CN113459853A

CN113459853A - Marine wireless charging system

Info

Publication number: CN113459853A
Application number: CN202110915188.2A
Authority: CN
Inventors: 于春来; 朱昊; 张佳宝; 陈涛; 郭昊昊; 张勤进; 刘彦呈
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2021-08-10
Filing date: 2021-08-10
Publication date: 2021-10-01
Anticipated expiration: 2041-08-10
Also published as: CN113459853B

Abstract

The invention provides a wireless charging system for a ship, which comprises: the system comprises a position and posture adjusting system arranged on the shore, a wireless charging plate transmitting plate arranged at the tail end of the position and posture adjusting system and a wireless charging plate receiving plate arranged on a ship; the pose adjusting system comprises a mechanical arm structure and a pose adjusting mechanism, wherein the mechanical arm structure is used for adjusting the position of the wireless charging panel launching pad, and the pose adjusting mechanism is connected to the tail end of the mechanical arm structure and is used for adjusting the pose of the wireless charging panel launching pad; the posture adjusting mechanism comprises a deflection adjusting part and a rotation adjusting part, the deflection adjusting part is connected with the mechanical arm structure through a rigid connecting piece on one hand, and is connected with the rotation adjusting part through a rotating bearing on the other hand, and the rotation adjusting part is connected with the wireless charging panel transmitting plate; when the system is used, the upper position, the lower position, the left position and the right position of the wireless charging panel transmitting plate are adjusted through the mechanical arm structure, and the deflection and the rotation angle of the wireless charging panel transmitting plate are adjusted through the posture adjusting mechanism.

Description

Marine wireless charging system

Technical Field

The invention relates to the technical field of ship engineering, in particular to a wireless charging system for a ship.

Background

Most of traditional ships rely on the continuous operation of marine auxiliary machinery such as diesel engine when the boats and ships are berthed to provide the required electric energy of boats and ships, can produce a large amount of oxides in the power supply process, directly discharge in the air, very easily cause serious pollution to near port's air. The ship shore power supply mode adopting the socket and bolt connection mode has the problems of poor safety, high maintenance difficulty, complex manual operation, difficult high-voltage frequency conversion and the like.

With the development of charging technology, wireless charging technology gradually enters the field of vision of people with the excellent performances of less pollutant emission, fossil energy conservation, high safety and the like and the outstanding advantages in solving the problems existing in the traditional power supply mode.

The preparation process before the wireless charging of the port-berthing ship is complicated, and is roughly as follows:

1. moving the wireless charging transmitting plate to the vicinity of the ship receiving plate;

2. if the charging plate and the ship receiving plate are completely attached, the influence of factors such as sea level fluctuation, the ship stopping position and the like in the space needs to be overcome.

Due to different ship berthing environments and positions, a certain distance exists offshore, and if the process is finished manually, the cost is increased, and a series of potential safety hazards exist. The wave fluctuation can cause the receiving end of the wireless charging panel to generate irregular motion, so that the existing mechanical arm can not meet the complete butt joint requirement of the wireless charging receiving end and the transmitting end under the special environment of ship berthing.

Disclosure of Invention

According to the technical problem that the power supply of the ship wireless charging equipment is difficult to butt, the ship wireless charging system is provided. According to the invention, the position adjusting mechanism and the posture adjusting mechanism are matched to realize the complete butt joint of the wireless charging transmitting plate and the receiving plate, so that the problem of influence on the position of the wireless charging receiving plate due to factors such as ship berthing and wave fluctuation is solved.

The technical means adopted by the invention are as follows:

a marine wireless charging system, comprising: the system comprises a position and posture adjusting system arranged on the shore, a wireless charging plate transmitting plate arranged at the tail end of the position and posture adjusting system and a wireless charging plate receiving plate arranged on a ship;

the pose adjusting system comprises a mechanical arm structure and a pose adjusting mechanism, wherein the mechanical arm structure is used for adjusting the position of the wireless charging panel launching pad, and the pose adjusting mechanism is connected to the tail end of the mechanical arm structure and is used for adjusting the pose of the wireless charging panel launching pad;

the posture adjusting mechanism comprises a deflection adjusting part and a rotation adjusting part, the deflection adjusting part is connected with the mechanical arm structure through a rigid connecting piece on one hand, and is connected with the rotation adjusting part through a rotating bearing on the other hand, and the rotation adjusting part is connected with the wireless charging panel transmitting plate;

when the system is used, the upper position, the lower position, the left position and the right position of the wireless charging panel transmitting plate are adjusted through the mechanical arm structure, and the deflection and the rotation angle of the wireless charging panel transmitting plate are adjusted through the posture adjusting mechanism.

