CN113022340B

CN113022340B - Butt joint supporting structure and charging mechanism

Info

Publication number: CN113022340B
Application number: CN201911357612.5A
Authority: CN
Inventors: 李明; 袁江徽; 张程飞; 李德胜; 郑隽一; 张育铭; 何青
Original assignee: Guochuang Mobile Energy Innovation Center Jiangsu Co Ltd
Current assignee: Guochuang Mobile Energy Innovation Center Jiangsu Co Ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2023-03-31
Anticipated expiration: 2039-12-25
Also published as: CN113022340A

Abstract

The invention relates to the technical field of charging, in particular to a butt joint supporting structure and a charging mechanism. A docking support structure comprising: the lifting assembly drives the rotating assembly and the deflection assembly to lift; the rotating assembly drives the deflection assembly to rotate along a vertical axis; the deflection assembly deflects along a horizontal axis, and a rotation supporting assembly is arranged at a deflection end of the deflection assembly; a rotational support assembly supporting the docking head. The butt joint supporting structure can compensate position tolerance in the three-dimensional direction brought by the position of the charged mechanism, so that the butt joint can be accurately butted with the charged mechanism, and the technical problem that the butt joint of the charged mechanism is influenced by the position error of the charged mechanism in the prior art is solved.

Description

Butt joint supporting structure and charging mechanism

Technical Field

The invention relates to the technical field of charging, in particular to a butt joint supporting structure and a charging mechanism.

Background

With the popularization of new energy automobiles, more and more new energy automobiles have come into use. In the use process of a new energy automobile, particularly in some high-power charging occasions, the size and the weight of the gun head and the lead are extremely large, and manual charging is time-consuming, labor-consuming and careless. Therefore, an automated charging apparatus is imperative.

At present, a plurality of automatic charging devices exist in the market, but the automatic charging devices have the defects of poor applicability, wrong butt joint of charging ports during charging and the like. Especially in some large-scale new energy automobile occasions that charge, the operating mode of car can be more complicated, and parking location nature is also not high, can appear very big error. The working condition of the new energy automobile can generate tolerance in the vertical direction and tolerance in the horizontal direction: the position in which the vehicle is parked is shown in fig. 1, the top view in which the vehicle is parked is shown in fig. 2, P1 being the standard parking position of the vehicle, P2 and P3 being the deflections of the vehicle relative to P1, the vehicle possibly having a positional tolerance and an angular tolerance in the X-direction and the Z-direction relative to its standard parking position; as shown in fig. 3, which is a left side view of the vehicle when parked, the vehicle may have a position tolerance and an angle tolerance in the Y direction relative to its standard parking position, and the above-mentioned tolerance in each direction may be caused by the vehicle parked position and may also be caused by vehicle operating conditions (such as load, tire pressure, ground conditions, etc.), which may affect the position of the vehicle-mounted charging port 2' and ultimately the accuracy of the docking of the charging mechanism.

Disclosure of Invention

In order to solve the technical problem that the position error of a charged mechanism influences the butt joint of the charged mechanism in the prior art, the invention provides a butt joint supporting structure and a charging mechanism, and the technical problem is solved. The technical scheme of the invention is as follows:

a docking support structure comprising: the lifting assembly drives the rotating assembly and the deflection assembly to lift; the rotating assembly drives the deflection assembly to rotate along a vertical axis; the deflection component deflects along a horizontal axis, and a rotation supporting component is arranged at the deflection end of the deflection component; a rotational support assembly supporting the docking head.

Through setting up butt joint bearing structure and including lift assembly, rotating assembly, beat subassembly and rotation support assembly, can realize the position multidimension regulation to butt joint head to realize the compensation to the tolerance in all directions. Specifically, the position tolerance in the Y direction can be eliminated by the lifting assembly; position tolerance in the X direction can be eliminated by rotating the assembly; the position tolerance in the Z direction can be eliminated through linkage of the deflection component, the lifting component and the rotating component; the angle of the butt joint can be adjusted by rotating the supporting component, so that the position tolerance in the three-dimensional direction caused by the position of the charged mechanism can be compensated by the butt joint supporting structure, and the butt joint can be accurately butted with the charged mechanism.

Further, the rotating assembly comprises a rotating disc and a rotating driving device, the rotating disc is rotatably arranged at the upper end of the lifting assembly, at least partial teeth are distributed on the periphery of the rotating disc, and the rotating driving device drives the rotating disc to rotate through gear transmission.

Furthermore, the deflection component comprises a parallelogram mechanism and a deflection driving device, one end of the parallelogram mechanism is hinged to the rotating component, the other end of the parallelogram mechanism is connected with the rotating support component, and the parallelogram mechanism is driven by the deflection driving device to deflect.

