliding part; 2-1 - circular through hole; 2-2 - limiting convex edge; 3 - upper support platform; 4 - multi-degree-of-freedom support seat; 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 - bearing plate; 8 - support box body; 9-1 - U-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 - automobile; 13 - stop block. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the present application will be described below through specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. The structures, proportions, sizes, etc. shown in the drawings of the present specification are only used to cooperate with the content disclosed in the present specification for understanding and reading by those skilled in the art, and are not intended to limit the defined conditions under which the present application can be implemented, so they do not have substantial technical significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0048] Here, it also needs to be explained that, in order to avoid obscuring the present application due to unnecessary details, only the structures and / or processing steps closely related to the scheme according to the present application are shown in the drawings, and other details not closely related to the present application are omitted.

[0049] Specific implementation method one: combined with Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 ,Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 20 、 Figure 21 、 Figure 22 、 Figure 24 and Figure 25 The embodiment is described, the six-degree-of-freedom multi-position calibration platform 10 of the 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, the lower support plate 1 functions as a bottom support, 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 for increasing the sliding motion of the lower support plate 1, as shown in Figure 12 The bottom sliding member 2 includes a plurality of sliding plates, the plurality of sliding plates are arranged at the end angles of the lower support plate 1, when the lower support plate 1 is a rectangular or square plate body, the number of corresponding sliding plates is four, and the four sliding plates are arranged at the four end angles of the bottom of the lower support plate 1 respectively.

[0050] In the embodiment, the upper support platform 3 is arranged above the lower support plate 1, the upper support platform 3 is a rectangular plate body, each end angle of the upper support platform 3 is connected with the lower support plate 1 through 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.

[0051] Further, the sliding plate is a rectangular plate body, an arc-shaped groove is processed at the bottom of the sliding plate, the inner wall of the arc-shaped groove is a circular arc wall, the longitudinal section shape of the arc-shaped groove along the groove height direction is a circular arc shape, and the corresponding central angle of the arc-shaped groove is less than 180 degrees; when the corresponding central angle of the arc-shaped groove is 180 degrees, the arc-shaped groove is replaced by a circular through hole 2-1.

[0052] Further, limit protrusions 2-2 are respectively processed at the two sides of the bottom of the sliding plate, which are used for limiting and assisting in standardizing the sliding track when the sliding plate slides.

[0053] The multi-degree-of-freedom support seat 4 in this embodiment is a multi-degree-of-freedom support member used locally at the end angle. 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 in sequence from top to bottom between the upper support platform 3 and the lower support plate 1. The 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 dispersed and arranged on the top of the lower support frame 4-2. The lower end of each telescopic rod 4-3 is hinged to 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 attitudes in different pitch, yaw, or elevation positions.

[0054] Further, the respective telescopic lengths and angles of the plurality of telescopic rods 4-3 can be controlled by existing electric controls, and the existing electric control programs can be used to quickly adjust the corresponding positions.

[0055] Specific embodiment two: This embodiment is a further limitation of the specific embodiment one. In this 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 combined frame structure of the upper and lower positions of the L shape can realize multi-attitude motion under the reduced hinged structure of the three telescopic rods 4-3. The triangular arrangement formed by the three telescopic rods 4-3 is conducive to forming attitude conversion in a stable state, improving the durability of the multi-degree-of-freedom support seat 4, and improving the support effect. 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. The lower ends of the three telescopic rods 4-3 are respectively hinged to the middle and both ends of the lower support frame 4-2. That is, the first telescopic rod 4-3 in 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 in 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 in 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 position between the horizontal section and the vertical section of the upper support frame 4-1. Similarly, the middle of the lower support frame 4-2 is the intersection position between the horizontal section and the vertical section of the lower support frame 4-2.

[0056] Specific embodiment three: This embodiment is a further limitation of the specific embodiment one or two. 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.

[0057] Further, the telescopic rod 4-3 can also be matched with an electric control for real-time control of its telescopic length and rotation angle.

