Charging device and charging system

Abstract

The utility model discloses a kind of charging device and charging system, charging device includes: base assembly, with plug-in track, plug-in track extends along first direction;Charging mobile seat, installed in base assembly and along plug-in track movable;Charging plug-in assembly, be located in charging mobile seat, and driven by charging mobile seat to approach or away from the charging socket of external device, charging plug-in assembly includes plug-in module and deflection module, plug-in module is installed in deflection module, plug-in module is equipped with charging plug, deflection module can drive plug-in module deflection to adjust the angle of charging connector and charging socket, charging mobile seat can drive plug-in module on deflection module along first direction movement, to make charging connector and charging socket plug-in cooperation.The utility model can be inserted along first direction on base assembly by plug-in track and be inserted with external device to charge, deflection module can accurately adjust the angle between plug-in module and charging socket, improve charging butt joint success rate.

Description

Technical Field

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

[0002] After a vessel with a depleted battery docks, the dock's tower crane lifts the depleted electric power supply from the vessel onto a container truck on the shore and transports it to a battery swapping station. A reach stacker then lifts the depleted power supply from the container truck and places it in the charging position for charging. However, in related technologies, the docking operation between the charging equipment and the power supply is difficult and inaccurate, prone to docking failure, resulting in low charging efficiency and potential damage to the docking structure. Utility Model Content

[0003] The embodiments of this application aim to at least solve one of the technical problems existing in the prior art. Therefore, one object of this application is to provide a charging device that reduces the difficulty of charging connection and the risk of failure.

[0004] In a first aspect, embodiments of this application provide a charging device for charging an external device, comprising: a base assembly having a plug-in rail extending along a first direction; a charging movable base mounted on the base assembly and movable along the plug-in rail; and a charging plug-in assembly disposed on the charging movable base and, driven by the charging movable base, moving closer to or further away from the charging port of the external device. The charging plug-in assembly includes a plug-in module and a tilting module, the plug-in module being mounted on the tilting module and having a charging plug. The tilting module can drive the plug-in module to tilt in at least one direction to adjust the angle between the charging connector and the charging port. The charging movable base can drive the plug-in module on the tilting module to move along the first direction so that the charging connector and the charging port can be plugged in and out.

[0005] According to the charging device of the present application embodiment, the charging plug-in assembly can move along a first direction on the base assembly via a plug-in rail to connect to and charge an external device and disconnect it from power. By configuring the charging plug-in assembly to include a plug-in module and an oscillation module, during the plug-in charging process of the charging plug-in assembly, the oscillation module can accurately adjust the angle between the plug-in module and the charging port of the external device, thereby improving the success rate of docking between the charging plug-in assembly and the external device, thus improving the charging efficiency, and also reducing the risk of damage to the plug interface, thereby improving the charging reliability of the charging device.

[0006] In some embodiments of this application, the swaying module includes a swaying platform and multiple swaying drive units. The swaying platform is mounted on the charging mobile base via the multiple swaying drive units, which drive the swaying platform to sway in at least one direction. The plug-in module is disposed on the swaying platform. In the above technical solution, the swaying platform is driven to sway by the coordinated action of multiple swaying drive units. This allows for more precise adjustment of the swaying angle of the swaying platform, thereby making the relative position angle between the plug-in module and the charging port more accurate, which is beneficial to further improving the docking success rate of the plug-in module and the charging port.

[0007] In some embodiments of this application, the charging plug-in assembly includes an adapter module, which is mounted on the charging mobile base. Multiple swaying drive units include a first swaying drive unit, located on at least one side of the swaying platform in a second direction, to drive the swaying platform to sway relative to the adapter module to both sides in the second direction, where the second direction intersects the first direction. In the above technical solution, the first swaying drive unit can drive the swaying platform to sway relative to the adapter module to both sides in the second direction, thereby adjusting the angle between the charging plug of the plug-in module and the charging port of the external device in the second direction. This helps improve the docking success rate and reduces the risk of damage to the charging plug due to docking failure.

[0008] In some embodiments of this application, the multiple swaying drive units include a second swaying drive unit, which is disposed on at least one side of the swaying platform in the vertical direction to drive the swaying platform to sway relative to the adapter module in both vertical directions. The vertical direction, the second direction, and the first direction intersect each other. In the above technical solution, the first swaying drive unit can drive the swaying platform to sway relative to the adapter module in both sides of the second direction. Based on this, the second swaying drive unit can drive the swaying platform to sway relative to the adapter module in both vertical directions, thereby adjusting the angle of the charging plug of the plug-in module and the charging port of the external device in the vertical direction. Thus, the swaying platform can achieve swaying in both sides of the second direction and both sides of the vertical direction. The swaying platform has a higher degree of swaying freedom, which can further improve the docking success rate and reduce the risk of damage to the charging plug due to docking failure.

[0009] In some embodiments of this application, the yaw drive unit includes a yaw drive component and a first universal joint. The yaw drive component is disposed on the adapter module and is retractable along a first direction. The retractable end of the yaw drive component is connected to the yaw table through the first universal joint.

[0010] In the above technical solution, the yaw drive component can extend or shorten along a first direction, thereby causing one side of the yaw stage to yaw relative to the movable module. A first universal joint enables a movable connection between the yaw drive component and the yaw stage. Thus, when one or more yaw drive components move, the remaining yaw drive components adapt under the action of their corresponding first universal joints, allowing multiple yaw drive components to cooperate in adjusting the yaw angle.

[0011] In some embodiments of this application, the yaw module includes a support column and a second universal joint. The support column extends along a first direction and is fixed to the adapter module, and is connected to the yaw platform through the second universal joint. Multiple yaw driving components are arranged circumferentially around the support column. In the above technical solution, the multiple yaw driving components can drive the yaw platform to yaw around the support column through the second universal joint. That is, the support column can provide support for the yaw movement of the yaw platform, which is beneficial to improving the stability and reliability of the yaw adjustment process of the yaw platform.

[0012] In some embodiments of this application, the end of the yaw drive near the adapter module is hinged to the adapter module. In the above technical solution, the yaw drive can be movably connected to the adapter module, thereby reducing the risk of jamming by swinging relative to the adapter module during the movement and adjustment of the yaw drive, and improving the reliability of the yaw drive during the yaw angle adjustment process.

[0013] In some embodiments of this application, the yaw drive members located on both sides of the yaw stage in the second direction are at the same height as the support column. This structure allows the yaw drive members to drive the yaw stage to rotate on opposite sides of the support column, resulting in a more balanced force on the yaw stage. This facilitates control over the yaw angle accuracy of the yaw stage in the second direction, thereby improving the positional accuracy between the plug-in module and the charging port of the external device, and ultimately increasing the docking success rate.

[0014] In some embodiments of this application, multiple yaw drive components are disposed above the center of the yaw stage, and the plug-in module is disposed below the center of the yaw stage. In the above technical solution, the multiple yaw drive components and the plug-in module can be staggered in the vertical direction, which minimizes the mutual interference between the installation of the plug-in module and the yaw drive components, facilitates the installation or removal of the plug-in module and the yaw drive components on the yaw stage, and reduces assembly and maintenance difficulty.

[0015] In some embodiments of this application, the charging plug-in assembly includes an adapter module, and the yaw module is mounted on the charging mobile base via the adapter module. The adapter module is configured to allow the yaw module to move relative to the charging mobile base.

[0016] In the above technical solution, by setting the adapter module as a movable module and installing the oscillation module on the charging mobile base through the adapter module, the relative position of the plug-in module and the charging port can be adjusted, which can further improve the positional accuracy of the plug-in module and the charging port, further improve the docking success rate of the plug-in module and the charging port, improve charging efficiency, and reduce the risk of damage to the plug interface.

[0017] In some embodiments of this application, the adapter module includes a first moving module, which is configured to drive the charging mobile base to move along a plug-in / plug-out track, so that the plug-in / plug-out module can be plugged into and unplugged into the charging port of an external device in a first direction. In the above technical solution, the first moving module can drive the charging mobile base to move along the first direction on the base assembly, so as to realize the plug-in / unplugging of the charging plug with the charging port of the external device.

[0018] In some embodiments of this application, the charging mobile base is provided with a second guide rail, which extends along a second direction and intersects with the first direction; the moving module includes a second moving module, which includes a second moving base and a second driving member. The second moving base is located on the charging mobile base and is movable along the second guide rail. The second driving member drives the second moving base to move. The yaw module is mounted on the charging mobile base through the second moving base.

[0019] In the above technical solution, the plug-in module can not only move along the first direction under the action of the first moving module to achieve positional accuracy adjustment of the plug-in module in the first direction, but also, through the interaction of the second guide rail, the second moving seat and the second driving component, the second moving module can drive the plug-in module to move in the second direction, thereby adjusting the positional accuracy of the plug-in module and the charging port of the external device in the second direction. This improves the positioning accuracy between the plug-in module and the external device, further increases the docking success rate, reduces the risk of plugging and unplugging failure, and improves charging reliability.

[0020] In some embodiments of this application, the second movable seat is provided with a third guide rail, which extends in the vertical direction and intersects with the second and first directions; the movable module includes a third movable module, which includes a third movable seat and a third driving member, the third movable seat is located on the second movable seat and is movable along the third guide rail, the third driving member drives the third movable seat to move, and the yaw module is mounted on the second movable seat through the third movable seat.

[0021] In the above technical solution, through the interaction of the third guide rail, the third moving base and the third driving component, the third moving module can drive the plug-in module to move in the vertical direction, thereby adjusting the positional accuracy of the plug-in module and the charging port of the external device in the vertical direction. Under the joint action of the first moving module, the second moving module and the third moving module, the plug-in module can realize positional adjustment in the first direction, the second direction and the vertical direction, thereby improving the positioning accuracy between the plug-in module and the external device, further improving the docking success rate, reducing the risk of plugging and unplugging failure, and improving charging reliability.

[0022] In some embodiments of this application, the charging plug-in assembly includes a buffer structure disposed between the plug-in module and the oscillation module. The buffer structure is configured to be deformable when the plug-in module engages with an external device, thereby driving the plug-in module to move. In the above technical solution, by setting the buffer structure, the plug-in module can have a floating space, thus enabling the plug-in module to be flexibly plugged in and out with the external device. This avoids wear caused by rigid collisions between the plug-in module and the charging port to a certain extent, improving the service life of the assembly. At the same time, it helps to maintain the plug-in module under a predetermined pressure when engaging with the charging port, improving charging reliability.