Further, the deflection adjusting part comprises a first end deflection plate and a second end deflection plate, and the first end deflection plate and the second end deflection plate are connected through an upper hinge mechanism and a lower hinge mechanism;

the lower part of the second tail end deflection plate is connected with a rigid connecting piece, the upper part of the second tail end deflection plate is provided with two deflection supporting plates in parallel, any deflection supporting plate is connected with the tail end of a deflection telescopic rod, and the head end of the deflection telescopic rod is connected with the first tail end deflection plate;

the first tail end deflection plate deflects left and right under the matching action of the two rotary telescopic rods.

Furthermore, a connecting part is arranged below the first tail end deflection plate and used for connecting the tail end of the rotary telescopic rod.

Further, the rotation adjusting part comprises a tail end rotating plate and a rotation telescopic rod, the tail end rotating plate is connected with the first tail end deflection plate through a bolt and a thrust bearing on one hand, and is fixedly connected with the wireless charging plate transmitting plate through a rigid element on the other hand;

the head end of the rotary telescopic rod is connected with a connecting part arranged at the lower position of the tail end rotating plate;

when the device is used, the first tail end deflection plate and the tail end rotating plate generate relative rotation displacement through the matching of the rotating telescopic rod and the bearing.

Further, the robot arm structure includes:

a mechanical arm base slide rail;

the lower part of the mechanical arm base is provided with a pulley, so that the mechanical arm base can reciprocate along a sliding rail of the mechanical arm base;

the mechanical arm main body comprises a first mechanical arm, a second mechanical arm and a third mechanical arm which are sequentially connected, wherein the first mechanical arm is fixed on the mechanical arm base, and the tail end posture of the third mechanical arm is adjusted;

during the use, through the position of adjusting the arm base on the slide rail, the angle of pitch between first arm and second arm, the angle of pitch between second arm and third arm, the third arm and gesture adjustment mechanism's the wireless charging panel emitter's of angle of pitch operating position.

Further, the robot arm base includes:

the base comprises a base bottom plate, wherein one side of the base bottom plate is provided with a telescopic positioning rod;

the base turntable is movably connected with the base bottom plate through a rotating bearing, so that the base turntable can rotate on the base bottom plate, a positioning sheet is arranged at the edge of the base turntable, and the positioning sheet is matched with a positioning rod to lock the base turntable;

and the base turntable is provided with a mounting rack which is connected with the first mechanical arm in a positioning manner.

Furthermore, the mechanical arm base further comprises a first telescopic supporting rod, one end of the first supporting rod is connected to the base turntable, the other end of the first supporting rod is connected to the second mechanical arm, and the first supporting rod is used for adjusting the pitching angle of the second mechanical arm relative to the first mechanical arm.

Further, the first robot arm includes:

the first mechanical side arms are arranged in parallel, the first mechanical side arms are fixedly connected with the mechanical arm base, and the upper ends of the first mechanical side arms are hinged with the second mechanical arm through rotating shafts;

the first supporting plate is fixedly connected between the two first side arms.

Further, the second robot arm includes:

the second mechanical side arm is hinged with the first mechanical side arm;

the second supporting plate is fixedly connected between the two second side arms;

a second support bar substrate;

the telescopic second bracing piece, the end connection second bracing piece base plate, the third arm is connected to the head end of second bracing piece, the second bracing piece is used for adjusting the every single move angle of third arm for the second arm.

Further, the third robot arm includes:

a pair of third mechanical side arms arranged in parallel, wherein the third mechanical side arms are hinged with the second mechanical side arms;

the third supporting plate is fixedly connected between the two third side arms;

a third support bar substrate;

the tail end of the third supporting rod is connected with a third supporting rod substrate, the head end of the third supporting rod is connected with an attitude adjusting mechanism, and the third supporting rod is used for adjusting the pitching angle of the attitude adjusting mechanism relative to the third mechanical arm.