Further, the parallelogram mechanism comprises two swing arms which are arranged in parallel, and at least one swing arm is a variable swing arm with variable axial length.

Further, variable swing arm is including the connecting rod and the sliding sleeve that cup joint, the connecting rod stretches into one of sliding sleeve is served and is provided with fender ring I, be provided with two fender rings II on the sliding sleeve inner wall, keep off ring I and be located two and keep off between the ring II, keep off ring I and two and keep off and be provided with the elastic component between the ring II respectively.

Furthermore, the deflection driving device is a telescopic driving device which telescopically pushes the parallelogram mechanism to deflect, and the gas spring is also configured to assist in supporting the parallelogram mechanism.

Furthermore, the rotation supporting component comprises a rotating disc and a rotation driving device, the rotating disc is rotatably arranged at the deflection end of the deflection component, at least partial teeth are distributed on the periphery of the rotating disc, the rotation driving device drives the rotating disc to rotate through gear transmission, and the rotating disc supports the butt joint.

A charging mechanism comprising: butting the supporting structures; the butt joint is electrically connected with the charging pile; and the positioning device is arranged on the butt joint and/or the mechanism to be charged so as to position the charging port of the mechanism to be charged.

Further, the positioning device comprises a signal transmitting device and a signal receiving device which are respectively arranged on the butt joint and the mechanism to be charged.

Further, the positioning device further comprises an ultrasonic sensor.

Based on the technical scheme, the invention can realize the following technical effects:

1. the butt joint supporting structure comprises a lifting assembly, a rotating assembly, a deflection assembly and a rotating supporting assembly, and can realize multi-dimensional adjustment of the position of the butt joint so as to realize compensation of tolerance in all directions. Specifically, the position tolerance in the Y direction can be eliminated by the lifting assembly; position tolerance in the X direction can be eliminated by rotating the assembly; the position tolerance in the Z direction can be eliminated through linkage of the deflection component, the lifting component and the rotating component; the angle of the butt joint can be adjusted by rotating the supporting component, so that the butt joint supporting structure can compensate position tolerance in the three-dimensional direction brought by the position of the charged mechanism, and the butt joint can accurately butt joint the charged mechanism;

2. according to the butt joint supporting structure, the deflection component adopts a parallelogram mechanism, so that the deflection component can drive the rotating supporting component thereon to keep a horizontal state; the axial length of at least one swing arm of the parallelogram mechanism is further arranged to be variable, so that the angular deflection of the rotating support assembly in the Y direction can be realized, and the angular tolerance of the rotating support assembly in the Y direction can be compensated; the structure of the variable swing arm is further arranged, when the butt joint is in butt joint, the elastic piece between the baffle ring I and the baffle ring II can be compressed to change the axial length of the swing arm, and further the angle tolerance of the butt joint in the Y direction is compensated; when the external force disappears, the variable swing arm can reset to the initial length under the action of the elastic piece; in addition, the deflection driving device adopts a telescopic driving device and is provided with a gas spring, so that the deflection of the parallelogram mechanism is more stable;

3. according to the charging mechanism, the positioning device can be used for positioning the position of the charging port of the charged mechanism within the scanning range, and the butt joint support structure drives the butt joint to act according to the positioned position so as to realize accurate butt joint with the charging port of the charged mechanism. Accurate butt joint can be realized for the charged mechanisms within the positioning and scanning range, and the butt joint between the butt joint and the charging port is unmanned and is full-automatic.

Drawings

FIG. 1 is a state diagram when the vehicle is parked;

FIG. 2 is a top plan view of the vehicle when parked;

FIG. 3 is a left side view state diagram of the vehicle when parked;

FIG. 4 is a schematic structural view of the docking support structure of the present invention;

FIG. 5 is a partial schematic view of the docking support structure;

FIG. 6 is a schematic structural view of a variable swing arm;

FIG. 7 is a schematic view of the structure of the charging port;

FIG. 8 is a schematic diagram of the movement of the charging mechanism of the present invention;