[0058] Specific implementation four: combination Figures 1 to 25 To illustrate this embodiment, the adaptive automobile wireless charging calibration mechanism in this embodiment can provide quick adaptive position calibration adjustment for the automobile 20 when the receiving end and the transmitting end are misaligned during automobile wireless charging. This mechanism provides a solution for the design of wireless charging structure and arrangement for future new energy automobiles 20, and specifically includes a vehicle-mounted receiving end coil 6, a load-bearing plate 7, a support box 8, a multidirectional transmission assembly, and a six-degree-of-freedom multi-position calibration platform 10. The support box 8 is horizontally arranged, with an open top end. The multidirectional transmission assembly is arranged in the support box 8, and the load-bearing plate 7 is arranged at the top end of the support box 8. The load-bearing plate 7 is processed with an opening 11 along its thickness direction. The six-degree-of-freedom multi-position calibration platform 10 is arranged between the multidirectional transmission assembly and the load-bearing plate 7, with its top part arranged in the opening 11 and its bottom part in sliding cooperation with the multidirectional transmission assembly. The six-degree-of-freedom multi-position calibration platform 10 is driven by the multidirectional transmission assembly to make multidirectional and multi-pose reciprocating motion.

[0059] Two stop blocks 13 are arranged side by side on the top surface of the load-bearing plate 7, which are used to provide limiting positions for the two rear wheels of the two automobiles 20, so that the automobiles 20 can quickly move 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.

[0060] The six-degree-of-freedom multi-position calibration platform 10 is a platform structure that can independently adjust each end angle. It 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 serves as a bottom support. The bottom sliding member 2 is arranged at the bottom of the lower support plate 1 and serves as a cooperation component for increasing the sliding motion of the lower support plate 1. In combination Figure 12 As shown, the bottom sliding member 2 includes multiple sliding plates, which are arranged at the end angles of the lower support plate 1. When the lower support plate 1 is a rectangular or square plate, the number of corresponding sliding plates is four, which are arranged at the four end angles 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.

[0061] The upper support platform 3 in the embodiment is arranged above the lower support plate 1, is a rectangular platform, each end angle of the upper support platform 3 is connected with the lower support plate 1 through a multi-degree-of-freedom support seat 4, and a transmitting end coil 5 is arranged on the top surface of the upper support platform 3. An automobile-mounted receiving end coil 6 is arranged above the transmitting end coil 5 in a matched mode, and the automobile-mounted receiving end coil 6 is fixedly installed at the bottom of the automobile 20, close to the chassis near the rear wheels.

[0062] Further, the sliding plate is a rectangular plate body, an arc-shaped groove is processed at the bottom of the sliding plate, the inner wall of the arc-shaped groove is a circular arc wall, the longitudinal section shape of the arc-shaped groove along the groove height direction is a circular arc shape, and the corresponding central angle of the arc-shaped groove is less than 180 degrees. When the corresponding central angle of the arc-shaped groove is 180 degrees, the arc-shaped groove is replaced by a circular through hole 2-1.

[0063] Further, limit ribs 2-2 are respectively processed at the two sides of the bottom of the sliding plate, which are used for limiting and assisting in standardizing the sliding track during the sliding movement of the sliding plate.

[0064] In the embodiment, the multi-degree-of-freedom support seat 4 is a multi-degree-of-freedom support member used at the end angle, 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 sequentially arranged between the upper support platform 3 and the lower support plate 1 from top to bottom, 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. 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 attitude states in different pitch, yaw or elevation positions.

[0065] Further, the respective telescopic lengths and angles of the plurality of telescopic rods 4-3 can be controlled through existing electric controls, and the corresponding positions can be quickly adjusted and responded through existing electric control programs.

[0066] The upper support frame 4-1 in the embodiment is a small L-shaped support frame, and the lower support frame 4-2 is a large L-shaped support frame. The upper and lower positions of the L-shaped support frame are combined to form a frame structure, which can realize multi-pose motion of the three telescopic rods 4-3 under the refined articulated structure. The three telescopic rods 4-3 are arranged in a triangular form, which is beneficial to the formation of pose conversion in a stable state, and improves the durability 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 middle and both ends of the lower support frame 4-2. That is, the first telescopic rod 4-3 among 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 among 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, and the third telescopic rod 4-3 among 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 position between the horizontal section and the vertical section of the upper support frame 4-1, and the middle of the lower support frame 4-2 is the intersection position between the horizontal section and the vertical section of the lower support frame 4-2.