Compared with the prior art, the invention has the following advantages:

1. the integrally adopted frame structure can meet the strength requirement and simultaneously reduce the weight, overcomes the problem that the position of the wireless charging receiving plate is influenced by factors such as ship berthing, wave fluctuation and the like, and can realize automatic and complete butt joint of the wireless charging transmitting plate and the wireless charging receiving plate;

2. the mechanical arm part is formed by detachably connecting the side plate, the supporting plate and the like, the processing cost is low, when some parts such as the side plate, the supporting plate or the base plate are damaged, new parts can be quickly manufactured, and the maintenance time is shortened to the maximum extent;

3. the invention adopts an adjusting mode of 7 degrees of freedom, so that the mechanical arm can reach any position in a theoretical design space, and the 7 degrees of freedom can be controlled by an independent motor, so that the flexibility of the mechanical arm is greatly enhanced;

4. the wireless charging device has the advantages of simple structure, novel design, ingenious design, unique shape, powerful function, low cost and easy control, and can be flexibly applied to various fields with wireless charging requirements.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a pose adjusting system in the invention.

Fig. 2 is a schematic structural diagram of a deflection adjusting part of the pose adjusting system.

Fig. 3 is a schematic structural view of a rotation adjusting part of the pose adjusting system.

In the figure: 1. a slide rail; 201. a base floor; 202. a base turntable; 203 positioning rods; 204. a rotating bearing; 205. a first support bar; 206. a mounting frame; 301. a first mechanical side arm; 302. a first support plate; 303. a first shaft gasket; 304. a first rotating shaft; 305. a first collar; 306. a first rotating bearing; 401. a second mechanical side arm; 402. a second support plate; 403. a second support bar; 404. a first support bar top plate; 405. a first support bar connecting plate; 406. a second shaft portion gasket; 407. a second rotating shaft; 408. a second bearing housing; 409. a second shaft sleeve; 501. a third mechanical side arm; 502. a third support plate; 503. a third support bar; 504. a second supporting rod top seat; 505. a third shaft portion gasket; 601. a second end deflector plate; 602. rotating the support plate; 603. rotating the telescopic rod; 7. a first end deflector plate; 701. a covering collar; 702. a wrapping collar; 703. connecting the rotating shaft; 704. a rotating shaft bearing; 705. a connecting plate; 706. rotating the telescopic rod connecting seat; 707. the tail connecting seat of the sliding telescopic rod; 708. sliding the telescopic rod; 709. a cover plate collar; 710. a long bolt; 711. an end cover plate; 712. a thrust bearing; 713. a thrust bearing pad; 714. a bearing outer collar; 715. a cylinder mould bearing; 716. a cylinder mould bearing spacer; 717. a thrust bearing inner collar; 718. a cylinder bearing inner collar; 719. a second end deflector plate; 8. a terminal rotating plate; 801. a wireless charging pad; 802. the head connecting seat of the sliding telescopic rod.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 exemplary embodiments according to the invention. 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 those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as 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 directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular 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.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated 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 term "above … …" can include both an orientation of "above … …" and "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. 1-3, the invention discloses a mechanical arm system for a ship for wireless charging, which mainly comprises: arm base slide rail 1, arm base and arm main part. Wherein, the lower part of the mechanical arm base is provided with a pulley, so that the mechanical arm base can reciprocate along the sliding rail 1 of the mechanical arm base. The mechanical arm main body comprises a first mechanical arm, a second mechanical arm and a third mechanical arm which are sequentially connected, wherein the first mechanical arm is fixed on the mechanical arm base, and the tail end of the third mechanical arm is connected with the wireless charging plate 801 through a rotating mechanism. When the wireless charging panel is used, the working position of the wireless charging panel is controlled by adjusting the position of the mechanical arm base on the sliding rail, the pitch angle between the first mechanical arm and the second mechanical arm, the pitch angle between the second mechanical arm and the third mechanical arm, the pitch angle between the third mechanical arm and the rotating structure and the deflection angle of the rotating mechanism.

As a preferred embodiment of the present invention, the robot arm base includes: base bottom plate 201 and base carousel 202, base bottom plate 201 one side is provided with scalable locating lever 203. The base turntable 202 is movably connected to the base bottom plate 201 through a rotation bearing 204, so that the base turntable 202 can rotate on the base bottom plate 201. The edge of the base turntable 202 is provided with a positioning piece which is matched with the positioning rod 203 to lock the base turntable 202. The base turntable 202 is provided with a mounting frame 206 which is connected with the first mechanical arm in a positioning manner.

Further preferably, the robot arm base further comprises a retractable first support rod 205, one end of the first support rod 205 is connected to the base rotation plate 202, and the other end is connected to the second robot arm, for adjusting the pitch angle of the second robot arm relative to the first robot arm.

