CN117578129A - Charging device and charging system - Google Patents

Abstract

The application provides a charging device and charging system, charging device includes push-pull subassembly and transmitting terminal electrode assembly, push-pull subassembly is connected in transmitting terminal electrode assembly with driving transmitting terminal electrode assembly and remove along first direction, transmitting terminal electrode assembly is including the transmitting terminal electrode of arranging in proper order, rotating the piece, first regulating part, second regulating part and transmitting terminal mount pad, rotating the piece rotationally connect in first regulating part, with drive transmitting terminal electrode swing under the effect of external force, first regulating part movably connects between rotating the piece and second regulating part, with drive transmitting terminal electrode and rotating the piece and remove along the second direction under the effect of external force, second regulating part movably connects between first regulating part and transmitting terminal mount pad, with drive transmitting terminal electrode under the effect of external force, rotate piece and first regulating part and remove along the third direction, first direction, second direction and third direction intersect each other.

Description

Charging device and charging system

Technical field

The present application relates to the field of charging technology, specifically, to a charging device and a charging system.

Background technique

In the related art, the self-moving device can automatically locate and stay next to the charging device so that the charging device can charge the self-moving device. However, the self-moving device cannot be accurately positioned under the influence of the external environment, making it difficult for the transmitting end electrode of the charging device to accurately electrically connect with the receiving end electrode of the self-moving device, causing the charging device to be unable to charge the self-moving device normally.

Contents of the invention

An embodiment of the present application provides a charging device and a charging system to improve at least one of the above problems.

The embodiments of the present application achieve the above objectives through the following technical solutions.

In a first aspect, an embodiment of the present application provides a charging device. The charging device includes a push-pull component and a transmitter electrode assembly. The push-pull component is driveably connected to the transmitter electrode assembly to drive the transmitter electrode assembly to move in a first direction. The transmitting end electrode assembly includes a transmitting end electrode, a rotating member, a first adjusting member, a second adjusting member, and a transmitting end mounting seat arranged in sequence. The rotating member is rotatably connected to the first adjusting member to drive it under the action of external force. The transmitting end electrode swings, and the first adjusting member is movably connected between the rotating member and the second adjusting member to drive the transmitting end electrode and the rotating member to move in the second direction under the action of external force, and the second adjusting member is movably connected. Between the first adjusting component and the transmitting end mounting base, the transmitting end electrode, the rotating member and the first adjusting component are driven to move along the third direction under the action of external force. The first direction, the second direction and the third direction intersect each other.

In some embodiments, the first adjustment member includes a first adjustment member and a second adjustment member, the first adjustment member is connected to the second adjustment member, and the second adjustment member is movably connected to the first adjustment member along the second direction, The rotating member is located on a side of the second adjusting member away from the first adjusting member.

In some embodiments, one of the first adjustment member and the second adjustment member is a guide rail, and the other of the first adjustment member and the second adjustment member is a slide block.

In some embodiments, the first adjustment component further includes a first connection member, the first connection member is located between the second adjustment member and the rotating member, the second adjustment member includes a second connection member, and the second connection member is installed at the transmitting end. between the base and the first adjusting member; the transmitter electrode assembly also includes a first elastic member, the first elastic member is connected between the first connecting member and the second connecting member to maintain the transmitter electrode at the transmitter mounting base at or adjacent to the center of the transmitter mount.

In some embodiments, the transmitter electrode assembly further includes a first connecting rod and a second connecting rod. The first connecting rod is movably connected to the first connecting member along its length direction, and the second connecting rod is movably connected to the first connecting rod along its own length direction. Movably connected to the second connecting member; the first elastic member is connected between the first connecting rod and the second connecting rod.

In some embodiments, the second adjustment component further includes a third adjustment member and a fourth adjustment member, the third adjustment member is connected to the transmitter mounting base, and the fourth adjustment member is movably connected to the third adjustment member along the third direction. , the second connecting piece is located on the side of the fourth adjusting piece away from the third adjusting piece.

In some embodiments, one of the third adjustment member and the fourth adjustment member is a guide rail, and the other of the third adjustment member and the fourth adjustment member is a slide block.

In some embodiments, the transmitter electrode assembly further includes a second elastic member. The second elastic member is connected between the transmitter mounting base and the second connecting member to maintain the transmitter electrode at the center of the transmitter mount. Or near the center of the transmitter mount.

In some embodiments, the transmitting end electrode assembly further includes a third connecting rod and a fourth connecting rod. The third connecting rod is movably connected to the transmitting end mounting base along its length direction. The fourth connecting rod is movably connected to the transmitting end mounting base along its own length direction. Movably connected to the second connecting member; the second elastic member is connected between the third connecting rod and the fourth connecting rod.

In some embodiments, a first rotating structure is provided on the side of the rotating member facing the transmitting end mounting base, and a second rotating structure is provided on the side of the first connecting member facing the rotating member. The second rotating structure includes opposite and spaced apart rotating members. The first side wall and the second side wall, and the first rotating structure is rotatably hinged between the first side wall and the second side wall.