[0023] In some embodiments of this application, one of the plug-in module and the yaw module has a limiting post, and the other of the plug-in module and the yaw stage has a limiting hole. The limiting post passes through the limiting hole and can slide with the limiting hole. The buffer structure is a spring sleeved on the outer periphery of the limiting post, and the buffer structure abuts against the yaw stage.

[0024] In the above technical solution, by setting sliding fit limiting posts and limiting holes, the movement of the plug-in module can be guided, thereby improving the reliability of the fit between the plug-in module and the charging port and reducing the probability of damage caused by the plug-in module shaking or the charging port being forcefully plugged in and out. By sleeved the buffer structure on the limiting post, the deformation direction of the spring can be guided, reducing the probability of the buffer structure shaking or shifting in other directions or getting stuck, thus ensuring the effectiveness of the spring's deformation energy storage function and improving the service life of the spring.

[0025] In some embodiments of this application, the plug-in module includes a connector panel, positioning pins, and a charging connector. The positioning pins and limiting pins are connected to opposite sides of the connector panel and are located on the same side of the connector panel as the charging connector. The positioning pins are adapted to be plugged into the positioning socket of an external device, and the charging connector is adapted to be plugged into the charging port of an external device.

[0026] In the above technical solution, when the external device moves towards the charging plug assembly, the positioning pin first inserts into the corresponding positioning hole in the external device, thereby converging the positional deviation of the external device relative to the charging plug assembly. This allows the subsequent charging connector to complete the insertion in a predetermined alignment state, achieving zero lateral force docking. This can further improve the positioning accuracy of the docking, reduce the probability of damage to the charging connector, improve the reliability of charging, and extend the service life of the charging plug assembly.

[0027] In some embodiments of this application, the base assembly includes a charging base and a movable platform. The charging base has a movable guide rail that extends along a first direction. The movable platform is mounted on the charging base and moves along the movable guide rail. The movable platform is provided with a plug-in rail. The charging movable base is mounted on the movable platform and is movable along the plug-in rail.

[0028] In the above technical solution, when the charging plug-in assembly is plugged into the charging panel of an external device for charging, the moving stage can move along the first direction on the charging base via the moving guide rail, driving the charging moving base and the charging plug-in assembly to quickly move to the charging station close to the external device. During this process, the charging plug-in assembly and the charging panel on the external device do not engage in plugging and unplugging; instead, rapid positioning is achieved through the movement of the moving stage, saving time. The charging moving base can continue to move along the first direction on the moving stage via the plug-in rail, gradually driving the charging plug-in assembly to engage with the charging port on the charging panel of the external device. This process allows for a slow and precise engagement between the charging plug-in assembly and the charging port, enabling precise plugging and unplugging operations, thus achieving charging or power-off. This solution allows for two-stage movement and positioning of the charging plug-in assembly and the external device, facilitating more precise plugging and unplugging charging operations.

[0029] In some embodiments of this application, the charging device includes a first driving component, which includes a fourth driving member, a first fixing member, and a first moving member. The first fixing member is connected to the charging base, the first moving member is connected to the moving platform, and the fourth driving member is used to drive the first moving member to move relative to the first fixing member, so as to drive the moving platform to move along the moving guide rail.

[0030] In the above technical solution, by setting the first driving component, the automatic driving of the mobile station and the positioning of the external equipment can be realized, thereby improving the automation level of the charging device, reducing labor costs, and improving charging efficiency.

[0031] Secondly, embodiments of this application also provide a charging system, including a seating frame and a charging device as described above, wherein the seating frame is connected to a charging base and is used to place external devices.

[0032] According to the charging system of this application embodiment, the external device can be precisely positioned and fixed by the mounting frame. Then, the device moves along a first direction on the base assembly via a plug-in rail to connect and charge the external device and disconnect it for power-off. By configuring the charging plug-in assembly to include a tilting module and a plug-in module, the tilting module can accurately adjust the angle between the plug-in module and the charging port of the external device during the plug-in charging process, thereby improving the success rate of the charging docking between the charging plug-in assembly and the external device, thus improving the charging efficiency. It can also reduce the risk of damage to the plug interface and improve the charging reliability of the charging system.

[0033] In some embodiments of this application, the charging system is used to charge a box-type power supply, which is a replaceable power source for an electric vessel. In the above technical solutions, the external device used for charging by the charging device in the charging system can be a replaceable box-type power supply for an electric vessel. Attached Figure Description

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is an axial perspective structural schematic diagram of a charging system and an external device according to some embodiments of this application; Figure 2 This is a side view of a charging system and an external device according to some embodiments of this application; 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 cross-sectional view of a charging system according to some embodiments of this application; Figure 5 This is a perspective structural schematic diagram of a charging device according to some embodiments of this application; Figure 6 This is a side view of a charging device according to some embodiments of this application; Figure 7 This is a cross-sectional view of a charging device according to some embodiments of this application in a side view direction; Figure 8 yes Figure 5 A magnified view of part A; Figure 9 This is a bottom view of a partial structure of a charging device according to some embodiments of this application.

[0036] icon: 1. Charging system; 2. Charging device; 3. Base assembly; 10. Charging base; 10a. Second cable guide hole; 11. Moving guide rail; 20. Seating frame; 21. Guide assembly; 22. Positioning component; 30. Charging plug-in assembly; 301. Adapter module; 31. First moving module; 311. First driving component; 312. First movable connector; 313. Second movable connector; 32. Second moving module; 321. Second driving component; 3211. Rack; 3212. Gear; 3213. Motor; 322. Second moving base; 33. Third moving module; 331. Third driving component; 332. Third moving base; 34. Oscillating module; 341. Oscillating stage; 342. Oscillating drive unit; 3421. Oscillating drive component; 3422. First universal joint; 343. Support column; 344. Second universal joint; 345. Limiting hole; 35. Plug-in module; 351. Charging connector; 352. Positioning pin; 3521. Positioning connector; 353. Limiting pin; 3531. Limiting ring; 354. Connector panel; 36. Buffer structure; 40. Moving stage; 40a. Third wire guide hole; 42. Support roller; 46. First drive assembly; 461. Fourth drive component; 462. First fixing component; 463. First moving component; 48. Insertion / removal rail; 50. Protective shield; 61. Cable; 62. Support assembly; 621. Support component; 622. Support wheel; 70. Charging mobile stand; 80. Second guide rail; 801. Third guide rail; 802. Sliding block; 803. Hinge component; 90. External device; 91. Charging panel; 911. Charging port; 912. Positioning socket; F1, first direction; F2, second direction; F3, up and down direction. Detailed Implementation

[0037] 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.

[0038] 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 description 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 description, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the description, claims, or accompanying drawings of this application are used to distinguish different objects, not to describe a specific order or hierarchy.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] In this application, "multiple" means two or more (including two).

[0044] Currently, judging from market trends, battery applications are becoming increasingly widespread. Batteries are not only used in energy storage systems such as hydropower, thermal power, wind power, and solar power plants, but also extensively in electric vehicles such as electric bicycles, electric motorcycles, and electric cars, as well as in aerospace and other fields. With the continuous expansion of battery applications, market demand is also constantly increasing.

[0045] The external equipment mentioned in the embodiments of this application refers to an integrated and modular power equipment, which typically integrates power modules, control systems, heat dissipation devices, protection units, fire protection facilities, etc. into a protective enclosure. It has the characteristics of flexible deployment, strong environmental adaptability, and safety and reliability. For example, external equipment may include containerized battery power supplies, box-type UPS power supplies, trolley case-type energy storage mobile power supplies, and electrical box-type intelligent power supplies.

[0046] Containerized battery power refers to an energy storage system that integrates batteries within a container. It typically includes multiple battery modules, a battery management system (BMS), an energy conversion system, and related control and protection equipment. It boasts advantages such as modular design, high scalability, high energy density, and long lifespan, and is widely used in power systems, microgrids, and renewable energy generation systems.

[0047] External equipment can serve as an important component of backup power, peak-shaving power, or distributed energy systems, improving energy efficiency, reducing dependence on traditional energy sources, and mitigating environmental pollution. For example, in electric ships, external equipment can provide power input to ensure normal operation or act as a backup power source to guarantee the ship's endurance and emergency response capabilities. In power systems, it can improve the reliability and stability of the power grid, ensuring the continuity of power supply.

[0048] The charging system is used to charge the energy storage system. Taking the ship charging scenario as an example, the shore-based charging system charges the ship's energy storage system (such as a box-type power supply). The charging system can be a fixed device, and the external device can be a mobile device. The external device is detachable. After the ship docks, the external device can be disassembled by hoisting and then transported to the battery swapping station for charging by the charging system.

[0049] In related technologies, the charging connector of the charging device and the socket of the external device have a large gap during the docking process, and the relative position and relative angle are not easy to control. This makes the docking operation difficult and inaccurate, and docking failure is easy to occur, resulting in low charging efficiency and damage to the docking structure such as the charging connector and socket.

[0050] Based on this, this application proposes a charging device, including: a base assembly, a charging movable base, and a charging plug-in assembly. The base assembly has a plug-in rail extending in a first direction. The charging movable base is mounted on the base assembly and is movable along the plug-in rail. The charging plug-in assembly is disposed on the charging movable base and moves closer to or further away from an external device to charge the external device. The charging plug-in assembly includes a tilting module and a plug-in module. The tilting module is disposed on the charging movable base and has the plug-in module installed on it to adjust the angle of the plug-in module and to make the plug-in module engage or disengage from the charging port of the external device.

[0051] In the embodiments of this application, when an external device needs to be charged, the charging plug-in assembly can move along a first direction on the base assembly via the plug-in rail to approach the external device for initial positioning. Then, the plug-in module can adjust its angle relative to the external device via the yaw module, which helps improve the docking accuracy between the plug-in assembly and the external device, reduce the docking failure rate, improve charging efficiency, and reduce wear and tear on both the charging device and the external device. After charging is completed, the charging plug-in assembly can be moved away from the external device via the plug-in rail to provide sufficient operating space for the transfer of the external device.