As a preferred embodiment of the present invention, the first robot includes: a pair of first mechanical side arms 301 arranged in parallel, wherein the first mechanical side arms 301 are fixedly connected with the mechanical arm base, and the upper ends of the first side arms 301 are hinged with the second mechanical arm through a first rotating shaft 304; the first support plate 302 is fixedly connected between the two first side arms 301.

The second mechanical arm includes: a pair of second mechanical side arms 401 arranged in parallel, wherein the second mechanical side arms 401 are hinged with the first mechanical side arms 301; a second support plate 402, wherein the second support plate 402 is fixedly connected between the two second side arms 401; a first support bar top plate 404, the first support bar top plate 404 being disposed below the second support plate 402; and one end of the second support rod 403 is connected to the second support rod base plate, and the other end of the second support rod 403 is connected to a second support rod top plate 504 of the third mechanical arm, and the second support rod 403 is used for adjusting the pitch angle of the third mechanical arm relative to the second mechanical arm.

The third mechanical arm includes: a pair of third mechanical side arms 501 arranged in parallel, wherein the third mechanical side arms 501 are hinged with the second mechanical side arms 401; a third supporting plate 502, wherein the third supporting plate 502 is fixedly connected between the two third side arms 501; a second support bar top plate 504, the second support bar top plate 504 being disposed below the third support plate 502; one end of the third support rod 503 is connected to the third support rod substrate, the other end of the third support rod 503 is connected to the rotating mechanism, and the third support rod is used for adjusting the pitch angle of the rotating mechanism relative to the third mechanical arm.

As a preferred embodiment of the present invention, the rotation mechanism includes: the connecting assembly is used for connecting the third mechanical arm and the third mechanical arm on one hand, and adjusting the deflection angle of the tail end deflection plate through the matching of the telescopic rod and the rotating shaft on the other hand; the first tail end deflection plate 7 is movably connected with the tail end rotating plate 8 through a circular bearing, and rotary displacement is generated between the first tail end deflection plate 7 and the tail end rotating plate 8 along with the rotation of the circular bearing; the end rotating plate 8, the end rotating plate 8 is fixedly connected with the wireless charging board 801.

Further, the connection assembly includes: a link 601, the link 601 being fixedly attached to the second end deflector 719 for fixed connection with a third robotic arm; the rotating support plate 602 is provided with a rotating telescopic rod 603, and the movable end of the rotating telescopic rod 603 is connected with the first tail end deflection plate 7. The first end deflector 7 is provided with upper and lower sets of hinge mechanisms, which are hinged to the second end deflector 719, respectively.

The scheme of the invention is further explained in the following by combining the attached drawings.

The present embodiment illustrates a robot arm for wireless charging in happy, which mainly includes a wireless charging board 801, an end rotating board 8, a first end deflecting board 7, a second end deflecting board 719, a first robot arm, a second robot arm, a third robot arm, a robot arm base, and a robot arm base sliding rail 1. The base turntable bearing 204 connects the mechanical arm base bottom plate 201 with the base turntable 202 through bolts, the base turntable 202 is fixed with the first mechanical arm through the left and right mounting frames 206, the first mechanical arm is connected with the second mechanical arm through a rotating shaft and a first rotating bearing 306, the second mechanical arm is connected with the third mechanical arm through a rotating shaft 407 and a second rotating bearing 408, each mechanical arm is provided with a mechanical side arm (301/401/501), and a support plate (302, 402, 502) is arranged between the left and right mechanical side arms for connection so as to ensure strength. The third mechanical arm is connected with the first end deflecting plate 7 through a rigid second end deflecting plate 719, the first end deflecting plate 7 is hinged to the rotating support plate 602 through a rigid connecting plate with a specific size, a connecting rotating shaft 703 and a rotating shaft bearing 704, the end rotating plate 8 is connected with the first end deflecting plate 7 into a whole through a long bolt 710 and

bearings

712 and 715, and the end rotating plate 8 is finally fixedly connected with the wireless charging plate 801. In addition, the robot arm base is provided with a pulley so as to be slidable on the rail 1.

Further, the end rotating plate is integrally connected by a long bolt 710 through a cylinder bearing 715, a thrust bearing 712 and an end cover plate 711.