In some embodiments, the transmitter electrode assembly further includes a third elastic member and a fourth elastic member. The third elastic member is located on a side of the transmitter electrode that swings along the fourth direction relative to the second rotation structure. The third elastic member is connected to The rotating part and the first connecting part. The fourth elastic member is located on the side of the transmitter electrode that swings in the fifth direction relative to the second rotating structure. The fourth elastic member is connected to the rotating member and the second connecting member. The fourth and fifth directions revolve around the first rotating structure and the second connecting member. The rotation axes of the two rotation structures are set, and the fourth direction is opposite to the fifth direction.

In some embodiments, the transmitter electrode assembly further includes a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod. The fifth connecting rod and the sixth connecting rod are respectively movably connected along their own length directions. Connected to the rotating member, the seventh connecting rod and the eighth connecting rod are movably connected to the first connecting member along their own length direction; the third elastic member is connected between the fifth connecting rod and the seventh connecting rod, and the fourth The elastic member is connected between the sixth connecting rod and the eighth connecting rod.

In some embodiments, the transmitter electrode assembly further includes a guide post. The transmitter electrode and the guide post are located on the same side of the rotating member. The length direction of the guide post is consistent with the length direction of the transmitter electrode. One end of the guide post is away from the rotating member. The maximum distance from the rotating member is greater than the maximum distance between the end of the transmitting electrode facing away from the rotating member and the rotating member.

In a second aspect, embodiments of the present application also provide a charging system. The charging system includes a self-moving device and a charging device according to any of the above embodiments. The self-moving device is provided with a receiving end electrode, and the transmitting end electrode of the charging device can selectively contact Or disconnect from the receiving end electrode.

In the charging device and charging system provided by the embodiment of the present application, the charging device includes a push-pull component and a transmitting end electrode assembly. The push-pull component is driveably connected to the transmitting end electrode assembly to drive the transmitting end electrode assembly to move in the first direction. The transmitting end electrode assembly The electrode assembly includes a transmitting end electrode, a rotating member, a first adjusting member, a second adjusting member and a transmitting end mounting seat arranged in sequence. The rotating member is rotatably connected to the first adjusting member to drive the transmitting end under the action of external force. The electrode swings, and the first adjusting part is movably connected between the rotating part and the second adjusting part to drive the transmitting end electrode and the rotating part to move in the second direction under the action of external force, and the second adjusting part is movably connected to the second adjusting part. Between an adjustment component and the transmitter mounting base, the transmitter electrode, the rotating member and the first adjustment component are driven to move in the third direction under the action of external force, and the first direction, the second direction and the third direction intersect with each other. In this way, when the charging device needs to charge the self-moving device, the push-pull component can move the transmitting end electrode assembly along the first direction, and the transmitting end electrode contacts the receiving end electrode of the self-moving device, so that the transmitting end electrode moves along the first direction. During the process and under the action of external force, it can move in the second direction and/or the third direction, and can also swing, which helps the transmitting end electrode to adaptively adjust relative to the receiving end electrode of the self-moving device, thereby having This helps the transmitter electrode to be accurately electrically connected to the receiver electrode, preventing poor contact between the transmitter electrode and the receiver electrode, thereby allowing the charging device to charge the mobile device normally. In addition, the cooperation between the rotating member, the first adjusting member and the second adjusting member can allow the transmitting end electrode to have multiple degrees of freedom, which helps to accurately adjust the position of the transmitting end electrode.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 shows a schematic structural diagram of a charging system provided by an embodiment of the present application.

FIG. 2 shows a schematic structural diagram of the self-moving device in FIG. 1 .

Figure 3 shows a schematic structural diagram of a charging device provided by an embodiment of the present application.

FIG. 4 shows an enlarged schematic diagram of IV in FIG. 3 .

FIG. 5 shows a schematic diagram of the exploded structure of the transmitter electrode assembly in FIG. 3 .

Explanation of reference numbers:

Charging device 10, self-moving device 20, charging system 30, push-pull assembly 100, electric push rod 110, output shaft 111, transmitting end electrode assembly 200, transmitting end electrode 210, rotating member 220, first rotating structure 221, first adjustment Component 230, first adjusting part 231, second adjusting part 232, first connecting part 233, second rotating structure 233a, first side wall 233b, second side wall 233c, second adjusting part 240, second connecting part 241 , the third adjusting member 242, the fourth adjusting member 243, the transmitting end mounting base 250, the first elastic member 260, the second elastic member 270, the third elastic member 280, the fourth elastic member 290, the first connecting rod 201, the Second connecting rod 202, third connecting rod 203, fourth connecting rod 204, fifth connecting rod 205, sixth connecting rod 206, seventh connecting rod 207, eighth connecting rod 208, guide post 209, receiving end electrode assembly 300 , the receiving end electrode 310, the first direction X, the second direction Y, the third direction Z, the fourth direction A, the fifth direction B, and the rotation axis O.

Detailed ways

In order to enable those in the technical field to better understand the solution of the present application, the technical solution in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of this application.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.

In the related art, the receiving end electrode of the mobile device is provided with a plug hole and a guide hole connected to the plug hole. The outer diameter of the guide hole is larger than the plug hole. The transmitter electrode of the charging device needs to be plugged into the plug hole. Only through the socket can the mobile device be charged normally. However, the inventor of the present application found that the self-moving device can only make the transmitter electrode of the charging device contact the hole wall of the guide hole due to its own positioning technology, and it is difficult to accurately insert the transmitter electrode of the charging device into the plug hole. , The poor contact between the transmitting end electrode and the receiving end electrode makes the contact area between the transmitting end electrode and the receiving end electrode small, and the two are easily separated under vibration and other circumstances, causing the charging device to be unable to charge the mobile device normally.