[0052] The charging device in this embodiment is used in a charging system, which can be used to charge an energy storage system such as an external device. The energy storage system can be, but is not limited to, ships, spacecraft, etc., and the spacecraft can include airplanes, rockets, space shuttles, and spacecraft.

[0053] For ease of explanation, the following embodiments use an external device as a box-type power supply and are used on a ship. For the purpose of explanation, the charging device of the charging system can be used to charge the box-type power supply of the ship.

[0054] Reference Figures 1-4 , Figure 1 This is an axial perspective structural diagram of a charging system and an external device according to some embodiments of this application. Figure 2 This is a side view of a charging system and external device according to some embodiments of this application. 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 cross-sectional view of a charging system according to some embodiments of this application. The ship has external equipment 90, which is a box-type power supply. The box-type power supply is used to supply power to the ship. For example, the box-type power supply can serve as the ship's driving power, operating power, and living power, for example, to meet the ship's power needs for starting, navigation, and navigation.

[0055] In the embodiments of this application, such as Figures 1-2As shown, the external device 90 is an integrated independent power system that highly integrates a power generation unit, an energy storage unit, an energy management system, a temperature control system, a fire protection system, and a power distribution unit into a standardized, modular, and movable protective enclosure. The external device 90 typically has one or more charging panels 91, each equipped with a socket. Each charging panel 91 is electrically connected to an electrical circuit within the external device 90. The charging system 1 can be electrically connected to charging stations, battery swapping stations, smart charging piles, or other energy storage devices, enabling the electrical connection between the charging system 1 and the sockets of the charging panels 91 to connect to the electrical circuit within the external device 90 for charging the external device 90. The charging system 1, electrically connected to one or more charging panels 91, can charge one or more electrical circuits within the external device 90.

[0056] The charging device 2 and charging system 1 according to embodiments of this application will now be described with reference to the accompanying drawings.

[0057] Reference Figure 3 This application provides a charging device 2 for charging an external device 90. The charging device 2 includes a base assembly 3, a charging movable base 70, and a charging plug-in assembly 30. The base assembly 3 has a plug-in rail 48 extending along a first direction F1. The charging movable base 70 is mounted on the base assembly 3 and is movable along the plug-in rail 48. The charging plug-in assembly 30 is disposed on the charging movable base 70 and, driven by the charging movable base 70, moves closer to or further away from the charging port 90 of the external device 90. 11. The charging plug-in assembly 30 includes a plug-in module 35 and a tilting module 34. The plug-in module 35 is mounted on the tilting module 34. The plug-in module 35 is provided with a charging connector 351. The tilting module 34 can drive the plug-in module 35 to tilt in at least one direction to adjust the angle between the charging connector 351 and the charging port 911. The charging moving seat 70 can drive the plug-in module 35 on the tilting module 34 to move along the first direction F1 so that the charging connector 351 and the charging port 911 can be plugged in and out.

[0058] The base assembly 3 refers to the structure that provides support and guidance for the movement of the charging movable base 70 and the components on the charging movable base 70. The specific structure of the base assembly 3 is not limited. For example, the base assembly 3 can be composed of multiple side beams connected end to end, or the base assembly 3 can be composed of multiple beams that are arranged crosswise and connected, or it can be a flat plate structure, etc.

[0059] The charging mobile base 70 can be composed of multiple side beams connected end to end, or it can be composed of multiple beams that are arranged crosswise and connected, or it can be a flat plate structure, etc. The charging mobile base 70 moves along a first direction F1, which can be, but is not limited to, a straight line, a curve, or other path.

[0060] The charging plug-in assembly 30 refers to a component that enables charging of an external device 90 through charging plug-in. Charging plug-in refers to the process of inserting or removing the charging port 911 of the external device 90 during charging. For example, inserting or removing the charging connector 351 of the charging plug-in assembly 30 into or out of the charging port 911 of the external device 90 to establish or disconnect the charging connection. This process involves mechanical connection, electrical connection and disconnection, communication interaction, and safety protection mechanisms, and is one of the operations of device charging. In some embodiments, the charging plug-in assembly 30 can achieve automatic plug-in, that is, the technology of using automated equipment to replace manual operation in connecting and disconnecting the charging connector 351 and the socket. This technology can be applied to charging stations, battery swapping stations, smart charging piles, and other scenarios, which can improve charging efficiency, reduce manual intervention, and achieve unmanned operation.

[0061] The plug-in module 35 can be a component that connects directly to an external device 90. The yaw module 34 can be a component used to drive the plug-in module 35 to adjust its angle.

[0062] When the charging plug-in assembly 30 moves along the first direction F1 under the action of the plug-in rail 48 to the vicinity of the charging port 911 of the external device 90, there may be an angular deviation between the plug-in module 35 and the charging port 911. Direct insertion of the plug-in module 35 into the charging port 911 may easily damage the charging port 911. This application drives the plug-in module 35 to tilt by the tilting module 34, which can realize the degree of freedom positioning within the plug-in module 35 and realize the angle adjustment of the plug-in module 35 relative to the external device 90. In other words, the tilting module 34 can adjust the angle between the plug-in module 35 and the charging port 911, so that the plug-in module 35 can be directly connected to the charging port 911, which can reduce the risk of damage to the plug-in module 35 and the charging port 911.

[0063] According to the embodiments of the present application, the charging device 2 has a charging plug-in assembly 30 that can move along the first direction F1 on the base assembly 3 via the plug-in rail 48 to connect to and charge an external device 90 and disconnect it from power. By configuring the charging plug-in assembly 30 to include a plug-in module 35 and an oscillation module 34, during the plug-in charging process, the oscillation module 34 can precisely adjust the angle between the plug-in module 35 and the charging port 911 of the external device 90, thereby improving the success rate of the charging docking between the charging plug-in assembly 30 and the external device 90, thus improving the charging efficiency. It can also reduce the risk of damage to the plug interface and improve the charging reliability of the charging device 2.

[0064] In some embodiments of this application, reference is made to Figures 4 to 6The yaw module 34 includes a yaw platform 341 and a plurality of yaw drive units 342. The yaw platform 341 is mounted on the charging mobile base 70 through the plurality of yaw drive units 342. The plurality of yaw drive units 342 drive the yaw platform 341 to yaw in at least one direction. The plug-in module 35 is disposed on the yaw platform 341.

[0065] The yaw stage 341 can be a component that provides mounting support for the plug-in module 35, and can be composed of multiple side beams connected end to end, or multiple beams arranged crosswise and connected, or a flat plate structure, etc. The yaw drive unit 342 can refer to a component that provides driving force.

[0066] In the above technical solution, the oscillation stage 341 is driven to oscillate relative to the adapter module 301 by the coordinated action of multiple oscillation drive units 342. This allows the multiple oscillation drive units 342 to perform more precise adjustment operations, and can accurately adjust the oscillation angle of the oscillation stage 341. This makes the relative position angle of the plug-in module 35 and the charging port 911 more accurate, which is conducive to further improving the docking success rate of the plug-in module 35 and the charging port 911.

[0067] In some embodiments of this application, reference is made to Figures 4 to 6 The charging plug-in assembly 30 includes an adapter module 301, and the plug-in module 35 is mounted on the charging mobile base 70 through the adapter module 301; the plurality of yaw drive units 342 include a first yaw drive unit, which is located on at least one side of the second direction F2 of the yaw stage 341 to drive the yaw stage 341 to yaw relative to the adapter module 301 to both sides of the second direction F2, where the second direction F2 intersects with the first direction F1.

[0068] The adapter module 301 can refer to an adapter structure disposed between the plug-in module 35 and the charging mobile base 70, used to mount the plug-in module 35 onto the charging mobile base 70. The adapter module 301 can be, but is not limited to, an adapter plate, an adapter base, or an adapter frame. The adapter module 301 can also be a structure with mobility functionality.

[0069] It is understood that the oscillation stage 341 and the adapter module 301 can be provided with an oscillation drive unit 342 on one side of the second direction F2, or the oscillation drive unit 342 can be provided on both sides of the second direction F2. Regardless of whether the oscillation drive unit 342 is provided on one side or both sides, it can drive the oscillation stage 341 to oscillate relative to the adapter module 301 on the upper and lower sides of the second direction F2. For example, refer to... Figures 6 to 8 The tilting stage 341 and the adapter module 301 may be provided with tilting drive units 342 on both sides of the second direction F2. The second direction F2 and the first direction F1 may be arranged at an angle, for example, the second direction F2 and the first direction F1 may be arranged perpendicular to each other.

[0070] In the above technical solution, the first sway drive unit can drive the sway stage 341 to sway relative to the adapter module 301 to both sides in the second direction F2, thereby adjusting the angle of the charging connector 351 of the plug-in module 35 and the charging port 911 of the external device 90 in the second direction F2, which is beneficial to improve the docking success rate and reduce the risk of damage to the charging connector 351 due to docking failure.

[0071] In some embodiments of this application, reference is made to Figures 4 to 6 The plurality of yaw drive units 342 include a second yaw drive unit, which is located on at least one side of the yaw stage 341 in the vertical direction F3, so as to drive the yaw stage 341 to yaw relative to the adapter module 301 in the vertical direction F3 on both sides, and the vertical direction F3, the second direction F2 and the first direction F1 intersect each other.

[0072] The oscillation stage 341 and the adapter module 301 can have an oscillation drive unit 342 on one side of the vertical direction F3, or the oscillation drive unit 342 can be set on both sides of the vertical direction F3. Regardless of whether the oscillation drive unit 342 is set on one side or both sides, it can drive the oscillation stage 341 to oscillate relative to the adapter module 301 on the vertical directions F3. For example, refer to... Figures 6 to 8 The tilting stage 341 and the adapter module 301 may be provided with tilting drive units 342 on the upper side of the vertical direction F3 and on both sides of the second direction F2. The vertical direction F3, the second direction F2 and the first direction F1 may be arranged at an angle to each other, for example, the vertical direction F3, the second direction F2 and the first direction F1 may be perpendicular to each other.

[0073] In the above technical solution, the first sway drive unit can drive the sway platform 341 to sway relative to the adapter module 301 to both sides in the second direction F2. On this basis, the second sway drive unit can drive the sway platform 341 to sway relative to the adapter module 301 to both sides in the up and down direction, thereby adjusting the angle of the charging connector 351 of the plug-in module 35 and the charging port 911 of the external device 90 in the up and down direction F3. Thus, the sway platform 341 can sway to both sides in the second direction F2 and both sides in the up and down direction F3. The sway platform 341 has a higher degree of sway freedom, which can further improve the docking success rate and reduce the risk of damage to the charging plug due to docking failure.

