The invention provides an automatic charging system and a docking method and docking device thereof, and the method comprises the steps: controlling the axis of a charging rod to start docking with a power receiving end in a horizontal posture, and enabling the axis of the charging rod to deviate from the axis of the power receiving end by a first set distance; the central point of the front end of the charging rod body gradually descends by a first set distance in the butt joint process until the central point coincides with the axis of the power receiving end, and the charging rod is controlled to stop butt joint; the inclination angle of the charging rod is obtained, the flexible mechanism is controlled to descend along the Z axis according to the inclination angle till the posture of the charging rod is horizontal, and butt joint is completed. When docking begins, the charging rod and the axis of the power receiving end are controlled to deviate by a certain distance for docking, then closed-loop control of angle posture adjustment is introduced, final docking is carried out in a horizontal posture, and therefore docking clamping stagnation caused by the fact that the charging rod is blocked by gravity and a bottom gravity spring can be avoided; and the axial length of the flexible mechanism can be designed to be shorter structurally, so that the flexible charging head is miniaturized.

    本发明提供一种自动充电系统及其对接方法、对接装置,所述方法包括:控制充电棒的轴线以水平姿态与受电端开启对接,且充电棒和受电端的轴线偏差第一设定距离;充电棒体的前端中心点在对接过程中逐渐下降第一设定距离,直至与受电端轴线重合时,控制充电棒停止对接;获取充电棒的倾斜角度,根据倾斜角度控制柔性机构沿Z轴下降,直至充电棒姿态水平,完成对接。本发明在对接开始时控制充电棒和受电端轴线偏差一定距离进行对接,再引入角度姿态调整的闭环控制,以水平姿态进行最终对接,从而可以避免充电棒受到重力和底部重力弹簧的阻碍导致对接卡滞,且在结构上可将柔性机构的轴向长度设计的更短,将柔性充电头做到小型化。


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    Title :

    Automatic charging system and docking method and docking device thereof


    Additional title:

    自动充电系统及其对接方法、对接装置


    Contributors:
    CAI XIANYI (author) / JIANG BO (author) / ZANG FENG (author)

    Publication date :

    2024-04-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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