Referring to Figure 1, the embodiment of the present application provides a charging system 30. The charging system 30 can include a charging device 10 and a self-moving device 20. The charging device 10 can be electrically connected to the self-moving device 20, so that the charging device 10 can charge the self-moving device 20. Mobile device 20 is charged.

The self-moving device 20 may include a control component and a driving module. The control component may include components such as a circuit board. The control component may control the movement of the driving module. For example, the driving module may include driving wheels, and the number of driving wheels may be multiple. The plurality of driving wheels may be disposed at the bottom of the self-moving device 20 to realize the movement of the self-moving device 20 . The driving module may also include crawlers, and the crawlers may be disposed at the bottom of the self-moving device 20 to achieve steering of the self-moving device 20 .

The self-moving device 20 may also include an ultrasonic ranging sensor or a laser radar or an infrared ranging sensor or a visual sensor for identifying obstacles. The self-moving device 20 has a path planning function (ie, obstacle handling capability). For small obstacles, the self-moving device 20 can automatically cross them. For medium and large obstacles, the self-moving device 20 can avoid them in time and clear them to the maximum extent. Snow around obstacles. For example, the transmitter of the ultrasonic ranging sensor of the mobile device 20 emits ultrasonic waves, and the ultrasonic waves meet the obstacles and are reflected. The receiver of the ultrasonic ranging sensor can detect the distance between the obstacle and the mobile device 20 based on the time difference between receiving the ultrasonic waves. distance, so that the self-moving device 20 can plan to avoid obstacles in advance, avoid collision with obstacles, and effectively improve the safety performance of the self-moving device 20 .

The self-moving device 20 can be equipped with a snow removal device, a leaf blowing device or a weeding device, so that the snow removal device, a leaf blowing device or a weeding device can operate in a preset area, thus helping to improve the performance of the self-moving device 20 Practicality.

The self-mobile device 20 may also include a battery, and the battery may provide electrical energy for driving the self-mobile device 20 .

The self-moving device 20 may also include a receiving end electrode assembly 300. The receiving end electrode assembly 300 may be electrically connected to the battery and the charging device 10, so that the charging device 10 can charge the battery in the self-moving device 20.

Referring to FIGS. 1 and 2 , the receiving terminal electrode assembly 300 may include a receiving terminal electrode 310 , and the receiving terminal electrode 310 may be electrically connected to the battery and the charging device 10 so that the charging device 10 can charge the battery in the mobile device 20 .

The specific structure of the charging device 10 refers to the following embodiments. Since the charging system 30 adopts all the technical solutions of all the following embodiments, it has at least all the beneficial effects brought by the technical solutions of the following embodiments, which will not be discussed here. Let’s go over them one by one.

Referring to FIG. 1 and FIG. 3 , the embodiment of the present application also provides a charging device 10 , and the charging device 10 can be applied in the charging system 30 . In the following embodiments, the charging device 10 is mainly used in the charging system 30 as an example for description and introduction. Other situations where the charging device 10 is required may be implemented with reference.

Referring to FIGS. 1 to 5 , the charging device 10 may include a push-pull component 100 and a transmitter electrode assembly 200 . The push-pull component 100 is driveably connected to the transmitter electrode assembly 200 to drive the transmitter electrode assembly 200 to move along the first direction X. , the transmitting end electrode assembly 200 may include a transmitting end electrode 210, a rotating member 220, a first adjusting member 230, a second adjusting member 240 and a transmitting end mounting base 250 arranged in sequence, and the rotating member 220 is rotatably connected to the first adjusting member. The component 230 is used to drive the transmitting terminal electrode 210 to swing under the action of external force. The first adjusting component 230 is movably connected between the rotating member 220 and the second adjusting component 240 to drive the transmitting terminal electrode 210 to rotate under the action of external force. The member 220 moves along the second direction Y, and the second adjusting member 240 is movably connected between the first adjusting member 230 and the transmitting end mounting base 250 to drive the transmitting end electrode 210, the rotating member 220 and the first transmitting end electrode 210 under the action of external force. The adjusting member 230 moves along the third direction Z, and the first direction X, the second direction Y and the third direction Z intersect with each other.

In this way, when the charging device 10 needs to charge the self-moving device 20, the push-pull assembly 100 can move the transmitting end electrode assembly 200 along the first direction X, and the transmitting end electrode 210 contacts the receiving end electrode 310 of the self-moving device 20, so that During the movement of the transmitting end electrode 210 along the first direction The receiving end electrode 310 of the mobile device 20 is adaptively adjusted, thereby helping the transmitting end electrode 210 to be accurately electrically connected to the receiving end electrode 310 (that is, the transmitting end electrode 210 can be accurately plugged into the receiving end electrode 310). contact hole, so that the transmitting end electrode 210 and the receiving end electrode 310 have a larger contact area), preventing poor contact between the transmitting end electrode 210 and the receiving end electrode 310, thereby allowing the charging device 10 to charge the mobile device 20 normally. In addition, the cooperation of the rotating member 220 , the first adjusting member 230 and the second adjusting member 240 allows the transmitting end electrode 210 to have multiple degrees of freedom, which helps to accurately adjust the position of the transmitting end electrode 210 .

