Charging device and charging system

Abstract

A charging device and a charging system, the charging device comprising: a movable module; a plug module provided on the movable module and provided with a charging connector, the charging connector being matched with a charging port on an external device to charge the external device; and an identification component provided on the plug module and in communication with the movable module, the identification component being used to acquire information of the plug module and / or the external device, and the movable module being adapted to move according to the information acquired by the identification component to drive the charging connector to be matched with the charging port. In the technical scheme of the embodiment of the application, the identification component sends the information of the plug module and the external device to the movable module, so that the movable module is driven to move to adjust the position of the plug module relative to the external device in real time until the plug module can be reliably matched with the external device to charge the external device. The full automation can be realized, the labor cost is saved, the charging efficiency is improved, the charging plug precision is ensured, and the reliability of charging is improved.

Description

Technical Field

[0001] This application relates to the field of batteries, specifically to a charging device and a charging system. Background Technology

[0002] After a ship with a depleted battery docks, the dock's tower cranes lift the power supply from the electric ship onto a container truck at the shore and transport it to a battery swapping station for charging. The charging process at the battery swapping station is all done manually, which is time-consuming, inefficient, and has low reliability. Utility Model Content

[0003] In view of the above problems, this application provides a charging device and a charging system that can improve the problem of low charging reliability of external devices.

[0004] In a first aspect, this application provides a charging device, comprising: an active module; a plug-in module disposed on the active module, the plug-in module having a charging connector adapted to cooperate with the charging port of an external device to charge the external device; and an identification component disposed on the plug-in module and communicating with the active module, the identification component being used to acquire information of the plug-in module and / or the external device, the active module being adapted to move according to the information acquired by the identification component, so as to drive the charging connector to adapt to the charging port.

[0005] In the technical solution of this application embodiment, by setting an identification component on the plug-in module, the identification component sends the information of the plug-in module and the external device to the active module, so that the active module moves to drive the plug-in module to move, thereby adjusting the position of the plug-in module relative to the external device in real time until the plug-in module can reliably cooperate with the external device to realize the charging of the external device. The setting of the identification component can realize the full automation of the charging process, which can save labor costs, improve charging efficiency, ensure charging plug-in accuracy, and improve charging reliability.

[0006] In some embodiments, the identification component includes a rangefinder, which is used to acquire distance and / or angle information of the plug-in module relative to the charging panel of the external device. In the above technical solution, by setting a rangefinder, distance and angle information of the plug-in module relative to the charging panel can be obtained. The movable module can move according to the information to adjust the position of the plug-in module, thereby improving the matching accuracy between the plug-in module and the charging panel.

[0007] In some embodiments, the identification component further includes an image acquisition device for acquiring information about the external device. In the above technical solution, by using an image acquisition device to acquire information about the external device, it is possible to determine whether charging is possible based on whether the charging port is open, and also to obtain the offset position of the plug-in module relative to the charging panel. The movable module can then adjust the position of the plug-in module based on this information, improving the matching accuracy between the plug-in module and the charging panel.

[0008] In some embodiments, the identification component further includes an illumination device for illuminating one side of the external device. In the above technical solution, by providing an illumination device, supplementary lighting can be provided, improving the clarity of information acquired by the image acquisition device.

[0009] In some embodiments, the plug-in module includes a connector panel and at least one charging connector. The connector panel has a connector mounting hole, and a portion of the charging connector passes through the connector mounting hole and is connected to a cable. In the above technical solution, the charging connector can charge an external device via cable power supply.

[0010] In some embodiments, the connector panel is provided with a clearance hole, and at least a portion of the identification component is disposed on the side of the connector panel facing the cable along the thickness direction of the connector panel, and is arranged opposite to the clearance hole. In the above technical solution, the identification component is installed on the back of the connector panel and performs identification detection through the clearance hole, thereby achieving accurate identification detection while avoiding interference between the identification component and external devices.

[0011] In some embodiments, the plug-in module further includes a charging connector, which is sleeved on the outer periphery of the charging connector and connected to the connector panel. One of the outer periphery of the charging connector and the inner periphery of the charging connector has a limiting rib, and the other has a limiting groove. The limiting rib and the limiting groove engage to restrict the rotation of the charging plug. In the above technical solution, restricting the rotation of the charging connector by using the charging connector improves the reliability of the engagement between the charging connector and the charging port, reduces the probability of the charging connector rotating, and improves the charging effect.

[0012] In some embodiments, the plug-in module further includes a first limiting member and a second limiting member, which are located on opposite sides of the connector panel, and the charging connector is located between the first limiting member and the connector panel. The first limiting member and the second limiting member are respectively connected to the connector panel to limit the displacement of the charging connector and the charging connector. In the above technical solution, the charging connector and the charging connector are limited by two limiting members, which prevents the probability of the charging connector moving back and forth and failing to cooperate with the charging port, thereby improving the reliability of charging.

[0013] In some embodiments, the plug-in module includes a positioning pin disposed on the second side of the connector panel for engaging with the positioning hole of the external device. In the above technical solution, when the external device moves towards the charging plug-in assembly, the positioning pin first inserts into the corresponding positioning hole, converging the positional deviation of the external device relative to the charging plug-in assembly. This ensures that the subsequent charging connector completes insertion in a predetermined alignment state, achieving zero lateral force connection, reducing the probability of charging connector damage, improving charging reliability, and extending the service life of the charging plug-in assembly.

[0014] In some embodiments, one end of the positioning pin has a positioning connector, and the cross-sectional dimensions of the positioning connector gradually increase towards the other end of the positioning pin. In the above technical solution, by providing a positioning connector at the end of the positioning pin, it is beneficial to absorb alignment errors during insertion and removal, reduce shear force between the positioning hole and the positioning pin, reduce wear and insertion thrust, and improve service life; at the same time, it can improve the fitting accuracy between the positioning pin and the positioning hole, thereby improving the fitting accuracy between the charging connector and the charging port, increasing the insertion and removal success rate, and improving the reliability of charging.

[0015] In some embodiments, the movable module includes a tilting platform, one of the connector panel and the movable module has a limiting post, and the other of the connector panel and the movable module has a limiting hole. The limiting post passes through the limiting hole and can slide with the limiting hole. In the above technical solution, by setting the slidingly engaging limiting post and limiting hole, the movement of the charging connector and the connector panel can be guided, thereby improving the reliability of the engagement between the charging connector and the charging port and reducing the probability of damage caused by the shaking of the charging connector and the hard insertion and removal of the charging port.