[0067] The telescopic rod 4-3 in the embodiment is a hydraulic support rod or a gas spring. The telescopic rod 4-3 is a product in the prior art, 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 provided with an electric control device for real-time control of the telescopic length and the rotation angle.

[0068] Specific embodiment five: the embodiment is a further limitation of the specific embodiment four, which is combined with Figures 13 to 16As shown, the multi-direction transmission assembly in the embodiment includes a first sliding rail and a second sliding rail, the first sliding rail is arranged along the length direction of the support box 8, and the second sliding rail is arranged on the first sliding rail and arranged along the width direction of the support box 8; the first sliding rail includes a Z-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 Z-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 arranged on the Z-shaped support frame 9-1, the two Y-direction lead screws 9-5 are arranged side by side, 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 connected with the two Y-direction lead screws 9-5 through the two first bevel gear assemblies 9-4 respectively, and the power output shaft of the first driving motor 9-3 is connected with any one of the two first bevel gear assemblies 9-4; the second sliding rail 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 side by side on the two Y-direction lead screws 9-5, the two ends of the bottom of each transverse support frame 9-8 are slidably matched with the two Y-direction lead screws 9-5 respectively, one X-direction lead screw 9-10 is arranged at the top of each transverse support frame 9-8 correspondingly, 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 connected with the two X-direction lead screws 9-10 through the two second bevel gear assemblies 9-9 respectively, the power output shaft of the second driving motor 9-6 is connected with any one of the two second bevel gear assemblies 9-9, and the six-degree-of-freedom multi-position calibration platform 10 is slidably matched with the two X-direction lead screws 9-10 through the bottom sliding part 2; the six-degree-of-freedom multi-position calibration platform 10 makes 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 rail make synchronous reciprocating motion along the length direction of the Y-direction lead screw 9-5.

[0069] In combination Figure 19 As shown, the multi-direction transmission assembly in the embodiment includes a first sliding rail and a second sliding rail, the first sliding rail is arranged along the length direction of the support box 8, and the second sliding rail is arranged on the first sliding rail and arranged along the width direction of the support box 8; the first sliding rail includes a Z-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 Z-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 arranged on the Z-shaped support frame 9-1, the two Y-direction lead screws 9-5 are arranged side by side, 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 connected with the two Y-direction lead screws 9-5 through the two first bevel gear assemblies 9-4 respectively, and the power output shaft of the first driving motor 9-3 is connected with any one of the two first bevel gear assemblies 9-4; the second sliding rail 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 side by side on the two Y-direction lead screws 9-5, the two ends of the bottom of each transverse support frame 9-8 are slidably matched with the two Y-direction lead screws 9-5 respectively, one X-direction lead screw 9-10 is arranged at the top of each transverse support frame 9-8 correspondingly, 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 connected with the two X-direction lead screws 9-10 through the two second bevel gear assemblies 9-9 respectively, the power output shaft of the second driving motor 9-6 is connected with any one of the two second bevel gear assemblies 9-9, and the six-degree-of-freedom multi-position calibration platform 10 is slidably matched with the two X-direction lead screws 9-10 through the bottom sliding part 2; the six-degree-of-freedom multi-position calibration platform 10 makes 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 rail make synchronous reciprocating motion along the length direction of the Y-direction lead screw 9-5.

[0070] Through the cooperation of the multidirectional transmission assembly and the four multi-degree-of-freedom support seats 4 in the six-degree-of-freedom multi-position calibration platform 10, the maximum offset of the self-adaptive automobile wireless charging calibration mechanism is 780 mm in the X direction and 3600 mm in the Y direction.

[0071] Specific embodiment six: this embodiment is a further limitation of specific embodiments four or five, in this embodiment, 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 square shape. The arrangement direction of the square shape is uniform and circumferential, which is beneficial to effective and uniform arrangement in combination with the characteristics of the coil.