[0074] In some embodiments of this application, reference is made to Figure 7 and Figure 8 The yaw drive unit 342 includes a yaw drive component 3421 and a first universal joint 3422. The yaw drive component 3421 is located on the adapter module 301 and is retractable along the first direction F1. The retractable end of the yaw drive component 3421 is connected to the yaw stage 341 through the first universal joint 3422.

[0075] The yaw drive component 3421 can be, but is not limited to, a cylinder, a hydraulic cylinder, an electric actuator, etc. The first universal joint 3422 can be, but is not limited to, a ball joint, a universal joint, etc.

[0076] In the above technical solution, the yaw drive component 3421 can extend or shorten along the first direction F1, thereby causing one side of the yaw stage 341 to yaw relative to the adapter module 301. The yaw drive component 3421 and the yaw stage 341 can be movably connected through the first universal joint 3422. Thus, when one or more yaw drive components 3421 move, the remaining yaw drive components 3421 perform adaptive movements under the action of the corresponding first universal joint 3422. In this way, multiple yaw drive components 342 can cooperate to adjust the yaw angle.

[0077] In some embodiments of this application, reference is made to Figure 7 and Figure 8 The yaw module 34 includes a support column 343 and a second universal joint 344. The support column 343 extends along the first direction F1 and is fixed to the adapter module 301, and is connected to the yaw stage 341 through the second universal joint 344. Multiple yaw drive components 3421 are arranged circumferentially around the support column 343.

[0078] The support column 343 can be a solid column or a hollow column, or it can be a frame structure composed of multiple side frames connected end to end, or a frame structure composed of multiple side frames and intersecting beams, etc. The second universal joint 344 can be, but is not limited to, a ball joint or universal joint, etc.

[0079] In the above technical solution, multiple yaw drive units 342 can drive the yaw table 341 to yaw around the support column 343 through the second universal joint 344. That is, the support column 343 can provide support for the yaw motion of the yaw table 341, which is beneficial to improving the stability and reliability of the yaw table 341 in the process of yaw adjustment.

[0080] In some embodiments of this application, the end of the yaw drive 3421 near the adapter module 301 is hinged to the adapter module 301. For example, see reference... Figure 7 and Figure 8 The yaw drive component 3421 can be connected to the adapter module 301 via the hinge component 803. In the above technical solution, the yaw drive component 3421 can be movably connected to the adapter module 301, thereby reducing the risk of jamming during the movement and adjustment of the yaw drive component 3421 by swinging relative to the adapter module 301, which can improve the reliability of the yaw drive component 3421 during the yaw angle adjustment process.

[0081] In some embodiments of this application, reference is made to Figure 7The yaw drive members 3421 located on both sides of the yaw platform 341 in the second direction F2 are at the same height as the support column 343. This structure allows the yaw drive members 3421 to drive the yaw platform 341 to rotate on opposite sides of the support column 343, resulting in a more balanced force on the yaw platform 341. This helps to control the yaw angle accuracy of the yaw platform 341 in the second direction F2, thereby improving the positional accuracy between the plug-in module 35 and the charging port 911 of the external device 90, and thus improving the docking success rate.

[0082] In some embodiments of this application, reference is made to Figure 7 Multiple oscillation drive components 3421 are located on the upper side of the center position of the oscillation stage 341, and the plug-in module 35 is located on the lower side of the center position of the oscillation stage 341.

[0083] In the above technical solution, multiple yaw drive components 3421 and plug-in modules 35 can be staggered in the vertical direction F3. This makes the installation of plug-in modules 35 and yaw drive components 3421 less affected by each other, and facilitates the installation or removal of plug-in modules 35 and yaw drive components 3421 on the yaw stage 341, thereby reducing assembly and maintenance difficulties.

[0084] In some embodiments of this application, reference is made to Figure 7 The charging plug-in assembly 30 includes an adapter module 301, and a yaw module 34 is mounted on the charging movable base 70 via the adapter module 301. The adapter module 301 is configured to allow the yaw module 34 to move relative to the charging movable base 70.

[0085] It is understood that the adapter module 301 can drive the yaw module 34 to move relative to the charging moving base 70 in at least one direction, and the movement includes, but is not limited to, linear movement, curved movement, rotation, etc. along at least one direction.

[0086] By driving the yaw module 34 and the plug-in module 35 to move through the adapter module 301, the free-degree positioning within the charging plug-in assembly 30 can be achieved, and the position adjustment of the plug-in module 35 relative to the external device 90 can be realized. During the plug-in charging process between the plug-in module 35 and the charging port 911 of the external device 90, the relative position of the plug-in module 35 and the charging port 911 can be adjusted first through the adapter module 301, then the angular deviation between the plug-in module 35 and the charging port 911 can be adjusted through the yaw module 34, and finally the plug-in rail 48 can drive the plug-in module 35 and the charging port 911 to plug in and charge.

[0087] In the above technical solution, by setting the adapter module 301 as a movable module, and the sway module 34 is installed on the charging movable base 70 through the adapter module 301, the relative position of the plug-in module 35 and the charging port 911 can be adjusted, which can further improve the positional accuracy of the plug-in module 35 and the charging port 911, further improve the docking success rate of the plug-in module 35 and the charging port 911, improve the charging efficiency, and reduce the risk of damage to the plug interface.

[0088] In some embodiments of this application, reference is made to Figures 4 to 6 The adapter module 301 includes a first moving module 31, which is configured to drive the charging moving base 70 to move along the plug-in track 48 so that the plug-in module 35 can be plugged into and unplugged from the charging port 911 of the external device 90 in a first direction F1.

[0089] The first moving module 31 can refer to a mechanism or structure that can drive the charging moving base 70 to move along the insertion / removal track 48. The first moving module 31 can be, but is not limited to, a linear module, electric actuator, cylinder, hydraulic cylinder, or lead screw, etc., a driving mechanism for linear or curved trajectories.

[0090] In the above technical solution, the first moving module 31 can drive the charging moving base 70 to move along the first direction F1 on the base assembly 3, so as to realize the plugging and unplugging of the charging connector 351 and the charging socket 911 of the external device 90.

[0091] In some embodiments of this application, reference is made to Figure 7 The first mobile module 31 includes a first driving member 311, which is retractable along a first direction F1. One end of the first driving member 311 is connected to the mobile platform 40, and the other end is connected to the charging mobile base 70.

[0092] The first driving component 311 can be a part capable of moving in the first direction F1. The first driving component 311 can be, but is not limited to, a linear module, a cylinder, a hydraulic rod, an electric actuator, etc. Optionally, the first driving component 311 can include a cylinder body and a piston rod, with the piston rod disposed in the cylinder body. In the first direction F1, the size of the charging moving seat 70 is smaller than the size of the cylinder body, thereby giving the first driving component 311 a larger extension stroke, which can increase the moving distance of the charging moving seat 70.

[0093] In the above technical solution, the first driving component 311 is a telescopic component, which can drive the charging mobile base 70 to move along the plug-in track 48 on the base assembly 3 by telescopic means. The driving method is simple and conducive to improving the reliability of operation.

[0094] In some embodiments of this application, reference is made to Figure 7The first mobile module 31 includes a first movable connector 312 and a second movable connector 313. One end of the first drive member 311 is connected to the base assembly 3 through the first movable connector 312, and the other end is connected to the charging mobile base 70 through the second movable connector 313.

[0095] The first movable connector 312 and the second movable connector 313 can be components that enable movable connection, and can be, but are not limited to, hinge seats, ball joint seats, or universal joints, etc.

[0096] In the above technical solution, the first driving component 311 can be flexibly connected to the base assembly 3 and the charging mobile seat 70 through the first movable connector 312 and the second movable connector 313, which reduces the installation requirements and helps to reduce the risk of the first driving component 311 getting stuck in the driving process due to small installation errors, so that the first driving component 311 can better drive the charging mobile seat 70 to move on the base assembly 3.

[0097] In some embodiments of this application, reference is made to Figures 4 to 7 The charging mobile base 70 is provided with a second guide rail 80, which extends along a second direction F2 and intersects with a first direction F1. The adapter module 301 includes a second mobile module 32, which includes a second mobile base 322 and a second driving member 321. The second mobile base 322 is located on the charging mobile base 70 and is movable along the second guide rail 80. The second driving member 321 drives the second mobile base 322 to move. The plug-in module 35 is installed on the charging mobile base 70 through the second mobile base 322. The second driving element 321 can refer to a mechanism or component that can drive the second movable seat 322 to move along the second guide rail 80 on the charging movable seat 70. The second driving element 321 can be, but is not limited to, a linear module, a cylinder, an electric actuator, a hydraulic rod, or other mechanism capable of outputting linear motion. The number of the second guide rail 80 and the second driving element 321 can be, but is not limited to, one, two, three, four, etc.

[0098] The second movable seat 322 can be, but is not limited to, a plate-shaped component, a planar frame structure composed of multiple beams or columns, or a frame structure composed of multiple beams that are arranged and connected at intersections, or a frame structure composed of multiple connected plates.

[0099] In the above technical solution, the plug-in module 35 can not only move along the first direction F1 under the action of the first moving module 31 to achieve positional accuracy adjustment of the plug-in module 35 in the first direction F1, but also, through the interaction of the second guide rail 80, the second moving seat 322 and the second driving member 321, the second moving module 32 can drive the plug-in module 35 to move in the second direction F2, thereby adjusting the positional accuracy of the plug-in module 35 and the charging port 911 of the external device 90 in the second direction F2. This can improve the positioning accuracy between the plug-in module 35 and the external device 90, further improve the docking success rate, reduce the risk of plugging and unplugging failure, and improve charging reliability.

[0100] Optionally, the second driving member 321 can be configured to drive the second movable seat 322 to form multiple charging positions on the second guide rail 80. The charging panel 91 of the external device 90 can also be set to multiple, with multiple charging panels 91 and multiple charging positions corresponding to each other. Thus, the second driving member 321 can drive the plug-in module 35 to plug into the charging port 911 of the corresponding charging panel 91 at different charging positions for charging.