[0016] In some embodiments, a buffer structure is provided between the connector panel and the movable module. This buffer structure is configured to be deformable when the plug-in module engages with the external device. In the above technical solution, by providing the buffer structure, the plug-in module can have a floating space, which to some extent avoids wear caused by rigid collisions between the charging connector and the charging port, thus improving the service life of the assembly. Simultaneously, it helps maintain the charging connector under a predetermined pressure when engaging with the charging port, improving charging reliability.

[0017] In some embodiments, the active module further includes a swing platform, the connector panel is disposed on the swing platform, and the buffer structure is connected between the connector panel and the swing platform. In the above technical solution, the design of the swing platform facilitates the installation of the buffer structure.

[0018] In some embodiments, the tilting platform includes a shaft connection region and a cantilever region. The shaft connection region is used to connect a tilting drive component, which can drive the tilting platform to move, thereby moving the plug-in module. The cantilever region is located on one side of the shaft connection region, and the connector panel is correspondingly disposed with respect to the cantilever region. In the above technical solution, the tilting platform can move under the drive of the tilting drive component, enabling the plug-in module to move. Furthermore, the connector panel is arranged in the cantilever region, facilitating the installation of the connector panel and the buffer structure on the tilting platform.

[0019] Secondly, this application provides a charging system that includes the charging device described in the above embodiments.

[0020] In some embodiments, the charging system is used to charge a box-type power supply, which is a replaceable power source for an electric vessel.

[0021] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0022] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the cooperation structure between the charging system and the external device in some embodiments of this application; Figure 2 for Figure 1 Side view; Figure 3 This is a schematic diagram of the structure of a charging system according to some embodiments of this application; Figure 4 This is a partial structural diagram of a charging system according to some embodiments of this application; Figure 5 for Figure 4 The center circle shows a magnified view of point A; Figure 6 This is a partial structural schematic diagram of a charging device according to some embodiments of this application; Figure 7 for Figure 6 A diagram from one perspective; Figure 8 This is a partial structural schematic diagram of a charging plug-in assembly according to some embodiments of this application; Figure 9 for Figure 8 A diagram from one perspective; Figure 10 For along Figure 9 Sectional view of the middle BB line; Figure 11 This is a schematic diagram of the pluggable module from one perspective, representing some embodiments of this application; Figure 12 This is a schematic diagram of the pluggable module of some embodiments of this application from another perspective; Figure 13 Here is a partial exploded view of the plug-in module of some embodiments of this application; Figure 14 for Figure 13 The center circle shows a magnified view of point C; Figure 15 This is a schematic diagram of the structure of the charging connector according to some embodiments of this application; Figure 16 This is a schematic diagram of the structure of an external device according to some embodiments of this application; Figure 17 This is a schematic diagram of the structure of a charging panel according to some embodiments of this application.

[0023] Figure label: Charging system 1; Charging device 2; Charging base 10; Track 11; Charging frame 12; First side beam 121; First limiting hole 1211; Second side beam 122; Seating frame 20; Support body 21; Support part 2101; First support 211; Second support 212; Buffer pad 213; Guide structure 22; Guide support 221; Guide pad 222; Guide surface 2221; Connecting piece 223; Trigger mechanism 23; Trigger switch 231; Trigger element 232; Guide element 233; Ball 2334; Reset element 234; Charging plug-in assembly 30; Movable module 301; First moving module 31; Second moving module 32; Second moving drive element 321; Third moving module 33; Third moving drive element 331; Swing module 34; Swing platform 341; Shaft connection area 3411; Cantilever area 3412; Limiting hole 342; Oscillating drive component 343; ball joint 344; plug-in module 35; charging connector 351; limiting groove 3511; positioning plug 352; positioning connector 3521; limiting post 353; limiting protruding ring 3531; connector panel 354; first clearance hole 3541; second clearance hole 3542; third clearance hole 3543; connector mounting hole 3545; first mounting plate 355; mounting cover 356; charging connector 357; limiting rib 3571; first limiting member 3581; second limiting member 3582; buffer structure 36; identification component 37; rangefinder 371; image acquisition device 372; lighting device 373; moving stage 40; protective cover 50; cable 61; external equipment 90; charging panel 91; charging port 911; positioning plug 912; positioning inclined surface 9121; first direction F1; second direction F2; third direction F3. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0025] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, rather than to describe a specific order or hierarchy.

[0026] In this application, the reference to "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0029] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0030] In this application, "multiple" means two or more (including two).

[0031] In related technologies, external devices are usually placed directly on the ground or on a simple roller tray, and then moved to the position corresponding to the charging base by manual pushing and pulling, and then plugged and unplugged manually. This manual operation method takes a long time and is difficult to control the operation accuracy.

[0032] Therefore, this application proposes a charging device, comprising: an active module, a plug-in module, and an identification component. The plug-in module is disposed on the active module and has a charging connector adapted to cooperate with a charging port on an external device to charge the external device. The identification component is disposed on the plug-in module and communicates with the active module. The identification component is used to acquire information about the plug-in module and / or the external device. The active module moves according to the information acquired by the identification component to drive the charging connector to adapt to the charging port.

[0033] According to the charging device of this application embodiment, by setting an identification component on the plug-in module, the identification component sends information about the plug-in module and the external device to the active module, so that the active module moves to drive the plug-in module to move, thereby adjusting the position of the plug-in module relative to the external device in real time until the plug-in module can reliably cooperate with the external device to realize the charging of the external device. The setting of the identification component can realize the full automation of the charging process, which can save labor costs, improve charging efficiency, ensure charging plug-in accuracy, and improve charging reliability.

[0034] like Figures 1-17 As shown, the charging device 2 in this embodiment can be used in the charging system 1. The charging system 1 can be used to charge the external device 90 of the electrical equipment. The external device 90 can be a box-type power supply. A box-type power supply is an integrated and modular power device that integrates power modules, control systems, protection units, fire protection facilities, etc., into a protective box. It has the characteristics of flexible deployment, strong environmental adaptability, and safety and reliability. The electrical equipment can be, but is not limited to, box-type substations, ships, outdoor work equipment, laboratories, mobile emergency power supply equipment, communication base stations, etc.

[0035] like Figures 1-5 As shown, the charging system 1 includes a charging base 10 and a seating frame 20. The charging base 10 is provided with a charging plug assembly 30. The seating frame 20 is located at one end of the charging base 10 and is used to place an external device 90. The external device 90 can cooperate with the charging plug assembly 30 for charging.

[0036] The charging base 10 supports the charging plug assembly 30. The charging base 10 can be partially buried underground. The charging plug assembly 30 can be directly mounted on the charging base 10 or indirectly mounted on the charging base 10 through other components. The charging plug assembly 30 can be movable relative to the charging base 10 or it can be fixed. The charging plug assembly 30 is used to connect to an external device 90 to charge the external device 90.