FIG. 9 is a schematic diagram of the sensing of the positioning device;

in the figure: 1-a lifting assembly; 11-a lifting drive; 111-a telescoping rod; 12-a lifting platform; 121-a guide bar; 2-a rotating assembly; 21-a rotation drive; 22-rotating disc; 221-arc-shaped rack I; 23-gear I; 3-a yaw assembly; 31-a yaw drive; 32-a parallelogram mechanism; 321-a variable swing arm; 3211-connecting rod; 32111-baffle ring I; 3212-sliding sleeve; 32121-stop ring II; 3213-an elastic member; 322-fixing the swing arm; 33-a connecting plate; 34-a mounting seat; 35-a transmission rod; 36-a hinged axis; 37-a gas spring; 4-rotating the support assembly; 41-a rotation drive; 42-a rotating disk; 421-arc rack II; 43-Gear II; 5-butt joint; 6-a support frame; 61-a support bar; 62-a support plate; 7-a charging port; 8-a signal emitting device; 9-ultrasonic sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; above" may include both orientations "at 8230; \8230; above" and "at 8230; \8230; below". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 4-9, the present embodiment provides a butt joint support structure, which includes a lifting assembly 1, a rotating assembly 2, a yawing assembly 3, and a rotating support assembly 4, wherein the lifting assembly 1 drives the rotating assembly 2 and the yawing assembly 3 to move up and down; the rotating component 2 drives the deflection component 3 to rotate along a vertical axis; the deflection component 3 deflects along a horizontal axis, and a rotation supporting component 4 is arranged at the deflection end of the deflection component 3; the rotary support assembly 4 supports a docking head 5.

The lifting assembly 1 is arranged on a support frame 6, and the support frame 6 comprises a plurality of support rods 61 and a support plate 62; the lifting assembly 1 comprises a lifting driving device 11 and a lifting platform 12, the lifting driving device 11 is arranged on a supporting plate 62, a telescopic rod 111 of the lifting driving device 11 penetrates through the supporting plate 62 to be connected with the lifting platform 12, and the lifting platform 12 is driven by the telescopic rod 111 to lift. The lifting drive 11 may be selected from, but not limited to, an electric cylinder.

Guide structures are also provided on the elevator platform 12 and the support plate 62 to prevent the elevator platform 12 from deflecting during the elevating process. Specifically, a guide shaft 121 extending vertically towards the support plate 62 is arranged on the lifting table 12, a guide sleeve is fixedly arranged on the support plate 62, and the guide shaft 121 extends into the guide sleeve and moves along the guide sleeve to achieve a guiding effect of lifting the lifting table 12. Preferably, the guide shaft 121 and the guide sleeve are correspondingly disposed and at least two. In this embodiment, the guide shafts 121 and the guide sleeves are four, and 4 guide shafts 121 are uniformly distributed on the periphery of the telescopic rod 111.

The rotating assembly 2 comprises a rotating driving device 21 and a rotating disc 22, the rotating disc 22 is rotatably arranged on the lifting platform 12, the rotating axis of the rotating disc 22 vertically extends, and the rotating disc 22 is driven by the rotating driving device 21 to rotate. Specifically, the rotary driving device 21 is arranged on the lifting table 12, a driving end of the rotary driving device 21 is connected with a gear i 23, correspondingly, teeth are at least partially arranged on the periphery of the rotating disc 22, the gear i 23 is meshed with the rotating disc 22, and the rotary driving device 21 drives the rotating disc 22 to rotate through gear transmission. Preferably, an arc-shaped rack I221 is fixedly arranged on the periphery of the rotating disc 22, and the arc-shaped rack I221 is meshed with the gear I23. The rotary drive 21 may alternatively, but not exclusively, be an electric motor.

The rotating assembly 2 is provided with a deflection assembly 3, the deflection assembly 3 comprises a deflection driving assembly 31 and a parallelogram mechanism 32, and the deflection driving assembly 31 drives the parallelogram mechanism 32 to deflect. Specifically, the deflection driving assembly 31 and the parallelogram mechanism 32 are mounted on the rotating disc 22 through a mounting seat 34, the mounting seat 34 is fixedly arranged on the rotating disc 22, one end of the parallelogram mechanism 32 is hinged to the mounting seat 34, the other end of the parallelogram mechanism 32 is a deflection end, the deflection end is hinged to a connecting plate 33, the deflection driving assembly 31 is hinged to the mounting seat 34, and the telescopic end of the deflection driving assembly 31 stretches and retracts to push the parallelogram mechanism 32 to deflect.

Specifically, the parallelogram mechanism 32 includes two swing arms arranged in parallel, one end of each swing arm is hinged to the mounting seat 34, and the other end of each swing arm is hinged to the connecting plate 33, so as to drive the connecting plate 33 to keep a horizontal state to realize deflection. Preferably, at least one of the two swing arms arranged in parallel is a variable swing arm with a variable axial length, and the variable axial length drives the connecting plate 33 to angularly deflect in the Y direction so as to compensate for the angular tolerance in the Y direction.