Bearing spacers

713 and 716 are manufactured by fully considering the rotation resistance between the two plates, the plate spacing and the bearing size; bearing inner and

outer collars

718, 714 are fabricated to allow for radial and axial movement of the bearing; the end cover plate 711, the end rotating plate 8 and the first end deflecting plate 7 are three-plate connected together by six long bolts 710. The tail of the electric telescopic rod 708 is accurately calculated and installed at a specific position below the first tail end deflection plate 7, and the head of the electric telescopic rod is installed below the tail end rotation plate 802, so that the rotation motion between the two plates is realized; the end rotating plate 7 is provided with a plurality of openings to reduce the weight of the robot arm head. The tail end deflection plate is hinged with the connecting component through a rigid element 705 and the like with specific dimensions, two groups of rotating pairs are arranged between the tail end deflection plate and the connecting component, and each rotating pair uses a rotating bearing 704 and a thrust bearing, so that the mechanical strength is ensured, the rotating resistance is reduced, and the rotating efficiency and the rotating precision are improved; likewise, both wrap-around collar 702 and cover collar 701 collars are made to prevent bearing misalignment, taking into account the bearing radial and axial movement. Two rotary supporting plates 602 are arranged on the second tail end deflection plate 719 and connected with the tail of the electric rotary telescopic rod 719, and the head base of the electric telescopic rod is arranged on the first tail end deflection plate 7, so that the left and right deflection of the tail end part is realized. The head of a telescopic third support rod 503 is arranged below the tail end deflection plate, and the tail of the telescopic third support rod is arranged between two side arms 501 of the third mechanical arm, so that front and back deflection is realized.

Further, the robot arm portions each include a rotation shaft 407 and the like, a rotation bearing 306 and the like, robot

arm side arms

301, 401, 501, robot

arm support plates

302, 402, 502, flange type biaxial bearings 408 and the like, electric

telescopic links

503, 403, 303 and the like and their base plates 404, 504 and the like,

shaft portion spacers

505, 406, 303, collars 305, 408 and the like; the main structure of the mechanical arm consists of a left side plate and a right side plate of the mechanical arm, the middle support plate is connected with the side plates through bolts, an electric telescopic rod base plate is arranged between the side plates, the base plate is made of a rigid element with higher strength, and the mechanical arm can rotate around a shaft while the structural strength is ensured; both sides of each rotating shaft are provided with a rotating bearing 306 and a flange type bearing seat 408, the flange type bearing seats rotate along with the shaft, and are provided with angle sensors. An outer collar 305 is provided on the outside of each flange-type bearing and an inner collar is provided in both thrust ball bearings to limit radial movement. In addition, the rotating shafts of the first mechanical arm and the second mechanical arm are provided with shaft sleeves, and the shaft sleeves are matched with the long bolts and the connecting nuts to tighten the left side plate and the right side plate so as to tightly attach the ball bearing, the flange type bearing seat and the left side plate and the right side plate of the mechanical arm; and each mechanical arm rotating shaft is provided with a

gasket

505, 406, 303 and the like with the size matched with the mechanical arm rotating shaft, so that the structural strength is greatly improved.

Further, the robot base comprises a robot mounting bracket 206, a base bottom plate 201, a base turntable 203, a base turntable bearing 204, a first electric support rod 205 and a base plate thereof, a pulley and a rail 1. The mechanical arm part is mounted on the base turntable 203 through a mounting bracket by using a bolt; the upper plate and the lower plate of the base are respectively fixed on the upper surface and the lower surface of the turntable bearing by bolts; the extension plates with specific sizes are designed for the upper plate and the lower plate of the base through accurate calculation and are used for installing an electric telescopic rod base, so that the rotation function of the mechanical arm is realized; the lower plate of the base is provided with a pulley which can lead the mechanical arm to slide along the track.

The working process of the invention is as follows: each part of the mechanical arm is respectively controlled by each electric telescopic rod. Firstly, the positioning rod 203 controls the rotation of the whole mechanical arm, the first supporting rod 205 controls the pitching of the second mechanical arm, the second supporting rod 403 controls the pitching of the third mechanical arm, and the wireless charging transmitting plate and the receiving plate are mutually matched to send the wireless charging transmitting plate to the vicinity of the receiving plate; the wireless transmitting plate that charges of third bracing piece 503 control deflects around, and miniature electric rotating telescopic link 603 waits to control the transmitting plate and deflect about, and the rotation of miniature slip telescopic link 708 control transmitting plate, four cooperate each other, combine the receiving plate actual position, through rotatory and the accurate adjustment transmitting plate position that deflects, all electric telescopic link cooperate jointly, finally realize the complete butt joint of wireless transmitting plate and receiving plate that charges.

