CN113459853B - Marine wireless charging system - Google Patents

Abstract

The invention provides a marine wireless charging system, comprising: the system comprises a pose adjusting system arranged on the shore, a wireless charging plate transmitting plate arranged at the tail end of the pose adjusting system and a wireless charging plate receiving plate arranged on a ship; the pose adjusting system comprises a mechanical arm structure for adjusting the position of the wireless charging plate transmitting plate and a pose adjusting mechanism connected to the tail end of the mechanical arm structure for adjusting the pose of the wireless charging plate transmitting plate; the gesture adjusting mechanism comprises a deflection adjusting part and a rotation adjusting part, wherein 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 a wireless charging plate transmitting plate; when the system is used, the upper, lower, left and right positions of the wireless charging plate transmitting plate are adjusted through the mechanical arm structure, and the deflection and rotation angles of the wireless charging plate transmitting plate are adjusted through the gesture 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

When the traditional ship leans against ports, most of the traditional ships rely on continuous operation of auxiliary ships such as diesel engines to provide electric energy required by the ships, a large amount of oxides can be generated in the power supply process and are directly discharged into the air, and serious pollution is easily caused to the air near the ports. 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 view of people with the outstanding advantages of low pollutant emission, fossil energy conservation, high safety and the like and solving the problems of the traditional power supply mode.

The preparation process before the port-leaning ship is charged in a wireless mode is complicated, and the preparation process is approximately as follows:

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

2. in order to achieve complete attachment of the charging plate to the ship receiving plate, it is also necessary to overcome the influence of sea level fluctuation, ship self-docking position, and other factors in space.

Due to the different ship berthing environments and positions, a certain distance is left off the shore, if the process is completed manually, the cost is increased, and a series of potential safety hazards exist. The wave fluctuation can cause irregular movement of the receiving end of the wireless charging plate, so that the existing mechanical arm can not meet the complete butt joint requirement of the wireless charging receiving end and the transmitting end in 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 connect, the ship wireless charging system is provided. The invention realizes the complete butt joint of the wireless charging transmitting plate and the receiving plate through the matching of the position adjusting mechanism and the gesture adjusting mechanism, and solves the problem of the influence of factors such as ship berthing, wave fluctuation and the like on the position of the wireless charging receiving plate.

The invention adopts the following technical means:

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

the pose adjusting system comprises a mechanical arm structure for adjusting the position of the wireless charging plate transmitting plate and a pose adjusting mechanism connected to the tail end of the mechanical arm structure for adjusting the pose of the wireless charging plate transmitting plate;

the gesture adjusting mechanism comprises a deflection adjusting part and a rotation adjusting part, wherein 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 a wireless charging plate transmitting plate;

when the system is used, the upper, lower, left and right positions of the wireless charging plate transmitting plate are adjusted through the mechanical arm structure, and the deflection and rotation angles of the wireless charging plate transmitting plate are adjusted through the gesture 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 support plates in parallel, any deflection support plate is connected with the tail end of one 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 cooperation of the two rotary telescopic rods.

Further, a connecting portion is arranged below the first end deflector plate and used for connecting the tail ends of the rotary telescopic rods.

Further, the rotation adjusting part comprises a tail end rotating plate and a rotation telescopic rod, wherein 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 below the tail end rotary plate;

when the rotary telescopic rod is used, the first end deflection plate and the end rotary plate generate relative rotary displacement through the cooperation of the rotary telescopic rod and the bearing.

Further, the mechanical arm structure includes:

a mechanical arm base sliding rail;

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

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

when the wireless charging plate is used, the working positions of the wireless charging plate transmitting plate of the pitch angle of the third mechanical arm and the attitude adjusting mechanism are adjusted 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.

Further, the mechanical arm base includes:

a telescopic positioning rod is arranged on one side of the base bottom plate;

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 piece is arranged at the edge of the base turntable, and the positioning piece and the positioning rod are matched to lock the base turntable;

the base turntable is provided with a mounting frame which is in positioning connection with the first mechanical arm.