It can be understood that the transmitting end electrode 210 is in contact with the receiving end electrode 310 of the self-moving device 20 under the action of the push-pull assembly 100. When the push-pull assembly 100 continues to push the transmitting end electrode 210, the transmitting end electrode 210 will be reacted by the self-moving device 20. The action of force causes the transmitter electrode 210 to move along the second direction Y and/or the third direction Z under the action of the push-pull component 100 and external force, and the transmitter electrode 210 can also swing. The source of the external force experienced by the transmitting end electrode 210 may be the reaction force from the receiving end electrode 310 of the mobile device 20 to the transmitting end electrode 210 .

When the self-mobile device 20 is parked near the charging device 10, due to the positioning of the positioning and navigation system of the self-mobile device 20 (the self-mobile device 20 can be positioned through RTK technology) there will be a deviation, resulting in the receiving end electrode 310 and the transmitting end electrode. 210 has a certain deviation in the horizontal direction.

In view of this, in some embodiments, the second direction Y may be a horizontal direction. In this way, the first adjustment component 230 can drive the transmitter electrode 210 and the rotating member 220 to move in the horizontal direction under the action of the push-pull assembly 100 and external force, thereby compensating for the horizontal deviation between the transmitter electrode 210 and the receiver electrode 310 .

In some embodiments, the axial direction of the rotation axis O of the rotating member 220 and the first adjusting component 230 may be a vertical direction, so that the rotating member 2220 swings toward the left and right sides of the rotating axis O under the action of the push-pull assembly 100 and external force. , thus the deviation in the horizontal direction between the transmitting end electrode 210 and the receiving end electrode 310 can also be compensated.

When there are snow, silt, branches and other debris on the ground, the self-moving device 20 will be lifted by the snow, silt, branches and other debris.

In view of this, in some embodiments, the third direction Z may be a vertical direction. The second adjustment component 240 can drive the transmitter electrode 210, the rotating member 220 and the first adjustment component 230 to move in the vertical direction under the action of the push-pull assembly 100 and external force, thereby vertically adjusting the transmitter electrode 210 and the receiver electrode 310. Compensate for directional deviations.

The first direction X, the second direction Y, and the third direction Z may intersect each other in a three-dimensional space. For example, the first direction X, the second direction Y, and the third direction Z are arranged perpendicularly to each other. The first direction X may be the X-axis direction of the three-dimensional coordinate system, the second direction Y may be the Y-axis direction of the three-dimensional coordinate system, and the third direction Z may be the Z-axis direction of the three-dimensional coordinate system.

The push-pull component 100 is driveably connected to the transmitter electrode assembly 200 to drive the transmitter electrode assembly 200 to move along the first direction X. For example, the push-pull assembly 100 is driveably connected to the transmitter mounting base 250 to drive the transmitter electrode assembly 200 to move along the first direction X. The push-pull component 100 can be fixedly connected to the transmitter mounting base 250 through screw connection or snap connection.

The push-pull assembly 100 may include an electric push rod 110. The electric push rod 110 may have an output shaft 111. The end of the output shaft 111 may be fixedly connected to the transmitter mounting base 250, so that the electric push rod 110 is driveably connected to the transmitter electrode assembly. 200, in order to drive the transmitter electrode assembly 200 to move along the first direction X, thereby helping the transmitter electrode 210 of the charging device 10 to selectively contact or separate from the receiver electrode 310.

The transmitting end electrode 210 of the transmitting end electrode assembly 200 can be connected to an external power source, so that the charging device 10 can charge the mobile device 20 .

Referring to FIG. 5 , in some embodiments, the first adjustment component 230 may include a first adjustment member 231 and a second adjustment member 232 , and the second adjustment member 232 may be opposite to the first adjustment member 231 . Among them, the transmitting end electrode 210, the rotating member 220, the second adjusting member 232, the first adjusting member 231, the second adjusting member 240 and the transmitting end mounting base 250 are connected in sequence.

The first adjusting member 231 can be connected to the second adjusting member 240. For example, the first adjusting member 231 can be fixedly connected to the second adjusting member 240 through screw connection, snap connection or riveting, so that the transmitting end electrode 210 and the rotating member 220 , the second adjusting member 232 and the first adjusting member 231 follow the second adjusting member 240 to move along the third direction Z under the action of the push-pull assembly 100 and external force.

The second adjusting member 232 is movably connected to the first adjusting member 231 along the second direction Y, and the rotating member 220 may be located on a side of the second adjusting member 232 away from the first adjusting member 231 , so that the transmitter electrode 210 and the rotating member 220 Under the action of the push-pull assembly 100 and external force, the second adjusting member 232 moves along the second direction Y relative to the first adjusting member 231, so that the position of the transmitting end electrode 210 can be adapted to the position of the receiving end electrode 310 along the second direction Y. sexual adjustment.