[0072] Specific embodiment seven: this embodiment is a further limitation of specific embodiments four, five or six, in this embodiment, the self-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 of the self-adaptive automobile wireless charging calibration mechanism, first drive the automobile 20 to move to the six-degree-of-freedom multi-position calibration platform 10, then drive the six-degree-of-freedom multi-position calibration platform 10 to move, drive the transmitting end coil 5 and the vehicle-mounted receiving end coil 6 at the bottom of the automobile 20 to realize precise matching, the moving process of the six-degree-of-freedom multi-position calibration platform 10 includes a large amplitude and a small amplitude orderly adjustment process, specifically:

[0073] First, the multidirectional transmission assembly drives the six-degree-of-freedom multi-position calibration platform 10 to complete the adjustment in the X direction and / or the Y direction, then 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 cooperate to complete the multi-degree-of-freedom self-adjustment process of the six-degree-of-freedom multi-position calibration platform 10, including pitching, yawing and lifting, until the vehicle-mounted receiving end coil 6 and the transmitting end coil 5 are in a stable transmission state.

[0074] Specific embodiment eight: this embodiment is a further limitation of specific embodiments one, two, three, four, five, six or seven, in combination Figure 19 As shown, in the charging scene of WPT, whether it is static wireless charging SWC or dynamic wireless charging DWC, there is inevitably a 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 the coupling coil, and there are two types of misalignment:

[0075] First: horizontal displacement, including the longitudinal component of the automobile 20 before and after and the transverse component of the automobile 20 door to door, mainly due to the irregular length of the coil, the deviation caused by human driving is difficult to avoid, especially for the transverse component;

[0076] Second: angle offset, including the component of the rotation around the X axis when the car 20 is tilted to the left or right, the component of the rotation around the Y axis when the car 20 is tilted forward or backward, and the component of the rotation around the Z axis when the car head and tail are rotated, mainly due to climate change, road debris, heavy objects in the trunk of the car 20, tire pressure changes, non-straight driving reasons, etc. The angle offset of the horizontal displacement component and the rotation around the X axis and the rotation around the Y axis are considered in the dynamic wireless charging scene. In addition, the longitudinal component, i.e. the car 20 driving in the driving direction, always exists and does not need to be considered. The DWPT defaults to straight driving, and the component of rotation around the Z axis can not be considered. According to the relevant specifications of SAE J2594 / 1, the misalignment tolerance range of the axial translation and rotation around the axis needs to be considered, Figure 19 A right-handed three-dimensional coordinate system for an electric vehicle using WPT, in which the origin is at the center of the transmitting coil 5, the X axis positive direction is the driving direction of the car 20, the Y axis positive direction is the left side of the car 20, and the Z axis positive direction is perpendicular to the ground and upward. The positive and negative directions of the horizontal displacement deviation are opposite to Figure one Therefore, the misalignment deviation range is shown in the table, which is not more than 75mm in the driving direction, not more than 100mm in the lateral direction of the car 20, and not more than 2 deg in the rotation around the X / Y axis, and not more than 3 deg in the rotation around the Z axis. The relevant data are as follows in Table 1:

[0077] Table 1 Data summary of coupling mechanism misalignment deviation

[0078]

[0079] When there is a misalignment deviation, the coupling between the ground subsystem and the subsystem of the car 20 will be weakened, the mutual inductance will decrease, and the efficiency will decrease. In severe cases, the power transmission may even fail. To maintain the rated charging power, a larger current is needed 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 influence of misalignment deviation on system performance indicators, including power, efficiency, leakage magnetic field, and coil heating, to obtain the cost of misalignment deviation to system performance.

[0080] As the offset distance of the receiving end increases, the mutual inductance M of the magnetic coupling mechanism will decrease. When the attenuation of M reaches a certain level, it will affect the system operation, resulting in the failure of wireless power transmission. Reducing the attenuation rate of M when the transmitting and receiving ends are wrong and increasing the error tolerance of the magnetic coupling mechanism are the main indicators for judging the performance of the magnetic coupling mechanism.