[0101] In the above technical solution, the second guide rail 80 not only provides guidance for the movement of the second movable seat 322 on the charging movable seat 70, but also enables the switching of the charging movable seat 70 and the plug-in module 35 at different charging positions, which can meet the charging needs of different charging panels 91 in the external device 90.

[0102] In some embodiments of the application, reference is made to Figure 7 The second driving component 321 includes a rack 3211, a gear 3212 and a motor 3213. The rack 3211 is disposed on the charging movable seat 70 and extends along the second direction F2. The gear 3212 meshes with the rack 3211. The motor 3213 is connected to the gear 3212 and is mounted on the second movable seat 322.

[0103] When the charging carrier 70 needs to move the plug-in module 35 and the external device 90 to adjust in the second direction F2, the motor 3213 drives the gear 3212 to rotate. The gear 3212, through meshing with the rack 3211, can move along the second guide rail 80, thereby realizing the position adjustment of the plug-in module 35 in the second direction F2. The motor 3213 can be, but is not limited to, a servo motor, a stepper motor, etc. The second drive component 321 with the above structure has a simple structure, relatively stable drive, and can reduce costs. The motor drive method can also achieve higher precision control and improve positioning accuracy.

[0104] In some embodiments of this application, reference is made to Figures 4 to 7The second movable seat 322 is provided with a third guide rail 801, which extends along the vertical direction F3 and intersects with the second direction F2 and the first direction F1. The adapter module 301 includes a third movable module 33, which includes a third movable seat 332 and a third driving member 331. The third movable seat 332 is located on the second movable seat 322 and is movable along the third guide rail 801. The third driving member 331 drives the third movable seat 332 to move. The plug-in module 35 is installed on the second movable seat 322 through the third movable seat 332. The number of third guide rails 801 can be, but is not limited to, one, two, three, four, etc. The first direction F1, the second direction F2, and the vertical direction F3 can be set at an angle to each other. The angle between them can be non-zero degrees or 180 degrees. For example, the first direction F1, the second direction F2, and the vertical direction F3 can be perpendicular to each other.

[0105] The third movable seat 332 can be composed of multiple side beams connected end to end, or it can be composed of multiple beams arranged crosswise and connected, or it can be a flat plate structure, etc. (Reference) Figure 8 The third movable seat 332 can be a single-layer beam structure consisting of frame ends connected and internally connected intersecting beams. The third driving component 331 can be a component that can drive the third movable seat 332 to move on the second movable seat 322. The third driving component 331 can be, but is not limited to, a linear module, a cylinder, a hydraulic cylinder, or an electric actuator, etc.

[0106] In the above technical solution, through the interaction of the third guide rail 801, the third moving seat 332 and the third driving component 331, the third moving module 33 can drive the plug-in module 35 to move in the vertical F3 direction. This can adjust the positional accuracy of the plug-in module 35 and the charging port 911 of the external device 90 in the vertical direction. Under the joint action of the first moving module 31, the second moving module 32 and the third moving module 33, the plug-in module 35 can achieve positional adjustment in the first direction F1, the second direction F2 and the vertical direction F3, thereby improving the positioning accuracy between the plug-in module 35 and the external device 90, further improving the docking success rate, reducing the risk of plugging and unplugging failure, and improving charging reliability.

[0107] In the above technical solution, optionally, the third movable seat 332 can be directly slidably connected to the third guide rail 801. Optionally, refer to... Figure 7 and Figure 8 The third movable seat 332 and the third guide rail 801 can also be slidably connected by sliding blocks 802, so that the third movable seat 332 can move relative to the second movable seat 322 in the vertical direction F3. Optionally, each third guide rail 801 is provided with at least two sliding blocks 802. Optionally, the third guide rail 801 is provided with at least two along the second direction F2.

[0108] In some embodiments of this application, reference is made to Figure 4 , Figure 5 and Figure 7 The charging plug-in assembly 30 includes a buffer structure 36, which is located between the plug-in module 35 and the yaw module 34. The buffer structure 36 is configured to be deformable in cooperation with the plug-in module 35 and the external device 90 to drive the plug-in module 35 to move.

[0109] The buffer structure 36 is an elastically deformable structure. When the plug-in module 35 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 can be moved relative to the movable module, thereby making the plug-in module 35 a floating structural component.

[0110] When the plug-in module 35 engages with the charging port 911, the plug-in module 35 moves towards the external device 90 under the drive of the movable module. As the plug-in module 35 moves, the length of the portion of the plug-in module 35 extending into the charging port 911 gradually increases until the length of the portion of the plug-in module 35 extending into the charging port 911 is consistent with the depth inside the charging port 911. When the movable module continues to move the plug-in module 35, the buffer structure 36 can deform, giving the plug-in module 35 floating space. This allows the plug-in module 35 to make flexible contact with the charging port 911, thereby preventing the plug-in module 35 from continuing to extend into the charging port 911 and causing collision damage between the plug-in module 35 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 plug-in module 35 can maintain a predetermined pressure, thereby improving the reliability of the engagement between the plug-in module 35 and the charging port 911, and thus enabling stable charging of the external device 90.

[0111] 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 plug-in module 35 is coaxial with the charging port 911.

[0112] During the insertion of the plug-in module 35, 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 moving module on the plug-in module 35 can also be reduced, thereby reducing the system energy consumption.

[0113] In the above technical solution, by setting the buffer structure 36, the plug-in module 35 can have a floating space, so that the plug-in module 35 can be flexibly plugged and unplugged with the external device 90, which to a certain extent avoids wear caused by rigid collision between the plug-in module 35 and the charging port 911, and improves the service life of the assembly; at the same time, it is beneficial to maintain the plug-in module 35 under a predetermined pressure to cooperate with the charging port 911, thereby improving the charging reliability.

[0114] In some embodiments of this application, reference is made to Figure 7 One of the plug-in module 35 and the yaw module 34 has a limiting post 353, and the other of the plug-in module 35 and the yaw platform 341 has a limiting hole 345. The limiting post 353 passes through the limiting hole 345 and can slide with the limiting hole 345. The buffer structure 36 is a spring sleeved on the outer periphery of the limiting post 353, and the buffer structure 36 abuts against the yaw platform 341.

[0115] The plug-in module 35 has multiple limiting posts 353 on one side, which are spaced apart circumferentially along the plug-in module 35. The tilting platform 341 has limiting holes 345 through which the limiting posts 353 pass. Through the sliding engagement of the limiting posts 353 and the limiting holes 345, the movement direction of the plug-in module 35 can be limited, preventing the plug-in module 35 from shaking significantly when the buffer structure 36 deforms, thus affecting the engagement between the plug-in module 35 and the charging port 911. Of course, the limiting posts 353 can also be provided on the tilting platform 341, and the limiting holes 345 can be provided on the connector panel 354.

[0116] The buffer structure 36 is a spring, which can be a square spring or a round spring. Each limiting post 353 is fitted with a spring.

[0117] In the above technical solution, by setting the sliding fit limiting post 353 and limiting hole 345, the movement of the plug-in module 35 can be guided, thereby improving the reliability of the fit between the plug-in module 35 and the charging port 911 and reducing the probability of damage caused by the shaking of the plug-in module 35 and the hard plugging and unplugging of the charging port 911. By sleeved the buffer structure 36 on the limiting post 353, the deformation direction of the spring can be guided, reducing the probability of the buffer structure 36 shaking or shifting in other directions or getting stuck, thus ensuring the effectiveness of the spring's deformation energy storage function and improving the service life of the spring.

[0118] In some embodiments, refer to Figure 7 and Figure 8The outer periphery of the limiting post 353 is provided with a limiting protrusion 3531, and the other end of the buffer structure 36 abuts against the limiting protrusion 3531. That is to say, the two ends of the buffer structure 36 abut against the limiting protrusion 3531 and the tilting platform 341 respectively. This can appropriately increase the distance between the plug-in module 35 and the tilting platform 341, so as to facilitate the installation of components on the plug-in module 35. At the same time, there is no need to increase the size of the buffer structure 36, thereby avoiding problems such as compression instability caused by the buffer structure 36 being too long.

[0119] In some embodiments of this application, reference is made to Figure 7 and Figure 8 The plug-in module 35 includes a connector panel 354, a positioning pin 352, and a charging connector 351. The positioning pin 352 and the limiting pin 353 are connected to opposite sides of the connector panel 354 and are located on the same side of the connector panel 354 as the charging connector 351. The positioning pin 352 is adapted to be plugged into the external device 90, and the charging connector 351 is adapted to be connected to the charging port 911 of the external device 90 to charge the external device 90.

[0120] Reference Figure 1 The external device 90 is equipped with a charging panel 91, which has multiple positioning holes 912. The connector panel 354 has multiple positioning pins 352. The positioning pins 352 are inserted into 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 in the same position before plugging the charging connector 351 into the charging port 911. This avoids wear on the charging connector 351 and improves the service life of the charging plug-in assembly 30.

[0121] 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, so as to achieve zero lateral force docking, which can further improve the positioning accuracy of docking, reduce the probability of damage to the charging connector 351, improve the reliability of charging and the service life of the charging plug assembly 30.

[0122] In some embodiments of this application, reference is made to Figure 8 One end of the positioning pin 352 has a positioning connector 3521. The cross-sectional dimensions of the positioning connector 3521 gradually increase along the direction close to the other end of the positioning pin 352. The height of the positioning pin 352 protruding from the connector panel 354 is greater than the height of the charging connector 351 protruding from the connector panel 354.

[0123] 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 assembly 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 socket 911 in a state of zero lateral force.

[0124] In some specific examples, when the identification component on the charging plug-in assembly 30 or other means aligns 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 drives the plug-in module 35 to continue moving forward along the first direction F1, the end face of the positioning hole 912 and the positioning connector... With the cooperation of the head 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 up and down 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.

[0125] Reference Figure 7 On the surface of the protruding connector panel 354, the extension direction of the positioning pin 352 is the same as the extension direction of the charging connector 351, such as the first direction F1. The positioning pin 352 is longer than the charging connector 351. Therefore, the insertion action of the plug-in module 35 and the external device 90 includes a two-stage stroke, that is, the positioning pin 352 and the positioning hole 912 are positioned first, and then the charging connector 351 and the charging port 911 are powered.