In some embodiments, one of the first adjusting member 231 and the second adjusting member 232 is a guide rail, and the other of the first adjusting member 231 and the second adjusting member 232 is a sliding block. The first adjustment member 231 may be a guide rail, and correspondingly, the second adjustment member 232 may be a slide block; or the first adjustment member 231 may be a slide block, and correspondingly, the second adjustment member 232 may be a guide rail. In this way, the structures of the first adjusting member 231 and the second adjusting member 232 are relatively simple, the movement of the second adjusting member 232 relative to the first adjusting member 231 is also more convenient, and the cost is lower. In addition, the combination of the guide rail and the slider can achieve highly precise positioning and position control, allowing the slider to move along the specific track of the guide rail to ensure the accuracy and stability of the movement.

In this embodiment, when the first adjustment member 231 is a guide rail and the second adjustment member 232 is a slider, limiters may also be provided at both ends of the first adjustment member 231, and the limiters may be limiters or limiters. The limiting block thereby limits the movement of the second adjusting member 232 between the limiting members at both ends of the first adjusting member 231 , thereby preventing the second adjusting member 232 from sliding out of the first adjusting member 231 .

In some embodiments, the first adjusting component 230 may also include a first connecting member 233, wherein the transmitting terminal electrode 210, the rotating member 220, the first connecting member 233, the second adjusting member 232, the first adjusting member 231, the The two adjustment components 240 and the transmitter mounting base 250 are connected in sequence.

The first connecting member 233 may be located between the second adjusting member 232 and the rotating member 220. The rotating member 220 is rotatably connected to the first connecting member 233. The first connecting member 233 may be connected by screw connection or welding connection. to the second adjusting member 232, so that the second adjusting member 232 can drive the transmitting end electrode 210, the rotating member 220 and the first connecting member 233 to move along the second direction Y under the action of the push-pull assembly 100 and external force.

The second adjustment part 240 may also include a second connection part 241 located between the transmitter mounting base 250 and the first adjustment part 231, so that the second connection part 241 carries the transmitter electrode 210, the rotating member 220 and The first adjustment component 230 moves along the third direction Z following the fourth adjustment component 243 .

The transmitter electrode assembly 200 may also include a first elastic member 260. The first elastic member 260 may be selected from a variety of options. For example, the first elastic member 260 may be an elastic cord; for example, the first elastic member 260 may be a tension spring.

The first elastic member 260 may be connected between the first connecting member 233 and the second connecting member 241 to maintain the transmitting end electrode 210 at the center of the transmitting end mounting base 250 or adjacent to the center of the transmitting end mounting base 250 .

The center position of the transmitting end mounting base 250 can be roughly located at the middle position of the transmitting end mounting base 250 , and the projection of the middle position of the trajectory of the second adjusting member 232 moving along the second direction Y on the transmitting end mounting base 250 can be the same as that of the transmitting end mounting base 250 . The center position of 250 roughly coincides with the initial position of the transmitting end electrode 210 and can roughly coincide with the middle position of the trajectory of the second adjustment member 232 moving along the second direction Y. In this way, the initial position of the transmitting end electrode 210 is located at the center of the transmitting end mounting base 250, which allows the transmitting end electrode 210 to have a larger range of movement on the transmitting end mounting base 250, thereby further helping the transmitting end electrode 210 to move along the second The movement in the direction Y helps to expand the adaptive adjustment range of the transmitting end electrode 210 in the second direction Y.

Among them, the second adjusting member 232 can drive the first connecting member 233 to move relative to the second connecting member 241 along the second direction Y under the action of the push-pull assembly 100 and external force, so that the position of the first connecting member 233 is relative to the second connecting member 241 The position of the first elastic member 260 changes, so that the first elastic member 260 undergoes a large elastic deformation, that is, the first elastic member 260 is stretched.

After the charging device 10 has finished charging the self-moving device 20, the push-pull component 100 needs to drive the transmitting end electrode assembly 200 to separate from the receiving end electrode 310 of the self-moving device 20. The transmitting end electrode assembly 200 is not affected by the push-pull component 100 and external force. Impact. At this time, the first elastic member 260 needs to restore its original shape, so the first elastic member 260 exerts a pulling force on the first connecting member 233 and the second connecting member 241. The first connecting member 233 exerts a pulling force on the first elastic member 260. The lower relative to the second connecting member 241 is reset, so that the transmitting end electrode 210 returns to the initial position along the second direction Y, so that the charging device 10 can also face the receiving end electrode along the second direction Y the next time it charges the mobile device 20 310 position for effective adaptive adjustment.

In some embodiments, there may be multiple first elastic members 260 , and the plurality of first elastic members 260 may be evenly distributed on both sides of the second adjusting member 232 , so that the second adjusting member 232 is in the first elastic state. Under the action of the member 260, the second adjustment member 232 can be moved more accurately to the middle position of the trajectory of the movement of the second adjustment member 232 along the second direction Y, which is more conducive to the movement of the second adjustment member 232 relative to the first adjustment member 231 along the second direction Y, thereby This further facilitates the adaptive adjustment of the position of the transmitting end electrode 210 relative to the position of the receiving end electrode 310 along the second direction Y.