Further, the mechanical arm base further comprises a telescopic first 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 with 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 mechanical arm includes:

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

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

Further, the second mechanical arm includes:

a pair of parallel second mechanical side arms hinged to the first mechanical side arms;

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

a second support bar substrate;

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

Further, the third mechanical arm includes:

a pair of side-by-side third mechanical side arms hinged to the second mechanical side arms;

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

a third support bar substrate;

the telescopic third support rod, the end-to-end connection third support rod base plate of third support rod, head end connection gesture adjustment mechanism, the third support rod is used for gesture adjustment mechanism for the pitch angle of third arm.

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

1. the frame structure adopted integrally can meet the strength requirement, simultaneously lighten the weight, solve the problem of influence on the position of the wireless charging receiving plate due to the factors such as ship berthing, wave fluctuation and the like, and realize automatic complete butt joint of the wireless charging transmitting plate and the receiving plate;

2. the mechanical arm part is formed by detachably connecting the side plates, the support plates and the like, so that the machining cost is low, when some parts such as the side plates, the support plates or the base plates are damaged, new parts can be quickly manufactured, and the maintenance time is reduced to the greatest extent;

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

4. the invention has the advantages of simple structure, novel design, ingenious conception, 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 that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic structural diagram of a pose adjusting system according to the present invention.

Fig. 2 is a schematic view of the structure of the deflection adjusting part of the pose adjusting system.

Fig. 3 is a schematic view of a rotation adjusting part of the pose adjusting system according to the present invention.

In the figure: 1. a slide rail; 201. a base bottom plate; 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 portion spacer; 304. a first rotation 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 spacer; 407. a second rotation shaft; 408. a second bearing seat; 409. a second 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 shim; 601. a second end deflector plate; 602. rotating the support plate; 603. rotating the telescopic rod; 7. a first end deflector plate; 701. covering the collar; 702. wrapping the collar; 703. the connecting rotating shaft; 704. a rotating shaft bearing; 705. a connecting plate; 706. rotating the telescopic rod connecting seat; 707. a 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. thrust bearing pads; 714. an outer bearing collar; 715. a cylinder bearing; 716. a cylinder bearing gasket; 717. a thrust bearing inner collar; 718. a retainer ring in the cylinder bearing; 719. a second end deflector plate; 8. a terminal rotating plate; 801. a wireless charging pad; 802. and a connecting seat of the head part of the sliding telescopic rod.

Detailed Description

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

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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 present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for 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. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative 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 in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

As shown in fig. 1-3, the present invention discloses a marine mechanical arm system for wireless charging, which mainly comprises: arm base slide rail 1, arm base and arm main part. The lower part of the mechanical arm base is provided with a pulley, so that the pulley can reciprocate along the mechanical arm base sliding rail 1. 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 a 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 plate is used, the working position of the wireless charging plate 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 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 chassis 201 through a rotation bearing 204, so that the base turntable 202 can rotate on the base chassis 201. The edge of the base turntable 202 is provided with a positioning piece which cooperates with a positioning rod 203 to lock the base turntable 202. The base turntable 202 is provided with a mounting bracket 206 that is in positioning connection with the first robotic arm.

Further preferably, the mechanical arm base further includes a first telescopic support rod 205, one end of the first support rod 205 is connected to the base rotating plate 202, and the other end of the first support rod is connected to the second mechanical arm, so as to adjust a pitching angle of the second mechanical arm relative to the first mechanical arm.