[0126] Therefore, after the positioning pin 352 and the positioning hole 912 are fully aligned, the charging connector 351 and the charging socket 911 are fully aligned, resulting in a high success rate of insertion and removal. At the same time, it can protect the charging connector 351, reduce the risk of scratches between the charging connector 351 and the charging socket 911, and improve the reliability and service life of the charging connector 351.

[0127] 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 socket 911, improving the insertion and removal success rate, and improving the reliability of charging.

[0128] In some embodiments of this application, reference is made to Figure 1 , Figure 2 and Figure 5 The base assembly 3 includes a charging base 10 and a moving platform 40. The charging base 10 has a moving guide rail 11. The moving platform 40 is mounted on the charging base 10 and moves along the moving guide rail 11 to approach or move away from the external device 90. The moving platform 40 has a plug-in rail 48. The plug-in rail 48 and the moving guide rail 11 extend along a first direction F1. The charging moving base 70 is mounted on the moving platform 40 and is movable along the plug-in rail 48.

[0129] The charging base 10 provides support and guidance for the movement of the moving platform 40 and the components on the moving platform 40. The specific structure of the charging base 10 is not limited. For example, the charging base 10 can be composed of multiple side beams connected end to end, or the charging base 10 can be composed of multiple beams arranged crosswise and connected, or it can be a flat plate structure, etc.

[0130] The movable guide rail 11 can extend along a straight or curved path, requiring only one end close to the charging station of the external device 90 and one end away from the charging station of the external device 90. For example, the external device 90 can be placed on one side of the charging base 10 in the first direction F1, and the movable guide rail 11 can extend along the first direction F1, allowing the moving stage 40 to reciprocate along the movable guide rail 11 in the first direction F1, thereby driving the charging plug-in assembly 30 on the moving stage 40 to move closer to and away from the external device 90.

[0131] The movable platform 40 provides support for the movement of the charging movable base 70. The specific structures of the movable platform 40 and the charging movable base 70 are not limited. They can be composed of multiple side beams connected end-to-end, or multiple beams arranged and connected in a cross pattern, or even a flat plate structure. The structures of the movable platform 40 and the charging movable base 70 can be the same or different. The plug-in rail 48 provides guidance for the movement of the charging movable base 70 on the movable platform 40. The plug-in rail 48 can extend along a straight or curved path. The plug-in rail 48 enables the charging movable base 70 to drive the charging plug-in assembly 30 to connect with the external device 90 for charging, or to disengage the charging plug-in assembly 30 from the external device 90. In the example above, one end of the first driving member 311 is connected to the movable platform 40 via the first movable connector 312.

[0132] In the above technical solution, when the charging plug-in assembly 30 is plugged into the charging panel 91 of the external device 90 for charging, the moving stage 40 can move along the first direction F1 on the charging base 10 via the moving guide rail 11, driving the charging moving base 70 and the charging plug-in assembly 30 to quickly move to the charging station close to the external device 90. During this process, the charging plug-in assembly 30 and the charging panel 91 on the external device 90 do not engage in plugging and matching, but rather achieve rapid positioning (i.e., coarse positioning) through the movement of the moving stage 40, which saves time. The charging moving base 70 can continue to move along the first direction F1 on the moving stage 40 via the plug-in rail 48, driving the charging plug-in assembly 30 to gradually engage and match with the charging port 911 on the charging panel 91 of the external device 90. This process allows the charging plug-in assembly 30 to slowly engage with the charging port 911, performing precise plugging and unplugging operations, thereby achieving plugging in for charging or unplugging for power disconnection. The above solution enables two-level movement and positioning of the charging plug-in assembly 30 and the external device 90, which is beneficial for more precise plug-in charging operations.

[0133] In some embodiments, the charging plug-in assembly 30 can achieve automatic plugging and unplugging, that is, the technology of using automated equipment to replace manual operation in connecting and disconnecting the charging connector 351 from the socket. This technology can be applied to charging stations, battery swapping stations, smart charging piles, and other scenarios, which can improve charging efficiency, reduce manual intervention, and achieve unmanned operation.

[0134] For example, the charging plug-in assembly 30 may include an identification component that can identify the position of the plug-in module 35 relative to the charging panel 91 of the external device 90, and further identify the relative angle, so that the active module can control the plug-in module 35 to adjust its posture according to the identification result of the identification component.

[0135] In the above technical solution, the moving platform 40 drives the charging moving base 70 and the charging plug-in assembly 30 to move along the moving guide rail 11 of the charging base 10 to achieve initial positioning of the charging plug-in assembly 30 and the external device 90. The charging moving base 70 drives the charging plug-in assembly 30 to move along the plug-in track 48 of the moving platform 40 to achieve further positioning of the charging plug-in assembly 30 and the external device 90. This allows the plugging and unplugging of the charging plug-in assembly 30 and the external device 90 to achieve two-stage movement, which is conducive to more precise positioning operations, reduces docking difficulty, reduces the risk of plugging and unplugging failure, improves charging efficiency, and reduces the risk of damage to the docking structure between the charging plug-in assembly 30 and the external device 90, thereby improving the reliability of the plugging and unplugging operation between the charging device 2 and the external device 90.

[0136] In some embodiments of this application, reference is made to Figure 4 The moving platform 40 is provided with support rollers 42, which are rotatably supported on the upper surface of the moving guide rail 11.

[0137] The support rollers 42 can be made of corrosion-resistant and high-strength materials such as nylon and stainless steel, which can stably support the moving platform 40 and the charging plug assembly 30, and are not easily corroded or damaged by contact with rainwater, mud, etc.

[0138] There can be multiple support rollers 42, and each moving guide rail 11 can cooperate with multiple support rollers 42. The multiple support rollers 42 corresponding to the same moving guide rail 11 are spaced apart along the extension direction of the moving guide rail 11.

[0139] In the above technical solution, by cooperating with the support roller 42 and the moving guide rail 11, rolling friction can be formed between the moving table 40 and the moving guide rail 11, which effectively reduces the resistance of the moving table 40, thereby improving the accuracy of the moving stroke control of the moving table 40 and improving the moving efficiency.

[0140] In some embodiments of this application, the base assembly 3 is provided with a wire hole, and the charging device 2 includes a cable 61. Part of the cable 61 is located on the lower side of the base assembly 3, and the other part passes through the wire hole and is electrically connected to the charging plug assembly 30 to supply power to the charging plug assembly 30.

[0141] Reference Figure 8 The base assembly 3 may include a charging base 10 and a moving platform 40. The cable passage may include a second cable passage 10a and a third cable passage 40a. The charging base 10 is provided with a second cable passage 10a, and the moving platform 40 is provided with a third cable passage 40a. Part of the cable 61 is located on the lower side of the charging base 10, and the other part passes through the second cable passage 10a and the third cable passage 40a and is electrically connected to the charging plug assembly 30 to supply power to the charging plug assembly 30.

[0142] The charging base 10 can be a plate-shaped component, and the second wire-passing hole 10a can be a hole structure opened in the plate-shaped component; the charging base 10 can also be a base structure composed of a frame connected end to end and multiple beams connected at intersection, and the second wire-passing hole 10a can be a hollow structure formed between the frame and the beams. Similarly, the moving platform 40 can be a plate-shaped component, and the third wire-passing hole 40a can be a hole structure opened in the plate-shaped component; the moving platform 40 can also be a base structure composed of a frame connected end to end and multiple beams connected at intersection, and the third wire-passing hole 40a can be a hollow structure formed between the frame and the beams.

[0143] Optionally, the second wire hole 10a can be an elongated hole extending along the first direction F1, thereby enabling the cable 61 to move along the moving table 40 as it moves along the moving guide rail 11.

[0144] In the above technical solution, the cable 61 can pass through the cable hole to the base assembly 3. This helps to reduce the length of the cable 61, save materials, and also improves the overall structural compactness of the charging device 2, saving space. The above solution also protects the cable 61, reducing the risk of the cable 61 being located outside the base assembly 3, thereby reducing the risk of the cable 61 being scratched or damaged during long-term use and improving the reliability of the cable 61.

[0145] In some embodiments of this application, reference is made to Figure 7 The charging device 2 includes a support assembly 62, which is located on the lower side of the base assembly 3 and includes a support member 621 and a support wheel 622. A cable 61 is mounted on the support member 621, and the support wheel 622 is located on the support member 621 and is used to support the walking surface. The support wheel 622 is configured to be able to walk at least in the second direction F2.

[0146] There can be one, two, three, four or more support components 62 to meet the support requirements of cables 61 of different sizes. For example, there can be four support components 62. In each support component 62, there can be one, two or more support members 621 and support wheels 622. For example, in each support component 62, there is one support member 621 and two support wheels 622.

[0147] In the above technical solution, by supporting the cable 61 with the support component 62, the resistance encountered by the cable 61 and the charging plug assembly 30 during movement can be reduced, and the cable 61 does not need to be dragged by manpower, saving manpower. Specifically, by using the support component 621 to stably install the cable 61, the possibility of the cable 61 slipping off the support component 62 can be reduced, and the support stability of the support component 62 for the cable 61 can be improved.

[0148] In some embodiments of this application, the support wheel 622 is a swivel wheel. In this technical solution, the support wheel 622 is a swivel wheel, which can move in multiple directions and can flexibly adapt to the movement direction of the cable 61, thereby improving the flexibility of supporting the cable 61.

[0149] In some embodiments of this application, reference is made to Figure 9 The charging device 2 includes a first driving component 46, which includes a fourth driving member 461, a first fixing member 462, and a first moving member 463. The first fixing member 462 is connected to the charging base 10, and the first moving member 463 is connected to the moving platform 40. The fourth driving member 461 is used to drive the first moving member 463 to move relative to the first fixing member 462, so as to drive the moving platform 40 to move along the moving guide rail 11.

[0150] The first fixing member 462 is a component that does not move relative to the charging base 10 in the extending direction of the moving guide rail 11, but the first fixing member 462 can rotate, for example, the first fixing member 462 can be a rotatable lead screw, and the rotation axis of the lead screw is parallel to the extending direction of the moving guide rail 11. This application does not limit this.

[0151] The first moving part 463 is a component that can move relative to the charging base 10 in the extension direction of the moving guide rail 11. Of course, the first moving part 463 may not have other forms of movement during the movement process, or it may have other forms of movement, such as rotation with the rotation axis parallel to the extension direction of the moving guide rail 11. This application does not limit this.