In some embodiments, the transmitter electrode assembly 200 may further include a first connecting rod 201, which is movably connected to the first connecting member 233 along its length direction. For example, the first connecting rod 201 may be connected to the first connecting rod 201. A connecting piece 233 is threaded; for another example, the first connecting rod 201 can be plugged into the first connecting piece 233, thereby helping the first connecting rod 201 to adjust the length of itself protruding from the first connecting piece 233, thereby helping The first connecting rod 201 cooperates with the first elastic member 260 . Of course, the number of the first connecting rods 201 may correspond to the number of the first elastic parts 260 . For example, the number of the first connecting rods 201 may be the same as the number of the first elastic parts 260 .

The transmitter electrode assembly 200 may also include a second connecting rod 202, which is movably connected to the second connecting member 241 along its length direction. For example, the second connecting rod 202 may be threadedly connected to the second connecting member 241. ; For another example, the second connecting rod 202 can be plugged into the second connecting piece 241, thereby helping the second connecting rod 202 to adjust the length of the second connecting rod 202 protruding from the second connecting piece 241, thereby helping the second connecting rod 202 to connect with the second connecting piece 241. The first elastic member 260 cooperates. Of course, the number of the second connecting rods 202 may correspond to the number of the first elastic members 206 , for example, the number of the second connecting rods 202 may be the same as the number of the first elastic members 260 .

The first elastic member 260 may be connected between the first connecting rod 201 and the second connecting rod 202 . Specifically, one end of the first elastic member 260 is connected to the first connecting rod 201, the other end of the second elastic member 270 is connected to the second connecting rod 202, and the first connecting rod 201 is movably connected along its length direction. At the first connecting member 233, the second connecting rod 202 is movably connected to the second connecting member 241 along its length direction, thereby facilitating adjustment of the length of the first connecting rod 201 protruding from the first connecting member 233 and The second connecting rod 202 protrudes from the length of the second connecting member 241 to adjust the tightness of the first elastic member 260, thereby helping to adjust the pre-tightening force of the first elastic member 260.

Please continue to refer to Figures 4 and 5. In some embodiments, the second adjustment component 240 may also include a third adjustment member 242 and a fourth adjustment member 243. The third adjustment member 242 may be disposed opposite to the fourth adjustment member 243. Among them, the transmitting end electrode 210, the rotating member 220, the first connecting member 233, the second adjusting member 232, the first adjusting member 231, the second connecting member 241, the fourth adjusting member 243, the third adjusting member 242 and the transmitting end are installed Blocks 250 are connected in sequence.

The third adjusting member 242 can be connected to the transmitting end mounting base 250. For example, the third adjusting member 242 can be connected to the transmitting end mounting base 250 through a screw connection. For example, the third adjusting member 242 can be connected to the transmitting end mounting base 250 through a snap connection. The transmitting end mounting base 250; for another example, the third adjusting member 242 can be connected to the transmitting end mounting base 250 through a welding connection, so that the second adjusting member 232 is fixedly connected to the transmitting end mounting base 250.

The fourth adjusting member 243 is movably connected to the third adjusting member 242 along the third direction Z, and the second connecting member 241 is located on the side of the fourth adjusting member 243 away from the third adjusting member 242 . Among them, the second connecting member 241 can be fixedly connected to the fourth adjusting member 243 by means of screw connection, snap connection or riveting, so that the transmitting end electrode 210, the rotating member 220, the first connecting member 233, the second adjusting member 232, The first adjusting member 231 and the second connecting member 241 follow the fourth adjusting member 243 to move relative to the third adjusting member 242 along the third direction Z under the action of the push-pull assembly 100 and external force, so that the position of the transmitting end electrode 210 can be adjusted along the third direction Z. The direction Z is adaptively adjusted relative to the position of the receiving end electrode 310 .

In some embodiments, one of the third adjustment member 242 and the fourth adjustment member 243 is a guide rail, and the other of the third adjustment member 242 and the fourth adjustment member 243 is a slide block. The third adjustment member 242 may be a guide rail, and correspondingly, the fourth adjustment member 243 may be a slide block; or the third adjustment member 242 may be a slide block, and correspondingly, the fourth adjustment member 243 may be a guide rail. In this way, the structures of the third adjusting member 242 and the fourth adjusting member 243 are relatively simple, the movement of the fourth adjusting member 243 relative to the third adjusting member 242 is also more convenient, and the cost is lower. In addition, the combination of the guide rail and the slider can achieve highly precise positioning and position control, allowing the slider to move along the specific track of the guide rail to ensure the accuracy and stability of the movement.

In this embodiment, when the third adjustment member 242 is a guide rail and the fourth adjustment member 243 is a slider, limiters may also be provided at both ends of the third adjustment member 242, and the limiters may be limiters or limiters. The limiting block thereby limits the movement of the fourth adjusting member 243 between the limiting members at both ends of the third adjusting member 242 , thereby preventing the fourth adjusting member 243 from sliding out of the third adjusting member 242 .

In some embodiments, the transmitter electrode assembly 200 may also include a second elastic member 270 , and the second elastic member 270 may have a variety of options. For example, the first elastic member 260 may be an elastic cord; for example, the second elastic member 270 may be It's a tension spring.

The second elastic member 270 may be connected between the transmitting end mounting base 250 and the second connecting member 241 to maintain the transmitting end electrode 210 at the center position of the transmitting end mounting base 250 or adjacent to the center position of the transmitting end mounting base 250 .