[0037] The mounting bracket 20 provides support for the external device 90. The mounting bracket 20 can be partially pre-buried underground to fix the mounting bracket 20. After the external device 90 is placed on the mounting bracket 20, the external device 90 can be opposite the charging base 10 along the first direction F1. The mounting bracket 20 can position the external device 90, reduce the probability of the external device 90 tilting and shaking, and protect the external device 90 from physical damage to the ground, thus extending its service life. The mounting bracket 20 can also improve the contact alignment accuracy between the external device 90 and the charging plug-in assembly 30 of the charging assembly 1, reducing the probability of poor contact. In addition, a monitoring module can be integrated on the mounting bracket 20 for automatic power on and off.

[0038] The charging device 2 according to an embodiment of this application is described below with reference to the accompanying drawings.

[0039] Reference Figures 6-15 As shown, the charging device 2 according to an embodiment of this application includes: an active module 301, a plug-in module 35, and an identification component 37. The plug-in module 35 is disposed on the active module 301 and has a charging connector 351. The charging connector 351 is adapted to cooperate with the charging port 911 on the external device 90 to charge the external device 90. The identification component 37 is disposed on the plug-in module 35 and communicates with the active module 301. The identification component 37 is used to obtain information about the plug-in module 35 and / or the external device 90. The active module 301 moves according to the information obtained by the identification component 37 to drive the charging connector 351 to adapt to the charging port 911.

[0040] like Figure 6 and Figure 7 As shown, the active module 301 itself can move relative to its mounting base (such as the charging base 10 or the moving platform 40). The active module 301 may include a moving module and a tilting module 34. The moving module may include a first moving module 31, a second moving module 32 and a third moving module 33. The first moving module 31 is movably disposed on the moving platform 40 and then on the charging base 10 along the first direction F1. The second moving module 32 is movably mounted on the first moving module 31 along the second direction F2. The third moving module 33 is movably mounted on the second moving module 32 along the up-down direction F3. The tilting module 34 is disposed between the third moving module 33 and the plug-in module 35, and the tilting module 34 can drive the plug-in module 35 to rotate relative to the third moving module 33. The position and angle of the plug-in module 35 can be adjusted by the tilting module 34. The first direction F1, the second direction F2 and the third direction F3 are perpendicular to each other.

[0041] The moving module can be a linear slider guide mechanism or a C-groove and bolt-type composite roller mechanism.

[0042] like Figure 7 As shown, the plug-in module 35 has a charging connector 351, which is electrically connected to a cable 61. The cable 61 can also be electrically connected to a charging station or other electrical storage device to charge the external device 90 via the cable 61 and the charging plug-in assembly 30.

[0043] During the charging process, the active module 301 moves, which can drive the plug-in module 35 to cooperate with the charging panel 91 of the external device 90, so that the charging connector 351 can be inserted into or pulled out of the charging port 911 of the external device 90 to establish or disconnect the charging connection. During the charging process, it has mechanical connection, electrical on / off, communication interaction and safety protection mechanisms. At the same time, under the action of the active module 301, automated charging can be realized, replacing manual connection and disconnection operations, improving charging efficiency, reducing manual intervention and realizing unmanned operation.

[0044] like Figure 9 As shown, the identification component 37 is set on the plug-in module 35. The identification component 37 can obtain information about the plug-in module 35 relative to the external device 90, such as angle, distance and position information, based on the current position of the plug-in module 35, and then pass this information to the activity module 301 for execution.

[0045] Therefore, the activity module 301 performs its own activity based on the obtained information, and through its own activity, it drives the plug-in module 35 to move, thereby adjusting the position of the plug-in module 35 relative to the external device 90. The identification component 37 can obtain information about the plug-in module 35 in real time or at predetermined intervals, until the activity module 301 drives the plug-in module 35 to move to a position aligned with the charging panel 91 of the external device 90.

[0046] The alignment of the plug-in module 35 and the charging panel 91 can be precise or it can have some error. However, the error can be eliminated as the plug-in module 35 and the charging panel 91 cooperate further, thereby ensuring that the charging connector 351 and the charging port 911 of the charging panel 91 can cooperate reliably, so as to stably charge the external device 90.

[0047] It should be noted that the charging system 1 is equipped with a control module. The identification component 37 communicates with the activity module 301. The identification component 37 and the activity module 301 can be directly electrically connected to the control module or communicate wirelessly. The control module activates based on the information obtained by the identification component 37 and then gives the activity module 301 an instruction message. This realizes the communication between the identification component 37 and the activity module 301. Thus, through automated control, charging failure caused by misalignment of the plug-in module 35 can be prevented.

[0048] According to the embodiments of the present application, the charging device 2 has an identification component 37 on the plug-in module 35. The identification component 37 sends information about the plug-in module 35 and the external device 90 to the active module 301, so that the active module 301 moves to drive the plug-in module 35 to move, thereby adjusting the position of the plug-in module 35 relative to the external device 90 in real time until the plug-in module 35 can reliably cooperate with the external device 90 to achieve charging of the external device 90. The setting of the identification component 37 can realize the full automation of the charging process, which can save labor costs, improve charging efficiency, ensure charging plug-in accuracy, and improve charging reliability.

[0049] like Figure 9 As shown, in some embodiments, the identification component 37 includes a rangefinder 371 for acquiring distance and / or angle information of the plug-in module 35 relative to the charging panel 91 of the external device 90.

[0050] like Figure 9 As shown, the identification component 37 includes multiple rangefinders 371. The rangefinders 371 can acquire distance information, angle information, or both distance and angle information simultaneously. Specifically, the rangefinder 371 is an instrument used to measure the distance between two points. The rangefinder 371 can be a laser rangefinder, an ultrasonic rangefinder, an infrared rangefinder, etc. The multiple rangefinders 371 are arranged at intervals along the circumference of the plug-in module 35. The distance between the plug-in module 35 and the charging panel 91 can be obtained through the rangefinders 371. Based on the distances between the plug-in module 35 and the charging panel 91 measured by the multiple rangefinders 371 at different positions, the tilt angle of the plug-in module 35 relative to the charging panel 91 is obtained. Then, based on the distance and angle information between the plug-in module 35 and the charging panel 91, the movable module 301 is moved to adjust the position of the plug-in module 35.

[0051] In the above technical solution, by setting a rangefinder 371, the distance and angle information of the plug-in module 35 relative to the charging panel 91 can be obtained. The movable module 301 can move according to the information to adjust the position of the plug-in module 35 and improve the matching accuracy between the plug-in module 35 and the charging panel 91.