[0152] The fourth drive component 461 can be, but is not limited to, an electric cylinder, a servo motor, etc.

[0153] The fourth driving member 461 can be connected to the first fixed member 462. By driving the first fixed member 462 to move, the first moving member 463 moves relative to the first fixed member 462. For example, the first fixed member 462 can be a lead screw. The fourth driving member 461 is connected to the lead screw and drives the lead screw to rotate. The first moving member 463 is connected to the lead screw by a thread. During the rotation of the lead screw, the first moving member 463 moves along the extension direction of the moving guide rail 11. Alternatively, the first driving member can be connected to the first moving member 463. By driving the first moving member 463 to move, the first moving member 463 moves relative to the first fixed member 462. For example, the first moving member includes a sleeve and a nut. The nut is located inside the sleeve. The nut is fixed relative to the sleeve and rotatable relative to the sleeve in the extension direction of the moving guide rail 11. The nut has an internal thread and engages with the external thread of the first fixed member. The first driving member drives the nut to rotate, so that the nut moves along the first fixed member 462 and drives the sleeve to move along the first fixed member 462, thereby driving the moving table 40 to move along the extension direction of the moving guide rail 11.

[0154] Of course, the specific structure of the first drive component 46 is not limited to this, as long as it can automatically drive the moving stage 40 to move along the moving guide rail 11.

[0155] In the above technical solution, by setting the first driving component 46, the automatic driving of the mobile platform 40 and the external device 90 can be positioned, thereby improving the automation level of the charging device 2, reducing labor costs, and improving charging efficiency.

[0156] In some embodiments of this application, reference is made to Figures 1 to 4 The charging device 2 also includes a protective cover 50, which covers the charging base 10. The moving platform 40, the charging moving base 70, and the charging plug-in assembly 30 are located inside the protective cover 50. The protective cover 50 can protect the charging device 2 from rainwater, reduce the risk of short circuits inside the charging device 2, improve the overall reliability of the device, and also help extend its service life.

[0157] refer to Figures 1 to 4 This application embodiment also provides a charging system 1, including a seating frame 20 and a charging device 2 as described above. The seating frame 20 is connected to the charging base 10 and is used to place an external device 90.

[0158] The mounting bracket 20 provides support for the external device 90. The mounting bracket 20 can be partially pre-buried underground to fix it in place. After the external device 90 is placed on the mounting bracket 20, the external device 90 can be aligned with the charging plug assembly 30 along the first direction F1. The mounting bracket 20 can position the external device 90, reducing the probability of the external device 90 tilting or swaying, while protecting the external device 90 from physical damage to the ground and extending its service life. The mounting bracket 20 can also improve the contact alignment accuracy of the charging connector 351 and reduce the probability of poor contact. In addition, a monitoring module can be integrated on the mounting bracket 20 for automatic power on / off.

[0159] Since the charging device 2 according to the embodiments of this application has the above-mentioned beneficial technical effects, the charging system 1 according to the embodiments of this application can precisely position the external device 90 through the seating frame 20, fix the position of the external device 90, and then move along the first direction F1 on the base assembly 3 through the plug-in rail 48 to plug in and charge the external device 90 and unplug it to disconnect the power. By setting the charging plug-in assembly 30 to include the tilting module 34 and the plug-in module 35, during the plug-in charging process of the charging plug-in assembly 30, the tilting module 34 can accurately adjust the angle between the plug-in module 35 and the charging port 911 of the external device 90, improve the success rate of the charging docking of the charging plug-in assembly 30 and the external device 90, thereby improving the charging efficiency, and also reducing the risk of damage to the plug interface, which can improve the charging reliability of the charging system 1.

[0160] In some related technologies, tower cranes are typically used to hoist external equipment to the charging equipment. However, this requires repeated adjustments to the position of the external equipment by the tower crane to align it with the charging equipment before lowering it. This results in excessive hoisting time, long on-site alignment time (aligning the external equipment with the charging equipment), and low charging efficiency for the external equipment. This application, however, uses a mounting frame 20 to place the external equipment 90, enabling rapid hoisting of the external equipment 90 onto the mounting frame 20 without the need for repeated adjustments. This shortens on-site alignment time, facilitates installation, and allows for rapid placement of the external equipment 90 at the battery swapping station. It also ensures high charging efficiency for the external equipment 90 and eliminates the need for additional facilities at the battery swapping station to house it, reducing the construction cycle and allowing for rapid operation.

[0161] In some embodiments, refer to Figures 1-4 The seating frame 20 is provided with a guide component 21, which has a guide slope extending from top to bottom and inward. The guide slope guides the external device 90 during the process of placing the external device 90 on the seating frame 20, so that the external device 90 is opposite to the charging device 2 along the first direction F1 after being placed on the seating frame 20. This helps to reduce the difficulty of placing the external device 90 and improve the placement accuracy of the external device 90.

[0162] In some embodiments where the charging base 10 is connected to the positioning element 22, the guide component 21 on the seat frame 20 near the end of the charging base 10 can be used as the positioning element 22. On the one hand, it plays a positioning role, and on the other hand, it plays a avoidance role, preventing the guide component 21 from interfering with the movement of the moving platform 40.

[0163] In some embodiments of this application, the charging system 1 is used to charge a box-type power supply, which is a replaceable power source for electric ships. In this technical solution, the charging system 1 can be applied to scenarios involving charging electric ships. The external device 90 can be a replaceable power source for the electric ship; that is, the external device 90 can be a box-type power supply. The box-type power supply can be detached from the electric ship and placed on the mounting frame 20. The charging device 2 enables plug-and-play charging of the box-type power supply, which can improve the success rate of docking with the box-type power supply and increase charging efficiency.

[0164] like Figures 1-9 As shown, the charging system 1 according to the first specific embodiment of this application includes a seating frame 20 and a charging device 2. The seating frame 20 is connected to the charging device 2 and is used to place a box-type power supply. The box-type power supply has two charging panels 91. The charging device 2 includes a charging base 10, a moving platform 40, a charging moving seat 70, a charging plug-in assembly 30, and a cable 61.

[0165] The charging base 10 includes a charging frame and two movable guide rails 11. The movable guide rails 11 extend along a first direction F1, and the two movable guide rails 11 are spaced apart along a second direction F2 and placed on the charging frame. The first direction F1, the second direction F2, and the vertical direction F3 are perpendicular to each other, with the vertical direction F3 being the vertical direction.

[0166] The moving platform 40 is movably mounted on the moving guide rail 11 of the charging base 10 along the first direction F1 via support rollers 42. The first drive component 46 is an electric cylinder. One end of the electric cylinder is hinged to the lower end of the moving platform 40 via a pin, and the other end of the electric cylinder is hinged to the charging base 10. The electric cylinder extends and retracts to drive the entire moving platform 40 to perform linear movement on the moving guide rail 11.

[0167] The charging mobile base 70 is movably mounted on the plug-in track 48 of the mobile platform 40 via a slider.

[0168] The charging plug-in assembly 30 is movably mounted on the charging mobile base 70 in the second direction F2 via the second guide rail 80, and is used to connect to the box-type power supply for charging the box-type power supply through the charging plug-in assembly 30. The cable 61 is electrically connected to the charging plug-in assembly 30 to supply power to the charging plug-in assembly 30. The cable 61 is supported by casters on the support assembly 62 for movement on the walking surface, accommodating the movement of the cable 61 during plugging / unplugging and attitude adjustment.

[0169] The charging and plugging assembly 30 includes a first moving module 31, a second moving module 32, a third moving module 33, a tilting module 34, and a plugging module 35. The first moving module 31 is an electric cylinder. One end of the electric cylinder is hinged to the lower end of the charging moving base 70 via a pin, and the other end of the electric cylinder is hinged to the moving platform 40 via a pin. The extension and retraction of the electric cylinder drives the entire charging moving base 70 to move linearly on the plugging and plugging track 48. The second moving module 32 includes a second moving base 322 and a second driving member 321. The second moving base 322 is a moving frame. The bottom of the moving frame is slidably connected to the second guide rail 80 on the charging moving base 70 along the second direction F2 via a slider. The second driving member 321 includes a rack 3211, a gear 3212 and a motor 3213. The rack 3211 is fixed on the charging moving base 70 and extends along the second direction F2. The gear 3212 and the rack 3211 mesh and are connected to the motor shaft of the motor 3213. The motor 3213 is fixed to the bottom of the moving frame. The motor 3213 drives the gear 3212 to rotate, which can drive the moving frame to move along the second direction F2 on the charging moving base 70. The third moving module 33 includes a third moving base 332 and a third driving component 331. The third moving base 332 is a hollow moving plate and is slidably mounted on the guide rail of the moving frame in the vertical direction F3 via a slider. The third driving component 331 is an electric cylinder that extends and retracts in the vertical direction. One end of the electric cylinder is hinged to the upper part of the moving plate via a pin, and the other end of the electric cylinder is hinged to the lower part of the moving frame via a pin, so as to drive the moving plate to move relative to the moving frame 2 in the vertical direction F3.

[0170] The yaw module 34 includes a yaw platform 341, three yaw drive units 342, a support column 343, and a second universal joint 344. The yaw platform 341 and the moving plate are spaced apart along the first direction F1 and connected by the three yaw drive units 342. The yaw platform 341 and the moving plate have yaw drive units 342 on their upper sides in the vertical direction F3. The yaw platform 341 and the moving plate each have a yaw drive unit 342 on their respective sides in the second direction F2. The plug-in module 35 is located on the yaw platform 341. The yaw drive unit 342 includes a yaw drive component 3421 and a first universal joint 3422. The yaw drive component 3421 is an electric cylinder and is telescopic along the first direction F1. One end of the electric cylinder is connected to the yaw platform 341 through the first universal joint 3422, and the other end is hinged to the moving plate through a pin. The support column 343 extends along the first direction F1 and is fixed to the movable plate, and is connected to the oscillating platform 341 through the second universal joint 344. Three oscillating drive components 3421 are arranged around the support column 343 in a circumferential manner.

[0171] The plug-in module 35 includes a connector panel 354, a positioning pin 352, and a charging connector 351. The positioning pin 352 and the limiting pin 353 are connected to opposite sides of the connector panel 354 and are located on the same side of the connector panel 354 as the charging connector 351. The positioning pin 352 is adapted to be plugged into the box-type power supply, and the charging connector 351 is adapted to be connected to the charging port 911 of the box-type power supply to charge the box-type power supply.