The center position of the transmitting end mounting base 250 may be approximately at the middle position of the transmitting end mounting base 250. The projection of the middle position of the trajectory of the fourth adjusting member 243 moving along the third direction Z on the transmitting end mounting base 250 may be aligned with the transmitting end mounting base 250. The center position of the seat 250 roughly coincides with the initial position of the transmitting end electrode 210 and the middle position of the trajectory of the fourth adjustment member 243 moving along the third direction Z. In this way, the initial position of the transmitting end electrode 210 is located at the center of the transmitting end mounting base 250, which allows the transmitting end electrode 210 to have a larger range of movement on the transmitting end mounting base 250, thereby further helping the transmitting end mounting base 250 to move along the first The movement in the three directions Z helps to expand the adaptive adjustment range of the transmitting end electrode 210 along the third direction Z.

Among them, the fourth adjusting member 243 can drive the second connecting member 241 to move along the third direction Z relative to the transmitting end mounting base 250 under the action of the push-pull assembly 100 and external force, so that the position of the second connecting member 233 is relative to the transmitting end mounting base 250 Change occurs, so that the second elastic member 270 undergoes greater elastic deformation, that is, the second elastic member 270 is stretched.

After the charging device 10 charges the self-moving device 20 , the push-pull component 100 needs to drive the transmitting-end electrode assembly 200 to separate from the receiving-end electrode 310 of the self-moving device 20 . The transmitting-end electrode assembly 200 is not affected by the push-pull component 100 or external force. Influence. At this time, the second elastic member 270 needs to restore its original shape, so the second elastic member 270 exerts a pulling force on the first connecting member 233 and the transmitting end mounting base 250. The second connecting member 241 faces each other under the pulling force of the second elastic member 270. The transmitting end mounting base 250 can be reset, that is, the fourth adjusting member 243 is reset relative to the third adjusting member 242 under the action of the second elastic member 270, so that the transmitting end electrode 210 returns to the initial position along the third direction Z, so that The charging device 10 can also effectively adjust the position of the transmitting end electrode 210 along the third direction Z when charging the mobile device 20 next time.

In some embodiments, there may be multiple second elastic members 270 , and the plurality of second elastic members 270 may be evenly distributed on both sides of the fourth adjusting member 243 , so that the fourth adjusting member 243 is in the second elastic state. Under the action of the member 270, the fourth adjustment member 243 can be moved more accurately to the middle position of the trajectory of the movement of the fourth adjustment member 243 along the third direction Z, which is more conducive to the movement of the fourth adjustment member 243 along the third direction Z relative to the third adjustment member 242. This further facilitates the adaptive adjustment of the position of the transmitting end electrode assembly 200 relative to the position of the receiving end electrode 321 along the third direction Z.

The transmitting end electrode assembly 200 may also include a third connecting rod 203, which is movably connected to the transmitting end mounting base 250 along its length direction. For example, the third connecting rod 203 may be threadedly connected to the transmitting end mounting base 250. ; For another example, the third connecting rod 203 can be plugged into the transmitting end mounting base 250, thereby helping the third connecting rod 203320 to adjust its length protruding from the transmitting end mounting base 250, thereby helping the third connecting rod 203 to connect with the transmitting end mounting base 250. The second elastic member 270 cooperates. Of course, the number of the third connecting rods 203 may correspond to the number of the second elastic parts 270 . For example, the number of the third connecting rods 203 may be the same as the number of the second elastic parts 270 .

The transmitter electrode assembly 200 may further include a fourth connecting rod 204, which is movably connected to the second connecting member 241 along its length direction. For example, the fourth connecting rod 204 may be threadedly connected to the second connecting member 241. ; For another example, the fourth connecting rod 204 can be plugged into the second connecting piece 241, thereby helping the fourth connecting rod 204 to adjust the length protruding from the second connecting piece 241, thereby helping the fourth connecting rod 204 to connect with the second connecting piece 241. The two elastic members 270 cooperate. Of course, the number of the fourth connecting rods 204 may correspond to the number of the second elastic parts 270 . For example, the number of the fourth connecting rods 204 may be the same as the number of the second elastic parts 270 .

The second elastic member 270 may be connected between the third connecting rod 203 and the fourth connecting rod 204 . Specifically, one end of the second elastic member 270 is connected to the third connecting rod 203, the other end of the second elastic member 270 is connected to the fourth connecting rod 204, and the third connecting rod 203 is movably connected along its length direction. At the transmitting end mounting base 250, the fourth connecting rod 204 is movably connected to the second connecting piece 241 along its length direction, thereby helping to adjust the length of the third connecting rod 203 protruding from the transmitting end mounting base 250 and The fourth connecting rod 204 protrudes from the length of the second connecting member 241 to adjust the tightness of the second elastic member 270 , thereby helping to adjust the pre-tightening force of the second elastic member 270 .

In some embodiments, the side of the rotating member 220 facing the transmitting end mounting base 250 may be provided with a first rotating structure 221, and the side of the first connecting member 233 facing the rotating member 220 may be provided with a second rotating structure 233a. The rotating structure 233a includes a first side wall 233b and a second side wall 233c that are opposite and spaced apart. The first rotating structure 221 is rotatably hinged between the first side wall 233b and the second side wall 233c.