As a preferred embodiment of the present invention, the first robot arm includes: the first mechanical side arms 301 are arranged in parallel, 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 arms through first rotating shafts 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 arms 401 arranged in parallel, the second mechanical arms 401 being hinged to the first mechanical 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 under the second support plate 402; the telescopic second support rod 403, one end of the second support rod 403 is connected with the second support rod substrate, the other end is connected with the second support rod top plate 504 of the third mechanical arm, and the second support rod 403 is used for adjusting the pitching 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, the third mechanical side arms 501 being hinged to the second mechanical side arms 401; the third supporting plate 502, 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 under the third support plate 502; and one end of the third supporting rod 503 is connected with the third supporting rod substrate, the other end of the third supporting rod 503 is connected with the rotating mechanism, and the third supporting rod is used for adjusting the pitching 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 end deflector 7 is movably connected with the end rotating plate 8 through a circular bearing, and rotary displacement is generated between the first end deflector 7 and the end rotating plate 8 along with the rotation of the circular bearing; and the terminal rotating plate 8, and the terminal rotating plate 8 is fixedly connected with the wireless charging plate 801.

Further, the connection assembly includes: the connecting piece 601, the connecting piece 601 is fixedly connected to the second end deflector 719 and is used for being fixedly connected with the third mechanical arm; the rotary support plate 602, the rotary support plate 602 is provided with a rotary telescopic rod 603, and the movable end of the rotary telescopic rod 603 is connected with the first terminal deflection plate 7. The first end deflector 7 is provided with an upper and a lower set of hinge mechanisms, which are hinged with the second end deflector 719, respectively.

The scheme of the invention is further described below with reference to the accompanying drawings.

The embodiment discloses a mechanical arm for wireless charging, which mainly comprises a wireless charging plate 801, an end rotating plate 8, a first end deflection plate 7, a second end deflection plate 719, a first mechanical arm, a second mechanical arm, a third mechanical arm, a mechanical arm base and a mechanical 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 a first mechanical arm through a mounting frame 206 at the left side and the right side, the first mechanical arm is connected with a second mechanical arm through a rotating shaft and a first rotating bearing 306, the second mechanical arm is connected with a 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 supporting plate (302, 402, 502) is arranged between the left mechanical side arm and the right mechanical side arm to be connected so as to ensure strength. The third mechanical arm is connected with the first end deflection plate 7 through the rigid second end deflection plate 719, the first end deflection plate 7 is hinged with the rotary support plate 602 through a rigid connection plate with a specific size, a connection rotating shaft 703 and a rotating shaft bearing 704, the end rotary plate 8 is connected with the first end deflection plate 7 into a whole through a long bolt 710 and bearings 712 and 715, and the end rotary plate 8 is finally fixedly connected with the wireless charging plate 801. The robot arm base is provided with a pulley, and is slidable on the rail 1.

Further, the end rotation plate is integrally connected by a long bolt 710 through a cylinder bearing 715, a thrust bearing 712, and an end cap plate 711. Bearing pads 713, 716 are fabricated with full consideration of rotational resistance between the plates, plate spacing, and bearing size; bearing inner collar 718, outer collar 714 are made to account for radial, axial movement of the bearing; the three plates of the end cover plate 711, the end rotating plate 8, and the first end deflector 7 are integrally connected by six long bolts 710. The tail part of the electric telescopic rod 708 is precisely calculated and arranged at a specific position below the first tail end deflection plate 7, and the head part is arranged below the tail end rotating plate 802, so that the rotating 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 head of the mechanical arm. The terminal deflection plate is hinged with the connecting component through a rigid element 705 with a specific size, two groups of revolute pairs are arranged between the terminal deflection plate and the connecting component, and each revolute pair uses a revolute bearing 704 and a thrust bearing, so that the mechanical strength is ensured, the rotation resistance is reduced, and the rotation efficiency and the rotation precision are improved; similarly, a wrap-around collar 702 and a cover collar 701 are formed to prevent misalignment of the bearing, taking into account radial and axial movement of the bearing. Two rotary support plates 602 are mounted on the second end deflector 719 and connected with the tail of the electric rotary telescopic rod 719, and the head base of the electric telescopic rod is mounted on the first end deflector 7, so that the left and right deflection of the end part is realized. A telescopic third support rod 503 is arranged below the tail end deflection plate, and the tail part of the third support rod is arranged between the arms 501 on the two sides of the third mechanical arm, so that forward and backward deflection is realized.