[0172] When charging the box-type power supply is required, it can be placed on the seating frame 20 using a hoisting device and guided by the guide assembly 21. The charging plug-in assembly 30 first moves along the second guide rail 80 in the second direction F2 to the charging position, directly opposite one of the charging panels 91 of the box-type power supply. Then, the moving stage 40 moves along the moving guide rail 11 of the charging base 10 towards the box-type power supply in the first direction F1, bringing the charging moving seat 70 and the charging plug-in assembly 30 closer to the box-type power supply until the detector comes into contact with the box-type power supply, completing the initial positioning. At this point, the moving stage 40 stops moving. The charging plug-in assembly 30 is relatively close to the box-type power supply, resulting in higher accuracy in relative position and relative angle detection. Therefore, it can be used with the aid of the recognition component through point laser ranging and D-vision features. The relative position and angle between the plug-in module 35 and the charging panel 91 are identified by methods such as hole positioning. Based on the identification results, the charging plug-in assembly 30 adjusts the relative position through the first moving module 31, the second moving module 32, and the third moving module 33. The first moving module 31 drives the charging moving base 70 to move along the first direction F1 to slowly adjust the precise position of the plug-in module 35 and the charging panel 91 in the first direction F1. Then, the second moving module 32 and the third moving module 33 achieve precise adjustment in the second direction F2 and the up and down direction F3. The relative angle is adjusted by the yaw module 34 so that the plug-in module 35 is accurately aligned with the corresponding charging panel 91 through one of the charging connectors 351 and plugged in for charging.

[0173] After the corresponding circuit of the charging panel 91 is fully charged, the first moving module 31 drives the charging moving base 70 to move away from the box power supply along the first direction F1, so that the plug-in module 35 is separated from the charging panel 91. The second moving module 32 drives the plug-in module 35 to move along the second direction F2 to another charging position under the action of the second guide rail 80, so that it is opposite to the corresponding charging panel 91. By readjusting the relative position and relative angle, the first moving module 31 moves closer to the box power supply along the first direction F1 so that the plug-in module 35 is plugged into the charging panel 91 for charging. This realizes the second channel plug-in charging of the plug-in module 35 and the box power supply.

[0174] After charging is complete, the plug-in module 35 is separated from the charging panel 91 by moving the first moving module 31 away from the box-type power supply along the first direction F1. At this time, the box-type power supply can be moved by hoisting.

[0175] In the above embodiment, the plug-in module 35 can switch between two charging positions under the action of the second guide rail 80, thereby enabling the charging device 2 to plug in and charge the two charging panels 91 of the dual-channel box power supply. The moving stage 40 moves along the charging base 10 to achieve initial engagement and positioning of the charging moving seat 70 and the charging plug-in assembly 30 relative to the box power supply, providing conditions for improving the accuracy of subsequent relative position and angle recognition. The charging moving seat 70 can then drive the plug-in module 35 to plug in and charge or unplug it from the charging panel 91 to disconnect power. The charging plug-in assembly 30 can actively adjust its charging posture with multiple degrees of freedom, enabling automatic plug-in and unplugging charging in a dual-circuit manner. The charging connector 351 and the socket of the charging panel 91 are aligned at a high height, resulting in a high success rate of plugging and unplugging. The guide post of the plug-in module 35 and the pin of the socket experience less wear, leading to a longer lifespan and more stable and reliable performance.

[0176] The charging system 1 of this application features a modular design. The charging station of the mounting frame 20 is one module, and the charging device 2 is another. These two modules can be quickly connected on-site using fasteners, eliminating the need for on-site alignment, facilitating installation, rapid deployment, reducing the construction cycle, and enabling quick operation. The identification component uses laser ranging to measure the distance and angle of the charging panel 91 area of ​​the box-type power supply. The charging device 2 aligns the plug-in module 35 with the charging panel 91 and then uses 3D image acquisition to locate the feature hole position, achieving high positioning accuracy. The secondary tapered guide post on the plug-in module 35 aligns with the guide hole on the charging panel 91. The secondary tapered tolerance range is large, and the guide controls the alignment accuracy of the socket and charging connector 351 within 0.3mm on each side, resulting in high plug-in accuracy and a high success rate.

[0177] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The above are merely preferred embodiments of this application and are not intended to limit the application. For those skilled in the art, unless otherwise specified, all implementation methods and optional implementation methods of this application can be combined to form new technical solutions. Unless otherwise specified, all technical features and optional technical features of this application can be combined to form new technical solutions. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A charging device for charging an external device, characterized in that, include: A base assembly having a plug-in rail extending along a first direction; A charging mobile stand, which is mounted on the base assembly and movable along the plug-in rail; A charging plug-in assembly is disposed on the charging movable base and moves closer to or further away from the charging port of the external device under the action of the charging movable base. The charging plug-in assembly includes a plug-in module and a tilting module. The plug-in module is mounted on the tilting module and has a charging connector. The tilting module can drive the plug-in module to tilt in at least one direction to adjust the angle between the charging connector and the charging port. The charging movable base can drive the plug-in module on the tilting module to move along the first direction so that the charging connector can be plugged in and out of the charging port.

2. The charging device according to claim 1, characterized in that, The yaw module includes a yaw platform and multiple yaw driving units. The yaw platform is mounted on the charging mobile base through the multiple yaw driving units. The multiple yaw driving units drive the yaw platform to yaw in at least one direction. The plug-in module is disposed on the yaw platform.

3. The charging device according to claim 2, characterized in that, The charging plug-in assembly includes an adapter module, which is mounted on the charging mobile base via the adapter module; the plurality of yaw drive units include a first yaw drive unit, which is disposed on at least one side of the yaw platform in a second direction to drive the yaw platform to yaw relative to the adapter module to both sides in the second direction, wherein the second direction intersects the first direction.

4. The charging device according to claim 3, characterized in that, The plurality of said yaw drive units include a second yaw drive unit, which is disposed on at least one side of the yaw stage in the vertical direction to drive the yaw stage to yaw relative to the adapter module to both sides in the vertical direction, wherein the vertical direction, the second direction and the first direction intersect each other.

5. The charging device according to claim 4, characterized in that, The yaw drive unit includes a yaw drive component and a first universal joint. The yaw drive component is located on the adapter module and is telescopic along the first direction. The telescopic end of the yaw drive component is connected to the yaw table through the first universal joint.

6. The charging device according to claim 5, characterized in that, The yaw module includes a support column and a second universal joint. The support column extends along a first direction and is fixed to the adapter module, and is connected to the yaw platform through the second universal joint. A plurality of the yaw drive components are arranged circumferentially around the support column.

7. The charging device according to claim 6, characterized in that, The end of the yaw drive component near the adapter module is hinged to the adapter module.

8. The charging device according to claim 6, characterized in that, The yaw drive members located on both sides of the yaw platform in the second direction are at the same height as the support column.

9. The charging device according to any one of claims 5 to 8, characterized in that, The plurality of the yaw drive components are located on the upper side of the center position of the yaw stage, and the plug-in module is located on the lower side of the center position of the yaw stage.

10. The charging device according to any one of claims 1 to 8, characterized in that, The charging plug-in assembly includes an adapter module, the yaw module is mounted on the charging mobile base via the adapter module, and the adapter module is configured to allow the yaw module to move relative to the charging mobile base.

11. The charging device according to claim 10, characterized in that, The adapter module includes a first moving module configured to drive the charging moving base to move along the plugging / unplugging track, so that the plugging / unplugging module can be plugged / unplugged into the charging port of the external device in the first direction.

12. The charging device according to claim 11, characterized in that, The charging mobile base is provided with a second guide rail, which extends along a second direction and intersects with the first direction; the moving module includes a second moving module, which includes a second moving base and a second driving member. The second moving base is located on the charging mobile base and is movable along the second guide rail. The second driving member drives the second moving base to move. The yaw module is mounted on the charging mobile base through the second moving base.

13. The charging device according to claim 12, characterized in that, The second movable seat is provided with a third guide rail, which extends in a vertical direction and intersects with the second direction and the first direction. The movable module includes a third movable module, which includes a third movable seat and a third driving member. The third movable seat is located on the second movable seat and is movable along the third guide rail. The third driving member drives the third movable seat to move. The yaw module is mounted on the second movable seat through the third movable seat.

14. The charging device according to any one of claims 1 to 8, characterized in that, The charging plug-in assembly includes a buffer structure disposed between the plug-in module and the oscillation module. The buffer structure is configured to deformably cooperate with the plug-in module and the external device to drive the plug-in module to move.

15. The charging device according to claim 14, characterized in that, One of the plug-in module and the oscillation module has a limiting post, and the other of the plug-in module and the oscillation platform has a limiting hole. The limiting post passes through the limiting hole and can slide with the limiting hole. The buffer structure is a spring sleeved on the outer periphery of the limiting post, and the buffer structure abuts against the oscillation platform.

16. The charging device according to claim 15, characterized in that, The plug-in module includes a connector panel, positioning pins, and a charging connector. The positioning pins and the limiting pins are connected to opposite sides of the connector panel and are located on the same side of the connector panel as the charging connector. The positioning pins are adapted to be plugged into the positioning socket of the external device, and the charging connector is adapted to be plugged into the charging port of the external device.

17. The charging device according to claim 1, characterized in that, The base assembly includes a charging base and a movable platform. The charging base has a movable guide rail that extends along the first direction. The movable platform is mounted on the charging base and moves along the movable guide rail. The movable platform is provided with the plug-in rail. The charging movable base is mounted on the movable platform and is movable along the plug-in rail.

18. The charging device according to claim 17, characterized in that, The charging device includes a first driving component, which includes a fourth driving member, a first fixing member, and a first moving member. The first fixing member is connected to the charging base, and the first moving member is connected to the moving platform. The fourth driving member is used to drive the first moving member to move relative to the first fixing member, so as to drive the moving platform to move along the moving guide rail.

19. A charging system, characterized in that, It includes a seating stand and a charging device according to any one of claims 1-18, the seating stand being connected to the charging base, the seating stand being used to place the external device.

20. The charging system according to claim 19, characterized in that, The charging system is used to charge a box-type power supply, which is a replaceable power source for electric ships.

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