In this embodiment, one swing arm is a variable swing arm 321, the other swing arm is a fixed swing arm 322, the length of the fixed swing arm 322 is not variable, the variable swing arm 321 includes a connecting rod 3211 and a sliding sleeve 3212, one end of the connecting rod 3211 is hinged to the mounting seat 34, the other end of the connecting rod 3211 extends into the sliding sleeve 3212 and can slide in the sliding sleeve 3212, and the sliding sleeve 3212 is hinged to the connecting plate 33. Specifically, one end of the connecting rod 3211 extending into the sliding sleeve 3212 is provided with a baffle ring i 32111, the inner wall of the sliding sleeve 3212 is provided with two baffle rings ii 32121 at intervals, the baffle ring i 32111 is located between the two baffle rings ii 32121, and elastic members 3213 are respectively arranged between the baffle ring i 32111 and the two baffle rings ii 32121. The variable swing arm 321 can compress the elastic member 3213 under the action of an external force or other driving force to change the axial length of the variable swing arm 321, and when the external force or other driving force disappears, the variable swing arm 321 can restore the original length under the action of the elastic member 3213. Preferably, the top end of the connecting rod 3211 and the inner top surface of the sliding sleeve 3212 form a cavity, and the connecting rod 3211 can be driven to slide in the sliding sleeve 3212 by changing the air pressure in the cavity. Preferably, the elastic member 3213 may be selected without limitation to a spring.

The fixed swing arm 322 is hinged on the mounting seat 34 through a hinge shaft 36, and the telescopic end of the yaw driving device 31 pushes the hinge shaft 36 to rotate through a transmission rod 35. Specifically, the yaw driving device 31 is hinged to the mounting seat 34, and a telescopic end of the yaw driving device is hinged to one end of the transmission rod 35, and the other end of the transmission rod 35 is fixedly connected to the hinge shaft 36. The yaw drive 31 is optionally but not limited to an electric cylinder.

Further, for stable deflection of the parallelogram, a gas spring 37 is further disposed on the mounting seat 34, the gas spring 37 is hinged on the mounting seat 34, and the telescopic end thereof is connected with the hinge shaft 36 through another transmission rod 35. Specifically, the telescopic end of the gas spring 37 is hinged to one end of the transmission rod 35, and the other end of the transmission rod 35 is fixedly connected to the hinge shaft 36.

The rotary supporting component 4 is arranged on the connecting plate 33, the rotary supporting component 4 comprises a rotary driving device 41 and a rotary disc 42, the rotary disc 42 is rotatably arranged on the connecting plate 33, and the rotary driving device 41 drives the rotary disc 42 to rotate. The rotation driving device 41 is arranged on the connecting plate 33, the driving end of the rotation driving device 41 is connected with a gear II 43, at least part of the periphery of the rotating disc 42 is provided with teeth, the gear II 43 is meshed with the teeth on the rotating disc 42, the rotation driving device 41 drives the rotating disc 42 to rotate through gear transmission, and the butt joint 5 is arranged on the rotating disc 42. Preferably, an arc-shaped rack II 421 is fixedly arranged on the periphery of the rotating disc 42, and the arc-shaped rack II 421 is meshed with the gear II 43. The rotation driving device 41 may be selected from, but not limited to, a motor.

The embodiment also provides a charging mechanism, which comprises the docking support structure, and further comprises a docking head 5 and a positioning device, wherein the positioning device is arranged on the docking head 5 and/or the charged mechanism to position the charging port 7 of the charged mechanism, and the docking support structure adjusts the position of the docking head 5 according to the positioning position to realize accurate docking of the docking head 5 and the charging port 7.

In this embodiment, the positioning device includes a signal transmitting device 8 and a signal receiving device, which are respectively disposed on the docking head 5 and the mechanism to be charged, the position of the charging port is determined by the signal transmitting structure, and the position information is transmitted to the controller, and the controller controls the docking support structure to lift, swing and rotate, so as to implement docking. Preferably, the signal emitting device 8 is an infrared signal emitter, the signal receiving device is an infrared signal receiver, the signal emitting device 8 is arranged on the mechanism to be charged and close to the charging port 7, and the signal receiving device is arranged on the docking head 5. Further preferably, the positioning device further comprises an ultrasonic sensor 9, and the ultrasonic sensor 9 is arranged on the charged mechanism and used for sensing the vertical distance between the charged mechanism and the docking head 5. Besides, the positioning device can also be a CCD positioning system, namely, an industrial camera vision positioning.

Based on the above structure, the working principle of the charging mechanism of this embodiment is: taking charging of a vehicle as an example, as shown in fig. 8-9, L is a vehicle body line, a signal window of the signal transmitting device 8 near the charging port 7 is F1, a signal window on the docking head 5 is F2, and the rotating disk 22 drives the docking head 5 to move within a range of F3.