[0081] The high-frequency electromagnetic field generated by the inductor coil determines its electrical characteristics. According to Maxwell's equations, the electric field and the magnetic field generated by the coil have the following relationship:

[0082]

[0083] wherein the above formula represents the principle of mutual conversion between the electric field and the magnetic field in the time-varying electromagnetic field, represents the process of converting the time-varying electric field into the magnetic field, and the integral form can be expressed as:

[0084]

[0085] wherein Φ is the magnetic flux passing through the pickup coil. According to the above formula, when f is a constant value, in a certain area S, the greater the value of B, the greater the value of M of the electromagnetic coupling mechanism, and the maximum output power P outm may be expressed as:

[0086]

[0087] The above formula shows the correlation between the electrical characteristics of the electromagnetic coupling mechanism and the electromagnetic field, that is, to increase the output power level of the system, the magnetic flux passing through the pickup coil needs to be increased to improve the magnetic induction intensity in the plane of the pickup coil. In the above formula, E is the electric field intensity; is the magnetic field intensity; 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.

[0088] Specific implementation method nine: this implementation method is a further limitation of specific implementation methods one, two, three, four, five, six, or seven, in combination with Figure 24 As shown in FIG. 10, each multi-degree-of-freedom support seat 4 in this embodiment 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, which are arranged in four groups, namely group A, group B, group C, and group D, counterclockwise on the six-degree-of-freedom motion platform 10, and each group is numbered counterclockwise as 1, 2, and 3. The following are several typical cases:

[0089] Case one: when the A group, the B group, the C group, and the D group simultaneously stretch and contract, the offset in the Z-axis direction can be achieved;

[0090] Case two: when D1, A3, C2, B2 push the extension motion platform to move in a single direction towards the Y-axis; otherwise, D2, A1, C3, B1; other telescopic rods are at the necessary height and remain stationary;

[0091] Case three: when A2, B2, D3, C1 push the extension motion platform to move in a single direction towards the X-axis; otherwise, D2, C2, A1, B3; other telescopic rods are at the necessary height and remain stationary;

[0092] Case four: when the AD group pushes the extension motion platform to rotate in a single direction towards the X-axis to achieve inclination; otherwise, the CB group; other telescopic rods are at the necessary height and remain stationary;

[0093] Case five: when the AB group pushes the extension motion platform to rotate in a single direction towards the Y-axis to achieve inclination; otherwise, the CD group; other telescopic rods are at the necessary height and remain stationary;

[0094] Case six: when the A1B1C1D1 group pushes the extension motion platform to rotate in a single direction towards the Z-axis; otherwise, the A3B3C3D3 group; other telescopic rods are at the necessary height and remain stationary;

[0095] Combining the above six telescopic modes can achieve the six-degree-of-freedom finite-angle arbitrary attitude of the launch end coil motion platform.

[0096] Specific implementation method ten: combined with Figures 1 to 23 As shown in the figure, the adaptive automobile wireless charging calibration method in the embodiment 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 perform coarse adjustment of the driven automobile 20 to approach the position of the six-degree-of-freedom multi-position calibration platform 10, and then complete the ordered adjustment process of the large and small amplitude of the six-degree-of-freedom multi-position calibration platform 10, specifically:

[0097] First, the six-degree-of-freedom multi-position calibration platform 10 is driven by the multidirectional transmission assembly to complete the adjustment in the X and / or Y directions, and then the multidirectional self-adjustment process of the pitch, yaw and lift of the six-degree-of-freedom multi-position calibration platform 10 is completed through the cooperation between 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.

[0098] Specific implementation method eleven: combined with Figure 22As shown, the six-degree-of-freedom multi-position calibration platform 10 in the embodiment can also be used in the calibration process of dynamic misalignment deviation when multiple six-degree-of-freedom multi-position calibration platforms 10 are arranged in a linear shape. When the six-degree-of-freedom multi-position calibration platform 10 is arranged in a linear shape, it cooperates with the working principle of the automobile 20 to achieve autonomous offset calibration of the transmitting end induction coil when the automobile 20 deviates from the center of the road during dynamic driving to ensure the predetermined transmission efficiency. The structures and connection relationships not mentioned in the embodiment are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, or tenth embodiments.