[0052] like Figure 9 As shown, in some embodiments, the identification component 37 further includes an image acquisition device 372, which is used to acquire information from the external device 90.

[0053] The image acquisition device 372 can acquire whether the charging port 911 of the external device 90 is open. For example, it can determine whether charging is possible when the cover of the charging port 911 is open, and determine whether charging is not possible when the charging port 911 is covered by the cover.

[0054] Image acquisition device 372 can also acquire the relative positions between components on plug-in module 35 and corresponding components on external device 90, such as... Figure 9 As shown, the image acquisition device 372 can be a smart camera. The image acquisition device 372 can obtain the distance between the component on the plug-in module 35 and the corresponding component on the external device 90 by taking pictures and comparing them. For example, it can obtain the offset between the center of the positioning pin 352 on the plug-in module 35 and the center of the positioning hole 912 on the external device 90. The recognition component 37 transmits the offset to the activity module 301 in real time. The activity module 301 moves to adjust the position of the plug-in module 35 so that the center of the positioning pin 352 and the center of the positioning hole 912 are within the centering error range, thereby improving the positioning accuracy of the charging connector 351 and the charging port 911.

[0055] In the above technical solution, by setting up an image acquisition device 372 to acquire information about the external device 90, it can determine whether charging is possible based on whether the charging port 911 is open, and also obtain the offset position of the plug-in module 35 relative to the charging panel 91. The active module 301 can move according to the information to adjust the position of the plug-in module 35, thereby improving the matching accuracy between the plug-in module 35 and the charging panel 91.

[0056] like Figure 9 As shown, in some embodiments, the identification component 37 further includes an illumination device 373 for illuminating one side of the external device.

[0057] The lighting device 373 can be a supplementary light. By setting up the lighting device 373, supplementary lighting can be provided, thereby improving the clarity of information acquired by the image acquisition device 372.

[0058] like Figures 7-15 As shown, in some embodiments, the plug-in module 35 includes a connector panel 354 and at least one charging connector 351. The connector panel 354 is provided with a connector mounting hole 3545. A portion of the charging connector 351 passes through the connector mounting hole 3545 and is connected to the cable 61.

[0059] like Figure 7 and Figure 8 As shown, the plug-in module 35 includes multiple charging connectors 351, and the connector panel 354 is provided with multiple connector mounting holes 3545. The charging connectors 351 pass through the connector mounting holes 3545 and are electrically connected to the cable 61. The cable 61 can also be electrically connected to the charging station or other electrical storage devices. Thus, the charging connectors 351 can charge the external device 90 by supplying power through the cable 61.

[0060] In some embodiments, the connector panel 354 is provided with clearance holes. Along the thickness direction of the connector panel 354, at least a portion of the identification component 37 is disposed on the side of the connector panel 354 facing the cable 61, and the identification component 37 is arranged opposite to the clearance hole. There can be one or more clearance holes, and multiple clearance holes correspond one-to-one with multiple components of multiple identification components 37, so that the identification component can perform identification and detection through the clearance holes. Thus, the identification component 37 can be installed on the back side of the connector panel 354 (i.e., the side away from the external device), thereby achieving accurate identification and detection while avoiding interference between the identification component and the external device.

[0061] like Figure 11 As shown, in some embodiments, the plug-in module 35 includes a first mounting plate 355, a first clearance hole 3541 is provided on the connector panel 354, the first mounting plate 355 is provided on the first side of the connector panel 354, and the rangefinder 371 is provided on the first mounting plate 355, and the rangefinder 371 is arranged opposite to the first clearance hole 3541.

[0062] like Figure 11 and Figure 12 As shown, the first mounting plate 355 is mounted on the rear side of the connector panel 354, and the rangefinder 371 is mounted on the first mounting plate 355, which facilitates the installation and wiring of the rangefinder 371. The rangefinder 371 is arranged opposite to the first clearance hole 3541, and the light or wave emitted by the rangefinder 371 can be sent to the charging panel 91 through the first clearance hole 3541, thereby realizing the detection of distance.

[0063] In the above technical solution, by setting a first mounting plate 355 on one side of the connector panel 354, the rangefinder 371 is installed, which increases the number of installable components on the plug-in module 35, and at the same time, it does not require increasing the size of the connector panel 354 itself, which facilitates the alignment and cooperation between the connector panel 354 and the charging panel 91.

[0064] like Figure 11 and Figure 12 As shown, in some embodiments, the connector panel 354 also has a second clearance hole 3542, and the first side of the connector panel 354 also has a mounting cover 356. The image acquisition device 372 is disposed inside the mounting cover 356, and the image acquisition device 372 is arranged opposite to the second clearance hole 3542.

[0065] like Figure 11 and Figure 12As shown, the mounting cover 356 and the image acquisition device 372 are both installed on the rear side of the connector panel 354. The mounting cover 356 can both support the image acquisition device 372 and protect it, reducing the probability of interference to the image acquisition device 372. The image acquisition device 372 can acquire position data through the second clearance hole 3542.

[0066] In the above technical solution, by setting a mounting cover 356 on one side of the connector panel 354, the image acquisition device 372 is installed, which increases the number of components that can be installed on the plug-in module 35, while not increasing the size of the connector panel 354 itself, making it easier for the connector panel 354 to be aligned and matched with the charging panel 91.

[0067] like Figure 9 and Figure 11 As shown, in some embodiments, the connector panel 354 also has a third clearance hole 3543, to which the lighting device 373 is mounted.

[0068] like Figure 11 As shown, the lighting device 373 has a third clearance hole 3543, which facilitates wiring of the lighting device 373 on one side and provides supplementary lighting to the other side, thereby improving the clarity of information acquired by the image acquisition device 372.

[0069] like Figures 12-15 As shown, in some embodiments, the plug-in module 35 further includes a charging connector 357, which is sleeved on the outer periphery of the charging connector 351 and connected to the connector panel 354. One of the outer periphery of the charging connector 351 and the inner periphery of the charging connector 357 has a limiting rib 3571, and the other of the outer periphery of the charging connector 351 and the inner periphery of the charging connector 357 has a limiting groove 3511. The limiting rib 3571 and the limiting groove 3511 are inserted and cooperated to limit the rotation of the charging connector 351.

[0070] like Figure 14 and Figure 15 As shown, the inner circumference of the charging connector 357 has a limiting rib 3571, and the outer circumference of the charging connector 351 has a limiting groove 3511. The extending directions of the limiting rib 3571 and the limiting groove 3511 are the same as the extending direction of the charging connector 351. Thus, the rotation of the charging connector 351 can be restricted by the insertion and engagement of the limiting rib 3571 and the limiting groove 3511.