Further, the arm portions include a rotation shaft 407, a rotation bearing 306, arm side arms 301, 401, 501, arm support plates 302, 402, 502, flange-type double bearing blocks 408, etc., electric telescopic rods 503, 403, 303, etc., base plates 404, 504, etc., shaft gaskets 505, 406, 303, collars 305, 408, etc.; the main body structure of the mechanical arm consists of left and right side plates of the mechanical arm, the middle supporting plate is connected with the side plates by bolts, an electric telescopic rod base plate is arranged between the side plates, and the base plate is made of a rigid element with higher strength, so that the mechanical arm can rotate around a shaft while ensuring the structural strength; a rotating bearing 306 and a flange-type bearing seat 408 are installed on both sides of each rotating shaft, and the flange-type bearing seat rotates along with the shaft and is provided with an angle sensor. An outer collar 305 is mounted on the outside of each flange bearing and an inner collar is mounted on both thrust ball bearings for limiting 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 long bolts and connecting nuts to tighten the left side plate and the right side plate, so that the ball bearings, the flange type bearing seats and the left side plate and the right side plate of the mechanical arm are tightly attached; each mechanical arm rotating shaft is provided with gaskets 505, 406, 303 and the like matched with the size of the mechanical arm rotating shaft, so that the structural strength is greatly improved.

Further, the mechanical arm base comprises a mechanical arm mounting bracket 206, a base bottom plate 201, a base turntable 203, a base turntable bearing 204, a first electric supporting rod 205, a base plate thereof, pulleys and a track 1. The mechanical arm part is mounted on the base turntable 203 through a mounting bracket by bolts; 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 specific-size extension plates are designed for the upper plate and the lower plate of the base through accurate calculation and are used for installing the electric telescopic rod base, so that the rotating function of the mechanical arm is realized; the lower plate of the base is provided with a pulley, so that the mechanical arm can slide along the track.

The working process of the invention is as follows: each part of the mechanical arm is controlled by each electric telescopic rod. Firstly, the positioning rod 203 controls the rotation of the whole mechanical arm, the first support rod 205 controls the pitching of the second mechanical arm, the second support rod 403 controls the pitching of the third mechanical arm, and the three are matched with each other to send the wireless charging transmitting plate to the vicinity of the receiving plate; the third bracing piece 503 controls the wireless emitter plate that charges to deflect back and forth, and miniature electronic rotatory telescopic link 603 etc. control emitter plate control deflection from side to side, and miniature slip telescopic link 708 control emitter plate's rotation, and the four are mutually supported, combines the receiver plate actual position, through rotatory and deflection accurate adjustment emitter plate position, and all electronic telescopic links cooperate jointly, finally realize wireless emitter plate and the complete butt joint of receiver plate that charges.

The main function of the tail end part is to realize the complete butt joint of the wireless charging transmitting plate and the receiving plate through the rotation and deflection of each plate, the head of the miniature sliding telescopic rod 708 is arranged on the base 802 below the tail end rotating plate, the tail of the miniature sliding telescopic rod 708 is arranged on the rigid element 707 below the first tail end deflection plate 7, so that the rotation of the transmitting plate can be controlled through the miniature electric telescopic rod 708, the heads of the miniature electric telescopic rod 603 and the like are symmetrically arranged at specific positions of the connecting mechanism, the tail of the miniature electric telescopic rod 603 and the like are symmetrically arranged on the base plate fixed on the tail end deflection plate, so that the left and right deflection of the tail end deflection plate can be controlled to realize the left and right deflection of the transmitting plate, and a rotary screen bearing 715 and two thrust ball bearings 718 and 719 are arranged between the tail end rotating plate and the connecting mechanism to ensure the smooth rotation process.