[0099] Specific embodiment twelve: This embodiment is a further limitation of the fourth, fifth, sixth, seventh, eighth, or ninth embodiments. In this embodiment, the load 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 that is processed to match the shape of the top 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 facilitates the fine adjustment process of the yaw and pitch of the six-degree-of-freedom multi-position calibration platform 10.

[0100] The other is a long hole processed along the length direction of the load plate 7, which is used to match the six-degree-of-freedom multi-position calibration platform 10 to achieve large-range adjustment under the cooperation of the multi-directional transmission assembly, forming the working mode of the six-degree-of-freedom multi-position calibration platform 10 driving the transmitting end coil 5 to quickly pursue the vehicle-mounted receiving end coil 6 at the bottom of the automobile 20. The specific working process is as follows:

[0101] The vehicle-mounted receiving end coil 6 is installed at the bottom of the automobile 20, the automobile 20 is driven to the support box 8 in the self-adaptive automobile wireless charging calibration mechanism and stays at any position on the load plate 7. The six-degree-of-freedom multi-position calibration platform 10 realizes long-distance horizontal and vertical adjustment under the cooperation of the multi-directional transmission assembly, forming the six-degree-of-freedom multi-position calibration platform 10 driving the transmitting end coil 5 to move to the directly below the vehicle-mounted receiving end coil 6 at the bottom of the automobile 20. The vehicle-mounted receiving end coil 6 cooperates with the transmitting end coil 5 to complete the charging process of the automobile 20.

Claims

1. An adaptive car wireless charging calibration mechanism, characterized in that: The utility model provides a kind of six-degree-of-freedom multi-position calibration platform, including vehicle-mounted receiving end coil (6), bearing plate (7), support box (8), multidirectional transmission assembly and six-degree-of-freedom multi-position calibration platform (10), the support box (8) is horizontally arranged, and the top of support box (8) is open end, and multidirectional transmission assembly is arranged in support box (8), and bearing plate (7) is arranged at the top of support box (8), and bearing plate (7) is processed with opening (11) along its plate thickness direction, and six-degree-of-freedom multi-position calibration platform (10) is arranged between multidirectional transmission assembly and bearing plate (7), and the top of six-degree-of-freedom multi-position calibration platform (10) is arranged in opening (11), and the bottom of six-degree-of-freedom multi-position calibration platform (10) is slidably connected with multidirectional transmission assembly, and six-degree-of-freedom multi-position calibration platform (10) is driven multidirectional transmission assembly and makes multidirectional multi-pose reciprocating motion; 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 coil (5), and four multi-degree-of-freedom support seats (4). The lower support plate (1) is horizontally arranged, 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 corner of the upper support platform (3) is connected with the lower support plate (1) through a multi-degree-of-freedom support seat (4), and the transmitting coil (5) is arranged on the top surface of the upper support platform (3). The vehicle-mounted receiving end coil (6) is arranged above the transmitting coil (5). 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 sequentially arranged between the upper support platform (3) and the lower support plate (1) from top to bottom. The 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 hingedly connected 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). The lower end of each telescopic rod (4-3) is hingedly connected to the top of the lower support frame (4-2). 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 hingedly connected 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 hingedly connected to the middle and both ends of the lower support frame (4-2). 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), and the third telescopic rod (4-3) of the three telescopic rods (4-3) is hinged between the other end of the upper support frame (4-1) and the other end of the lower support frame (4-2), the middle of the upper support frame (4-1) is the intersection position between the horizontal section and the vertical section, and the middle of the lower support frame (4-2) is the intersection position between the horizontal section and the vertical section; 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), and the six-degree-of-freedom multi-position calibration platform (10) has twelve telescopic rods (4-3) in total, which are arranged in four groups, namely group A, group B, group C and group D, counterclockwise, and each group is numbered counterclockwise as 1, 2 and 3, which can be summarized as follows: Case one: when the A group, the B group, the C group and the D group simultaneously stretch out, the offset in the Z-axis direction can be realized; Case two: when D1, A3, C2 and B2 push the six-degree-of-freedom multi-position calibration platform (10) to move in a single direction along the Y-axis; on the contrary, D2, A1, C3 and B1 do; other telescopic rods are at the necessary height and remain stationary; Case three: when A2, B2, D3 and C1 push the six-degree-of-freedom multi-position calibration platform (10) to move in a single direction along the X-axis; on the contrary, D2, C2, A1 and B3 do; other telescopic rods are at the necessary height and remain stationary; Case four: when the AD group pushes the six-degree-of-freedom multi-position calibration platform (10) to rotate in a single direction along the X-axis to realize inclination; on the contrary, the CB group does; other telescopic rods are at the necessary height and remain stationary; Case five: when the AB group pushes the six-degree-of-freedom multi-position calibration platform (10) to rotate in a single direction along the Y-axis to realize inclination; on the contrary, the CD group does; other telescopic rods are at the necessary height and remain stationary; Case six: when the A1B1C1D1 group pushes the six-degree-of-freedom multi-position calibration platform (10) to rotate in a single direction along the Z-axis; on the contrary, the A3B3C3D3 group does; other telescopic rods are at the necessary height and remain stationary; The above six telescopic modes can be combined to realize the six-degree-of-freedom multi-position calibration platform (10) to meet the requirements of six-degree-of-freedom finite angle arbitrary attitude.