[0071] In the above technical solution, by restricting the rotation of the charging connector 351 by the charging connector 357, the reliability of the engagement between the charging connector 351 and the charging port 911 can be improved, the probability of the charging connector 351 rotating can be reduced, and the charging effect can be improved.

[0072] like Figure 12 As shown, in some embodiments, the plug-in module 35 further includes a first limiting member 3581 and a second limiting member 3582. The first limiting member 3581 and the second limiting member 3582 are located on opposite sides of the connector panel 354, and the charging connector 357 is located between the first limiting member 3581 and the connector panel 354. The first limiting member 3581 and the second limiting member 3582 are respectively connected to the connector panel 354 to limit the displacement of the charging connector 351 and the charging connector 357.

[0073] like Figure 12 and Figure 13 As shown, the first limiting member 3581 is located on the front side of the charging connector 357. The first limiting member 3581 is connected to the charging connector 357 and the connector panel 354 by fasteners, thereby fixing the charging connector 357 and preventing the charging connector 357 from moving, thus preventing the charging connector 351 from rotating. The second limiting member 3582 is located on the other side of the connector panel 354. The second limiting member 3582 cooperates with the charging connector 351, thereby restricting the charging connector 351 from moving back and forth.

[0074] In the above technical solution, the charging connector 351 and the charging connector 357 are limited by two limiting members 3581 to prevent the charging connector 351 from moving back and forth and failing to cooperate with the charging port 911, thereby improving the reliability of charging.

[0075] like Figures 8-13 As shown, in some embodiments, the plug-in module 35 includes a positioning pin 352, which is located on the second side of the connector panel 354 and is used to engage with the positioning socket 912 of the external device 90.

[0076] like Figure 17 As shown, the external device 90 is equipped with a charging panel 91, and the charging panel 91 is equipped with multiple positioning holes 912, such as... Figure 8 As shown, the plug-in module 35 is provided with multiple positioning pins 352, which are engaged with the positioning holes 912 to position the charging panel 91 and the plug-in module 35. This enables synchronous positioning of the charging port 911, ensuring that the charging connector 351 and the charging port 911 are aligned before plugging in the charging connector 351 and the charging port 911. This avoids wear on the charging connector 351 and improves the service life of the charging plug-in assembly 30.

[0077] In the above technical solution, when the external device 90 moves toward the charging plug assembly 30, the positioning pin 352 first inserts into the corresponding positioning hole 912 to converge the positional deviation of the external device 90 relative to the charging plug assembly 30, so that the subsequent charging connector 351 completes the insertion in the predetermined alignment state, thereby achieving zero lateral force docking, reducing the probability of damage to the charging connector 351, improving the reliability of charging and the service life of the charging plug assembly 30.

[0078] like Figure 8 As shown, in some embodiments, one end of the positioning pin 352 has a positioning connector 3521, and the cross-sectional dimensions of the positioning connector 3521 gradually increase along the direction close to the other end of the positioning pin 352.

[0079] like Figure 8 As shown, the positioning connector 3521 at the end of the positioning pin 352 forms a frustum or cone structure. The positioning connector 3521 has a large tolerance range. During the process of the external device 90 and the charging plug-in module 30 moving towards each other, the positioning connector 3521 contacts the positioning hole 912 first to converge the initial position error of the external device 90 relative to the plug-in module 35, so as to achieve accurate positioning in the last segment before the insertion stroke, thereby ensuring that the subsequent charging connector 351 cooperates with the charging port 911 in a state of zero lateral force.

[0080] In some specific examples, when the identification component 37 on the charging plug-in assembly 30 or other means align the plug-in module 35 with the charging panel 91 of the external device 90, there may be a certain deviation between the center of the positioning pin 352 and the center of the positioning hole 912. By appropriately limiting the size and tilt angle of the positioning connector 3521, a portion of the positioning connector 3521 can extend into the positioning hole 912 even with the aforementioned deviation. As the movable module 301 drives the plug-in module 35 to continue moving forward along the first direction F1, the end face of the positioning hole 912... With the cooperation of the positioning connector 3521, the inclined surface of the positioning connector 3521 can slide relative to the end face of the positioning hole 912, thereby driving the positioning pin 352, the connector panel 354 and the charging connector 351 to move along the second direction F2 and the third direction F3 until the outer periphery of the positioning connector 3521 is completely inserted into the positioning hole 912. At this time, the center of the positioning pin 352 coincides with the center of the positioning hole 912, thereby ensuring that the charging connector 351 corresponds to the charging port 911. The charging connector 351 can be inserted into the charging port 911 and is not easily damaged by collision.

[0081] In the above technical solution, by setting a positioning connector 3521 at the end of the positioning pin 352, it is beneficial to absorb the centering error during insertion and removal, reduce the shearing force between the positioning hole 912 and the positioning pin 352, reduce wear and insertion thrust, and improve service life; at the same time, it can improve the matching accuracy between the positioning pin 352 and the positioning hole 912, thereby improving the matching accuracy between the charging connector 351 and the charging port 911, improving the insertion and removal success rate, and improving the reliability of charging.

[0082] like Figures 8-10 As shown, in some embodiments, one of the connector panel 354 and the movable module 301 has a limiting post 353, and the other of the connector panel 354 and the movable module 301 has a limiting hole 342. The limiting post 353 passes through the limiting hole 342 and can slide with the limiting hole 342.

[0083] like Figure 8 As shown, a plurality of limiting posts 353 are provided on one side of the connector panel 354. The plurality of limiting posts 353 are arranged at intervals along the circumference of the connector panel 354. The movable module 301 has a swing platform 341, and the swing platform 341 has a limiting hole 342. The limiting posts 353 pass through the limiting hole 342. Through the sliding cooperation of the limiting posts 353 and the limiting hole 342, the movement direction of the connector panel 354 can be limited to prevent the connector panel 354 from shaking significantly and affecting the cooperation between the charging connector 351 and the charging port 911.

[0084] Of course, the limiting post 353 can also be set on the swing platform 341, and the limiting hole 342 can be set on the connector panel 354.

[0085] In the above technical solution, by setting the sliding fit limiting post 353 and limiting hole 342, the movement of the charging connector 351 and the connector panel 354 can be guided, thereby improving the reliability of the fit between the charging connector 351 and the charging port 911 and reducing the probability of damage caused by the shaking of the charging connector 351 and the hard insertion and removal of the charging port 911.

[0086] like Figure 8 and Figure 10 As shown, in some embodiments, a buffer structure 36 is provided between the connector panel 354 and the movable module 301. The buffer structure 36 is configured to be deformable when the plug-in module 35 engages with the external device 90.