When the vehicle stops, the ultrasonic sensor 9 detects the distance from the butt joint 5 to the vehicle, and the deflection driving device 31 drives the parallelogram mechanism 32 to deflect, so that the butt joint 5 extends forwards for a certain distance without contacting with the vehicle; the rotary driving device 21 drives the rotary disc 22 to rotate, the butt joint 5 scans in the movement range F3 of the butt joint, when the infrared quadrant (shown by a quadrilateral ABCD in the figure) of the butt joint 5 is overlapped with the infrared quadrant (shown by a quadrilateral A1B1C1D1 in the figure) of the infrared signal transmitter at the charging port 7, the rotary driving device 21 stops working, the positioning device obtains the position errors of the two infrared quadrants and transmits the position errors to the controller, and the controller controls the butt joint supporting structure to move for fine adjustment and positioning after converting the position errors into distance relations.

In the fine adjustment positioning process, the lifting assembly 1 can compensate the position tolerance in the Y direction; the rotating assembly 2 and the rotating support assembly 4 can rotate in a matched mode to compensate position tolerance in the X direction; the lifting assembly 1, the rotating assembly 2 and the deflection assembly 3 are matched to compensate the position tolerance in the Z direction; the length of the variable swing arm 321 is variable, and small-angle swing of the joint 5 can be realized to compensate for the angle tolerance in the Y direction; the rotary support assembly 4 compensates for angular tolerances of the joint 5 in the X-direction and the Z-direction.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims

1. A docking support structure, comprising:

the lifting component (1) drives the rotating component (2) and the deflection component (3) to lift;

the rotating assembly (2) drives the deflection assembly (3) to rotate along a vertical axis;

the swing mechanism comprises a swing component (3), wherein the swing component (3) swings along a horizontal axis, and a rotating support component (4) is arranged at the swing end of the swing component (3);

a rotary support assembly (4), the rotary support assembly (4) supporting a docking head (5);

the deflection component (3) comprises a deflection driving device (31) and a parallelogram mechanism (32), one end of the parallelogram mechanism (32) is hinged to the rotating component (2), the other end of the parallelogram mechanism (32) is connected with a rotating support component (4), and the parallelogram mechanism (32) is driven by the deflection driving device (31) to deflect; the parallelogram mechanism (32) comprises two swing arms which are arranged in parallel, and at least one swing arm is a variable swing arm (321) with variable axial length.

2. The docking support structure of claim 1, wherein the rotating assembly (2) comprises a rotating driving device (21) and a rotating disc (22), the rotating disc (22) is rotatably disposed at the upper end of the lifting assembly (1), teeth are distributed at least partially on the periphery of the rotating disc (22), and the rotating driving device (21) drives the rotating disc (22) to rotate through gear transmission.

3. The butt joint support structure according to claim 1, wherein the variable swing arm (321) comprises a connecting rod (3211) and a sliding sleeve (3212) which are sleeved, one end of the connecting rod (3211) extending into the sliding sleeve (3212) is provided with a baffle ring i (32111), the inner wall of the sliding sleeve (3212) is provided with two baffle rings ii (32121), the baffle ring i (32111) is located between the two baffle rings ii (32121), and elastic members (3213) are respectively arranged between the baffle ring i (32111) and the two baffle rings ii (32121).

4. A docking support structure according to claim 1, characterized in that the yaw drive (31) is a telescopic drive which telescopically pushes the parallelogram mechanism (32) to yaw, and a gas spring (37) is provided, which gas spring (37) assists in supporting the parallelogram mechanism (32).

5. A docking support structure according to claim 1, wherein the rotary support assembly (4) comprises a rotary drive device (41) and a rotary disc (42), the rotary disc (42) is rotatably disposed at the yawing end of the yawing assembly (3), teeth are at least partially distributed on the periphery of the rotary disc (42), the rotary drive device (41) drives the rotary disc (42) to rotate through gear transmission, and the rotary disc (42) supports the docking head (5).

6. A charging mechanism, comprising:

the docking support structure of any one of claims 1-5;

the butt joint (5), the said butt joint (5) is connected with charging pile electricity;

a positioning device arranged on the butt joint (5) and/or the mechanism to be charged to position the charging port of the mechanism to be charged.

7. A charging mechanism according to claim 6, wherein the locating means comprises signal emitting means (8) and signal receiving means provided on the docking head (5) and the mechanism to be charged respectively.

8. A charging mechanism according to claim 7, characterized in that the positioning means further comprise an ultrasonic sensor (9).