The main functions of the end part are that the wireless charging transmitting plate and the wireless charging receiving plate are completely butted through rotation and deflection of all the plates, the head part of the micro sliding telescopic rod 708 is installed on a base 802 below the end rotating plate, the tail part of the micro sliding telescopic rod is installed on a rigid element 707 below the first end deflection plate 7, so that the rotation of the transmitting plate can be controlled through the micro electric telescopic rod 708, the heads of the micro electric telescopic rod 603 and the like are symmetrically installed at specific positions of the connecting mechanism, the tail part of the micro electric telescopic rod is symmetrically installed on the base plate fixed on the end deflection plate, so that the left-right deflection of the end deflection plate can be controlled, and further the left-right deflection of the transmitting plate can be realized, and a circular net bearing 715 and two

thrust ball bearings

718 and 719 are installed between the end rotating plate and the connecting mechanism to ensure that the rotation process is smoothly.

Further, the working process of the third mechanical arm can be divided into two parts, one part controls the front and back deflection of the end part, namely the wireless charging transmitting plate 801; the other part is the pitch of the third mechanical arm. The head of the electric telescopic rod 503 is connected with a base installed below the second end deflection plate 601, and the tail of the electric telescopic rod is connected with a base plate installed between the left side plate and the right side plate of the third mechanical arm, so that the front and back deflection of the end part is realized through the expansion and contraction of the telescopic rod. The pitching of the third mechanical arm is realized by the expansion and contraction of the electric telescopic rod 403, the head of the telescopic rod 403 is mounted on the middle base plate 504 of the left and right side plates of the third mechanical arm, the tail of the telescopic rod 403 is mounted on the middle base plate 404 of the left and right side plates of the second mechanical arm, and when the electric telescopic rod 403 moves, the third mechanical arm completes the pitching motion around the rotating shaft.

The working process of the mechanical arm II is substantially the same as the pitching process of the mechanical arm III, and pitching is realized by the movement of the electric telescopic rod 205, which is not described herein again.

Further, the mechanical arm base is mainly used for realizing the rotation and translation motion of the whole mechanical arm. During operation, the head of the positioning telescopic rod 203 is installed on the upper base plate 202, the tail of the positioning telescopic rod is installed on the lower base plate 201, the upper base plate and the lower base plate are respectively fixed on the upper side and the lower side of the turntable bearing 204 through bolts, and the positioning telescopic rod 203 can drive the upper base plate to rotate when moving, so that the requirement of rotation of the whole mechanical arm is met. The pulley is installed to base hypoplastron, and the pulley slides on guide rail 1 can realize the whole position translation of arm.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wireless charging system for a ship, comprising: the system comprises a position and posture adjusting system arranged on the shore, a wireless charging plate transmitting plate arranged at the tail end of the position and posture adjusting system and a wireless charging plate receiving plate arranged on a ship;

2. The wireless charging system for ships according to claim 1, wherein the deflection regulating part comprises a first terminal deflection plate and a second terminal deflection plate, and the first terminal deflection plate and the second terminal deflection plate are connected by an upper hinge mechanism and a lower hinge mechanism;

3. The marine wireless charging system according to claim 1 or 2, wherein a connecting portion is provided below the first end deflector, and the connecting portion is used for connecting the end of the rotating telescopic rod.

4. The marine wireless charging system according to claim 3, wherein the rotation adjustment part comprises a terminal rotation plate and a rotation telescopic rod, the terminal rotation plate is connected with the first terminal deflection plate through a bolt and a thrust bearing on one hand, and is fixedly connected with the wireless charging panel transmitting plate through a rigid element on the other hand;

5. The marine wireless charging system of claim 1, wherein the robotic arm structure comprises:

a mechanical arm base slide rail;

6. The marine wireless charging system of claim 5, wherein the robotic arm base comprises:

7. The marine wireless charging system of claim 5, wherein the robotic arm base further comprises a first support rod that is extendable and retractable, the first support rod having one end connected to the base turntable and the other end connected to the second robotic arm, the first support rod being configured to adjust a pitch angle of the second robotic arm relative to the first robotic arm.

8. The marine wireless charging system of claim 5, wherein the first robotic arm comprises:

9. The marine wireless charging system of claim 5, wherein the second mechanical arm comprises:

the second mechanical side arm is hinged with the first mechanical side arm;

a second support bar substrate;

10. The marine wireless charging system of claim 5, wherein the third mechanical arm comprises:

a third support bar substrate;