Further, the working process of the third mechanical arm can be divided into two parts, wherein one part controls the front and back deflection of the tail 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 arranged below the second tail end deflection plate 601, the tail of the electric telescopic rod is connected with a middle base plate arranged on the left side plate and the right side plate of the third mechanical arm, and the front and back deflection of the tail end part is realized through the telescopic of the telescopic rod. The pitch of the third mechanical arm is realized by the expansion and contraction of the electric expansion rod 403, the head part of the expansion rod 403 is arranged on the middle base plate 504 of the left side plate and the right side plate of the third mechanical arm, the tail part of the expansion rod is arranged on the middle base plate 404 of the left side plate and the right side plate of the second mechanical arm, and when the electric expansion rod 403 moves, the third mechanical arm finishes the pitch action around the rotating shaft.

The working process of the mechanical arm II is basically consistent with the pitching process of the mechanical arm III, and the pitching is realized through the movement of the electric telescopic rod 205, which is not described herein.

Further, the mechanical arm base is mainly used for realizing the rotation and translation movement of the whole mechanical arm. During operation, the head of the positioning telescopic rod 203 is arranged on the base upper plate 202, the tail of the positioning telescopic rod is arranged on the base lower plate 201, the base upper plate and the base lower 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 base upper plate to rotate during movement, so that the rotation requirement of the whole mechanical arm is met. The pulley is installed to the 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 for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (5)

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

the pose adjusting system comprises a mechanical arm structure for adjusting the position of the wireless charging plate transmitting plate and a pose adjusting mechanism connected to the tail end of the mechanical arm structure for adjusting the pose of the wireless charging plate transmitting plate; the mechanical arm structure comprises a mechanical arm base sliding rail and a mechanical arm base, wherein a pulley is arranged at the lower part of the mechanical arm base, so that the mechanical arm base can reciprocate along the mechanical arm base sliding rail; the mechanical arm base includes: a telescopic positioning rod is arranged on one side of the base bottom plate; 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 piece is arranged at the edge of the base turntable, and the positioning piece and the positioning rod are matched to lock the base turntable;

the gesture adjusting mechanism comprises a deflection adjusting part and a rotation adjusting part, wherein 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 a wireless charging plate transmitting plate;

the mechanical arm structure 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 a mechanical arm base, and the tail end of the third mechanical arm is provided with a deflection adjusting part; the base turntable is provided with a mounting frame which is in positioning connection with the first mechanical arm;

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 support plates in parallel, any deflection support plate is connected with the tail end of one 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 cooperation of the two rotary telescopic rods; a connecting part is arranged below the first tail end deflection plate and is used for connecting the tail end of the rotary telescopic rod; the rotary adjusting part comprises a tail end rotary plate and a rotary telescopic rod, wherein the tail end rotary 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 below the tail end rotating plate, and the first tail end deflection plate and the tail end rotating plate generate relative rotary displacement through the cooperation of the rotary telescopic rod and the bearing;

when the wireless charging plate transmitting plate is used, the working positions of the wireless charging plate transmitting plate are controlled by adjusting the positions 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 deflection adjusting part and the deflection angle of the rotation adjusting part.

2. The marine wireless charging system of claim 1, wherein the robotic arm base further comprises a first telescoping support rod, one end of the first support rod is connected to the base turntable, the other end of the first support rod is connected to the second robotic arm, and the first support rod is configured to adjust a pitch angle of the second robotic arm relative to the first robotic arm.

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

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

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

4. A marine wireless charging system according to claim 3, wherein the second mechanical arm comprises:

a pair of parallel second mechanical side arms hinged to the first mechanical side arms;

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

a second support bar substrate;

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

5. The marine wireless charging system of claim 4, wherein the third mechanical arm comprises:

a pair of side-by-side third mechanical side arms hinged to the second mechanical side arms;

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

a third support bar substrate;

the telescopic third support rod, the end-to-end connection third support rod base plate of third support rod, head end connection gesture adjustment mechanism, the third support rod is used for gesture adjustment mechanism for the pitch angle of third arm.