[0087] The buffer structure 36 is an elastically deformable structure. When the charging connector 351 is engaged with the charging port 911, the buffer structure 36 can deform. The buffer structure 36 can be a disc spring, a wave spring, or a polyurethane block, etc. Through the deformation of the buffer structure 36, the plug-in module 35 is moved relative to the movable module 301, thereby making the plug-in module 35 a floating structural component.

[0088] When the charging connector 351 engages with the charging port 911, the plug-in module 35 moves towards the external device 90 under the drive of the movable module 301. As the plug-in module 35 moves, the length of the portion of the charging connector 351 extending into the charging port 911 gradually increases until the length of the portion of the charging connector 351 extending into the charging port 911 is consistent with the depth inside the charging port 911. When the movable module 301 drives the plug-in module 35 to continue moving, the buffer structure 36 can deform, giving the plug-in module 35 floating space. This allows the charging connector 351 and the charging port 911 to make flexible contact, thereby preventing the charging connector 351 from continuing to extend into the charging port 911 and causing collision damage between the charging connector 351 and the charging port 911, reducing the failure rate and increasing the service life. At the same time, the deformation of the buffer structure 36 ensures that the charging connector 351 can maintain a predetermined pressure, thereby improving the reliability of the engagement between the charging connector 351 and the charging port 911, and thus enabling stable charging of the external device 90.

[0089] It should be noted that when the buffer structure 36 deforms, the plug-in module 35 can float along the extension direction of the charging connector 351 (i.e. the plugging and unplugging direction of the charging connector 351). In addition, the plug-in module 35 can also generate a slight oscillation to ensure that the charging connector 351 is coaxial with the charging port 911.

[0090] During the insertion of the charging connector 351, the buffer structure 36 deforms to store energy, and releases the energy of the buffer structure 36 when it is pulled out. Under the action of the buffer structure 36, the force exerted by the active module 301 on the insertion and removal module 35 can also be reduced, thereby reducing the system energy consumption.

[0091] In the above technical solution, by setting the buffer structure 36, the plug-in module 35 can have a floating space, which can avoid wear caused by rigid collision between the charging connector 351 and the charging port 911 to a certain extent, and improve the service life of the assembly; at the same time, it is beneficial to keep the charging connector 351 under a predetermined pressure to cooperate with the charging port 911, thereby improving the reliability of charging.

[0092] like Figure 10 As shown, the buffer structure 36 is a spring, which can be a square spring or a round spring, and a spring is fitted on each limiting post 353.

[0093] Therefore, by fitting the buffer structure 36 onto the limiting post 353, the deformation direction of the spring can be guided, reducing the probability of the buffer structure 36 swaying or shifting or jamming in other directions, thus ensuring the effectiveness of the spring's deformation energy storage function and improving the service life of the spring.

[0094] In some embodiments, the active module 301 further includes a tilting stage 341, a connector panel 354 disposed on the tilting stage 341, and a buffer structure 36 connected between the connector panel 354 and the tilting stage 341.

[0095] like Figure 7 As shown, the activity module 301 includes a yaw module 34, which includes a yaw platform 341 and a yaw drive 343. The yaw drive 343 is connected to the yaw platform 341 and can drive the yaw platform 341 to yaw (e.g., rotate up and down around a fixed axis and / or rotate left and right around a fixed axis).

[0096] The connector panel 354 and the tilting platform 341 are movably connected. The buffer structure 36 is located between the connector panel 354 and the tilting platform 341. When the charging connector 351 and the charging port 911 are plugged in, the deformation of the buffer structure 36 can cause the connector panel 354 and the tilting platform 341 to move relative to each other. The movement of the connector panel 354 drives the movement of the charging connector 351, realizing flexible contact between the charging connector 351 and the charging port 911, which is conducive to maintaining a reliable mating relationship between the charging connector 351 and the charging port 911.

[0097] like Figure 10 As shown, the tilting platform 341 has a limiting hole 342, and the connector panel 354 is provided with multiple limiting posts 353. The limiting posts 353 pass through the limiting hole 342. Through the sliding cooperation of the limiting posts 353 and the limiting hole 342, the movement direction of the connector panel 354 can be limited, preventing the connector panel 354 from shaking significantly when the buffer structure 36 deforms, which would affect the cooperation between the charging connector 351 and the charging port 911.

[0098] In the above technical solution, the design of the deflection stage 341 facilitates the installation of the connector panel 354 and the buffer structure 36.

[0099] like Figure 10 As shown, in some embodiments, the tilting platform 341 includes a shaft connection area 3411 and a cantilever area 3412. The shaft connection area 3411 is used to connect the tilting drive member 343. The tilting drive member 343 can drive the tilting platform 341 to move and drive the plug-in module 35 to move. The cantilever area 3412 is located on one side of the shaft connection area 3411, and the connector panel 354 is correspondingly arranged with the cantilever area 3412.

[0100] like Figure 10As shown, the shaft connection area 3411 is connected to a yaw drive 343, which can be mounted on some moving modules on the movable module 301, thereby driving the yaw stage 341. The cantilever area 3412 is located on one side of the shaft connection area 3411 in the third direction F3. The connector panel 354 corresponds to the cantilever area 3412 and is connected to one side of the yaw stage 341 in the first direction F1. The yaw drive 343 is connected to the other side of the yaw stage 341 in the first direction F1. The connector panel 354 and the yaw drive 343 correspond to different areas of the yaw stage 341, which facilitates the assembly of the components and the installation of the buffer structure 36. At the same time, it does not require increasing the overall space occupied in the first direction F1, thus improving the compactness of the structure.

[0101] In the above technical solution, the tilting stage 341 can move under the drive of the tilting drive 343, which enables the plug-in module 35 to move, and the connector panel 354 is arranged in the cantilever area 3412, which facilitates the installation of the connector panel 354 and the buffer structure 36 on the tilting stage 341.

[0102] The charging system 1 according to an embodiment of this application includes a charging device 2 according to an embodiment of this application. By employing the charging device 2, the active module 301 can move according to the information obtained by the identification component 37, thereby driving the plug-in module 35 to move, so as to adjust the position of the plug-in module 35 relative to the external device 90 in real time, thereby realizing the charging of the external device 90; the charging process can be fully automated, which can save labor costs, improve charging efficiency, ensure charging plug-in accuracy, and improve charging reliability.

[0103] In some embodiments, such as Figure 1 and Figure 2 As shown, the charging system 1 is used to charge the box-type power supply, which is a replaceable power source for the electric vessel. That is, the box-type power supply acts as an external device, thereby enabling the electric vessel to swap batteries, reducing the waiting time for charging and swapping; and the box-type power supply can be charged on shore using the charging system 1, without being restricted by the location of the electric vessel, making the charging time more flexible, and also helping to improve the docking accuracy between the charging system 1 and the box-type power supply.