2. The adaptive car wireless charging calibration mechanism of claim 1, wherein: The multi-direction transmission assembly comprises a first sliding track and a second sliding track, the first sliding track is arranged along the length direction of the support box (8), and the second sliding track is arranged on the first sliding track and arranged along the width direction of the support box (8); the first sliding track comprises a Z-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 Z-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 arranged on the Z-shaped support frame (9-1), the two Y-direction lead screws (9-5) are arranged side by side, 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 connected with the two Y-direction lead screws (9-5) through the two first bevel gear assemblies (9-4) respectively, and the power output shaft of the first driving motor (9-3) is connected with any one of the two first bevel gear assemblies (9-4); the second sliding track comprises 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 side by side on the two Y-direction lead screws (9-5), the two ends of the bottom of each transverse support frame (9-8) are slidably connected with the two Y-direction lead screws (9-5) respectively, one X-direction lead screw (9-10) is arranged at the top of each transverse support frame (9-8) correspondingly, the length direction of each X-direction lead screw (9-10) is the same as that 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 connected with the two X-direction lead screws (9-10) through the two second bevel gear assemblies (9-9) respectively, the power output shaft of the second driving motor (9-6) is connected with any one of the two second bevel gear assemblies (9-9), and the six-degree-of-freedom multi-position calibration platform (10) is slidably connected with the two X-direction lead screws (9-10) through the bottom sliding piece (2); the six-degree-of-freedom multi-position calibration platform (10) reciprocates 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 reciprocate synchronously along the length direction of the Y-direction lead screw (9-5).

3. The adaptive car wireless charging calibration mechanism of claim 1, wherein: 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 Chinese character field shape.

4. An adaptive vehicle wireless charging calibration method, implemented by using the adaptive vehicle wireless charging calibration mechanism of claim 2 or 3, characterized in that: The adaptive automobile wireless charging calibration method is: The vehicle-mounted receiving end coil (6) is installed at the bottom of the automobile (20), and the automobile (20) is driven to the support box (8) in the adaptive automobile wireless charging calibration mechanism. First, the automobile (20) is driven to move to a position 30-80 cm away from the six-degree-of-freedom multi-position calibration platform (10), and then the orderly adjustment process of the six-degree-of-freedom multi-position calibration platform (10) is completed. Specifically: First, the six-degree-of-freedom multi-position calibration platform (10) is driven by the multi-directional transmission assembly to complete the adjustment in the X and / or Y directions. Then, through the cooperation between 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), the multi-degree-of-freedom self-adjusting process of the six-degree-of-freedom multi-position calibration platform (10) is completed, including the pitch, yaw and lift of the six-degree-of-freedom multi-position calibration platform (10), until the vehicle-mounted receiving end coil (6) and the transmitting end coil (5) are in a stable transmission state.

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