[0104] like Figures 1-17 As shown, a charging system 1 according to a specific embodiment of this application includes a seating frame 20 and a charging device 2. The charging device 2 includes a charging base 10, a moving platform 40, a protective cover 50 and a charging plug-in assembly 30. The seating frame 20 is used to place an external device 90, and the external device 90 has two charging panels 91.

[0105] The seating frame 20 includes a support body 21, multiple guide structures 22, and two triggering mechanisms 23. The support body 21 is provided with multiple support parts 2101, which are located on the upper surface of the support body 21 and are used to support the external device 90. The support body 21 includes two first supports 211 and multiple second supports 212. Each first support 211 extends along the length direction of the external device 90. The two first supports 211 are arranged at intervals, and the multiple second supports 212 are connected between the two first supports 211. The first supports 211 and the second supports 212 are provided with support parts 2101.

[0106] The support body 21 also has multiple buffer pads 213, which are arranged at intervals along the circumference of the support body 21. The buffer pads 213 are arranged at intervals with the support part 2101, and the height of the buffer pads 213 is higher than the height of the support part 2101. When the external equipment 90 is placed, the external equipment 90 will first contact the buffer pads 213 after falling. Thus, the buffer pads 213 are compressed and absorb the impact kinetic energy, which can buffer the external equipment 90. This can prevent the external equipment 90 from being damaged and prevent the support part 2101 from being damaged by excessive impact or affecting its service life. After the buffer pads 213 are pressed to be flush with the support part 2101 (or slightly lower than the upper surface of the support part 2101), the external equipment 90 contacts the rigid support surface and completes the position locking.

[0107] Multiple guide structures 22 are spaced apart on the outer periphery of the support body 21. Each guide structure 22 includes a guide bracket 221 and a guide pad 222. The guide bracket 221 is connected to the outer periphery of the support body 21. A connecting piece 223 is provided on the outer periphery of the guide bracket 221. The connecting piece 223, the guide bracket 221 and the support body 21 are connected to each other.

[0108] The guide bracket 221 protrudes from the upper surface of the bracket body 21. The guide pad 222 is detachably provided on the guide bracket 221, and the guide pad 222 has a guide surface 2221. The guide surface 2221 extends obliquely from top to bottom and toward the bracket body 21. The guide structure 22 can guide the external device 90 through the guide surface 2221 during the process of placing the external device 90 on the seating frame 20.

[0109] Two triggering mechanisms 23 are symmetrical about the center of the bracket body 20. Both triggering mechanisms 23 must close simultaneously to determine that the external device 90 is installed correctly. Each triggering mechanism 23 includes a trigger switch 231, a trigger element 232, a guide element 233, and a reset element 234. The trigger element 232 is mounted on the guide element 233, and the upper end of the guide element 233 has a rollable ball 2334. The trigger switch 231 is fixed to the bracket body 21 and is used to determine whether the external device 90 is installed correctly. The external device 90 is supported on the guide element... When the external device 90 is placed on the guide 233, it comes into contact with the ball 2334. During the descent of the external device 90, the external device 90 will be displaced relative to the guide 233, thereby driving the trigger 232 to move. When the external device 90 is not placed on the seat 20, the trigger 232 is in the first position. When the external device 90 is seated in place, the trigger 232 can be moved to the second position. The trigger 232 only cooperates with the trigger switch 231 in the second position, thereby causing the trigger switch 231 to close.

[0110] The charging plug assembly 30 is used to connect to an external device 90 to charge the external device 90 via the charging plug assembly 30. A cable 61 is electrically connected to the charging plug assembly 30 to supply power to the charging plug assembly 30 via the cable 61.

[0111] The charging base 10 includes a charging frame 12 and two tracks 11 disposed on the charging frame 12. The charging frame 12 includes two first side beams 121 opposite each other along a first direction F1 and two second side beams 122 opposite each other along a second direction F2. Adjacent first side beams 121 are connected to second side beams 122, and the two tracks 11 are respectively disposed on the two second side beams 122.

[0112] The mobile platform 40 is movably mounted on the track 11 of the charging base 10 along the first direction F1 via movable wheels 41. A protective cover 50 is provided on the mobile platform 40 and encloses the charging plug assembly 30 on the mobile platform 40 to achieve a rainproof effect. The charging plug assembly 30 is movably mounted on the mobile platform 40.

[0113] The charging plug-in assembly 30 includes an active module and a plug-in module 35. The active module 301 includes a moving module and a swaying module 34. The moving module includes a first moving module 31, a second moving module 32, and a third moving module 33.

[0114] The first moving module 31 is movably mounted on the moving platform 40 and then on the charging base 10 along the first direction F1. The second moving module 32 is movably mounted on the first moving module 31 along the second direction F2. The third moving module 33 is movably mounted on the second moving module 32 along the third direction F3. The tilting module 34 is located between the third moving module 33 and the plug-in module 35. The tilting module 34 can drive the plug-in module 35 to rotate relative to the third moving module 33. The position and angle of the plug-in module 35 can be adjusted by the tilting module 34. The first direction F1, the second direction F2 and the up and down direction F3 are perpendicular to each other.

[0115] The yaw module 34 includes a yaw drive 343 and a yaw table 341. The end of the yaw drive 343 is rotatably connected to the yaw table 341 via a ball joint 344.

[0116] The plug-in module 35 includes a connector panel 354 and a charging connector 351 and a positioning pin 352 disposed on the connector panel 354. A buffer structure 36 is disposed between the connector panel 354 and the tilting stage 341. One end of the positioning pin 352 has a positioning connector 3521, and the cross-sectional dimensions of the positioning connector 3521 gradually increase along the direction closer to the other end of the positioning pin 352.

[0117] A plurality of limiting posts 353 are provided on one side of the connector panel 354. The plurality of limiting posts 353 are arranged at intervals along the circumference of the connector panel 354. The deflecting platform 341 has a limiting hole 342. The limiting posts 353 pass through the limiting hole 342. Through the sliding engagement of the limiting posts 353 and the limiting hole 342, the buffer structure 36 is sleeved on the outer periphery of the limiting posts 353. The buffer structure 36 is constructed to be deformable when the charging connector 351 is engaged with the charging port 911.

[0118] The plug-in module 35 is also equipped with an identification component 37, which includes a rangefinder 371, an image acquisition device 372, and an illumination device 373.

[0119] When it is necessary to charge the external device 90, the external device 90 is placed on the seat 20. The external device 90 drives the trigger 232 to move to the second position, the trigger switch 231 is closed, the moving platform 40 and the active component 301 are powered on and can be moved, and the identification component 37 is working.

[0120] Multiple rangefinders 371 detect the distance between the connector panel 354 of the plug-in module 35 and the charging panel 91. When the distance is too large, the movable module 301 moves to drive the plug-in module 35 to adjust the distance value to a predetermined range. When the distances detected by the multiple rangefinders 371 are different, it is found that the connector panel 354 has an angle with the charging panel 91 (i.e., the connector panel 354 and the charging panel 91 are not parallel). The movable module 301 moves to drive the plug-in module 35 to adjust the connector panel 354 to a position parallel to the charging panel 91. At this time, the connector panel 354 and the charging panel 91 are arranged approximately opposite each other in the first direction F1.

[0121] The image acquisition device 372 obtains the offset between the center of the positioning pin 352 and the center of the positioning hole 912 on the external device 90 by taking pictures and comparing. When the offset is greater than a certain value, the recognition component 37 transmits the offset to the activity module 301 in real time. The activity module 301 performs an activity to adjust the position of the plug-in module 35 until the acquired offset is zero. At this time, the center of the positioning pin 352 coincides with the center of the positioning hole 912 or is within the centering error range.

[0122] Therefore, by using vision and distance measurement, the charging posture of the plug-in module 35 is actively adjusted. At this time, the moving module 301 is further controlled to move along the first direction F1 to perform the insertion and engagement of the positioning pin 352 and the positioning hole 912. A part of the positioning connector 3521 can extend into the positioning hole 912. As the moving module 301 drives the plug-in module 35 to continue moving forward along the first direction F1, the inclined surface of the positioning connector 3521 can slide relative to the end face of the positioning hole 912 through the cooperation of the end face of the positioning hole 912 and the positioning connector 3521. At this time, the second moving drive 3... When 21 and the third moving drive 331 stop working, the positioning connector 3521 can drive the positioning pin 352, the connector panel 354 and the charging connector 351 to move along the second direction F2 and the third direction F3 until the outer periphery of the positioning connector 3521 is fully inserted into the positioning hole 912. At this time, the center of the positioning pin 352 coincides with the center of the positioning hole 912, thereby ensuring that the charging connector 351 corresponds to the position of the charging port 911. The moving module 301 drives the insertion and removal module 35 to continue to move forward along the first direction F1 until the charging connector 351 is inserted into the charging port 911.

[0123] As the plug-in module 35 moves, the length of the portion of the charging connector 351 extending into the charging port 911 gradually increases until the length of the portion of the charging connector 351 extending into the charging port 911 is consistent with the depth inside the charging port 911. When the movable module 301 drives the plug-in module 35 to continue moving, the buffer structure 36 can deform, giving the plug-in module 35 floating space. This allows the charging connector 351 and the charging port 911 to make flexible contact, thereby preventing the charging connector 351 from continuing to extend into the charging port 911 and causing collision damage between the charging connector 351 and the charging port 911, reducing the failure rate and increasing the service life. At the same time, through the deformation of the buffer structure 36, the charging connector 351 can maintain a predetermined pressure, thereby improving the reliability of the cooperation between the charging connector 351 and the charging port 911, and thus enabling stable charging of the external device 90.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A charging device, characterized in that, include: Activity module; A plug-in module is provided on the movable module. The plug-in module is provided with a charging connector, which is adapted to cooperate with the charging port on an external device to charge the external device. An identification component is provided on the plug-in module and communicates with the activity module. The identification component is used to obtain information about the plug-in module and / or the external device. The activity module is adapted to move according to the information obtained by the identification component to drive the charging connector to adapt to the charging port.

2. The charging device according to claim 1, characterized in that, The identification component includes a rangefinder, which is used to acquire distance and / or angle information of the plug-in module relative to the charging panel of the external device.

3. The charging device according to claim 2, characterized in that, The recognition component also includes an image acquisition device, which is used to acquire information from the external device.

4. The charging device according to claim 3, characterized in that, The identification component also includes an illumination device for illuminating one side of the external device.

5. The charging device according to any one of claims 1-4, characterized in that, The plug-in module includes a connector panel and at least one charging connector. The connector panel has a connector mounting hole, and a portion of the charging connector passes through the connector mounting hole and is connected to a cable.

6. The charging device according to claim 5, characterized in that, The connector panel is provided with a clearance hole. Along the thickness direction of the connector panel, at least a portion of the identification component is located on the side of the connector panel facing the cable and is arranged opposite to the clearance hole.

7. The charging device according to claim 5, characterized in that, The plug-in module also includes a charging connector, which is sleeved on the outer periphery of the charging connector and connected to the connector panel. One of the outer periphery of the charging connector and the inner periphery of the charging connector has a limiting rib, and the other of the outer periphery of the charging connector and the inner periphery of the charging connector has a limiting groove. The limiting rib and the limiting groove are inserted and engaged to limit the rotation of the charging connector.

8. The charging device according to claim 7, characterized in that, The plug-in / plug-out module further includes a first limiting member and a second limiting member, which are located on opposite sides of the connector panel, and the charging connector is located between the first limiting member and the connector panel. The first limiting member and the second limiting member are respectively connected to the connector panel to limit the displacement of the charging connector and the charging connector.

9. The charging device according to claim 5, characterized in that, The plug-in module includes a positioning pin, which is located on the second side of the connector panel and is used to mate with the positioning socket of the external device.

10. The charging device according to claim 9, characterized in that, One end of the positioning pin has a positioning connector, and the cross-sectional dimensions of the positioning connector gradually increase along the direction closer to the other end of the positioning pin.

11. The charging device according to claim 5, characterized in that, One of the connector panel and the movable module has a limiting post, and the other of the connector panel and the movable module has a limiting hole. The limiting post passes through the limiting hole and can slide with the limiting hole.

12. The charging device according to claim 11, characterized in that, A buffer structure is provided between the connector panel and the movable module, the buffer structure being configured to be deformable when the plug-in module engages with the external device.

13. The charging device according to claim 12, characterized in that, The active module also includes a swing platform, the connector panel is disposed on the swing platform, and the buffer structure is connected between the connector panel and the swing platform.

14. The charging device according to claim 13, characterized in that, The tilting platform includes a shaft connection area and a cantilever area. The shaft connection area is used to connect the tilting drive component. The tilting drive component can drive the tilting platform to move and drive the plug-in module to move. The cantilever area is located on one side of the shaft connection area, and the connector panel is correspondingly arranged with the cantilever area.

15. A charging system, characterized in that, Includes the charging device according to any one of claims 1-14.

16. The charging system according to claim 15, wherein the charging system is used to charge a box-type power supply, the box-type power supply being a replaceable power source for an electric ship.

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