Specifically, the first side wall 233b and the second side wall 233c may be arranged sequentially along the axial direction of the rotation axis O of the first rotation structure 221 and the second rotation structure 233a (the rotation axis O is located between the first rotation structure 221 and the second rotation structure 233a). At the connection point of the rotation structure 233a, the axial direction of the rotation axis O may be consistent with the third direction Z), and the first rotation structure 221 may be hinged with the first side wall 233b and the second side wall 233c through hinges or pins. In this way, the second rotation structure 233a can not only be rotationally connected with the first rotation structure 221, but also have a certain limiting effect on the first rotation structure 221 through the first side wall 233b and the second side wall 233c, thereby facilitating the second rotation structure 221. A rotation structure 221 can swing toward both sides of the rotation axis O between the first rotation structure 221 and the second rotation structure 233a, so that the first rotation structure 221 can swing in a specific direction.

In some embodiments, the transmitter electrode assembly 200 may further include a third elastic member 280 and a fourth elastic member 290 . The third elastic member 280 may be located on the transmitter electrode 210 along the fourth direction A (as shown in FIG. 4 , The four directions A may be the counterclockwise direction (around the rotation axis O between the first rotating structure 221 and the second rotating structure 233a) relative to the second rotating structure 233a. The third elastic member 280 may be connected to the rotating member 220 and first connection piece 233. The fourth elastic member 290 may be located on the transmitting end electrode 210 along the fifth direction B (as shown in FIG. 4 , the fifth direction B may be clockwise around the rotation axis O between the first rotation structure 221 and the second rotation structure 233a direction) relative to the side of the swing of the second rotating structure 233a, the fourth elastic member 290 can be connected to the rotating member 220 and the second connecting member 241, and the fourth direction A and the fifth direction B can rotate around the first rotating structure 221 and the second The rotation axis O of the rotation structure 233a is set, and the fourth direction A is opposite to the fifth direction B. Of course, in other embodiments, the fourth direction A may be a clockwise direction about the rotation axis O between the first rotation structure 221 and the second rotation structure 233a; correspondingly, the fifth direction B may be a clockwise direction about the first rotation axis O between the first rotation structure 221 and the second rotation structure 233a. The counterclockwise direction of the rotation axis O between the rotation structure 221 and the second rotation structure 233a.

Specifically, when the transmitter electrode assembly 200 is not affected by the push-pull assembly 100 and external force, the third elastic member 280 and the fourth elastic member 290 can limit the rotating member 220 to the middle position of the swing trajectory of the rotating member 220, thereby causing the rotation to The member 220 drives the transmitter electrode 210 to swing in the fourth direction A or the fifth direction B under the action of the push-pull assembly 100 and external force, thereby allowing the transmitter electrode 210 to swing in multiple directions.

In addition, after the charging device 10 charges the mobile device 20 , the rotating member 220 rotates to the middle position of the swing trajectory of the rotating member 220 under the action of the third elastic member 280 and the fourth elastic member 290 to prevent the rotating member 220 from being in the extreme position, so that the transmitter electrode 210 also has a larger swing amplitude during the next charge.

In some embodiments, the transmitter electrode assembly 200 may further include a fifth connecting rod 205 , which may be movably connected to the rotating member 220 along its length direction. For example, the fifth connecting rod 205 may be connected to the rotating member 220 along its length direction. The member 220 is threadedly connected; for another example, the fifth connecting rod 205 can be plugged into the rotating member 220, thereby helping the fifth connecting rod 205 to move along its own length direction to adjust the fifth connecting rod 205 to protrude from the rotating member 220. The length further helps the fifth connecting rod 205 to cooperate with the third elastic member 280 .

The transmitter electrode assembly 200 may also include a sixth connecting rod 206. The sixth connecting rod 206 may be movably connected to the rotating member 220 along its length direction. For example, the sixth connecting rod 206 may be threadedly connected to the rotating member 220; and For example, the sixth connecting rod 206 can be plugged into the rotating member 220, thereby helping the sixth connecting rod 206 to move along its own length direction to adjust the length of the sixth connecting rod 206 protruding from the rotating member 220, thus facilitating The sixth connecting rod 206 cooperates with the fourth elastic member 290.

The transmitter electrode assembly 200 may further include a seventh connecting rod 207 that is movably connected to the first connecting member 233 along its length direction. For example, the seventh connecting rod 207 may be threaded with the first connecting member 233 connection; for another example, the seventh connecting rod 207 can be plugged into the first connecting piece 233, thereby helping the seventh connecting rod 207 to move along its length direction to adjust the protrusion of the seventh connecting rod 207 from the rotating member 220. The length further helps the seventh connecting rod 207 to cooperate with the third elastic member 280 .

In this embodiment, the seventh connecting rod 207 may be the same connecting rod as the first connecting rod 201 . Of course, in other embodiments, the seventh connecting rod 207 and the first connecting rod 201 may be independent connecting rods.

The transmitter electrode assembly 200 may further include an eighth connecting rod 208 that is movably connected to the first connecting member 233 along its length direction. For example, the eighth connecting rod 208 may be threaded with the first connecting member 233 connection; for another example, the eighth connecting rod 208 can be plugged into the first connecting piece 233, thereby helping the eighth connecting rod 208 to move along its length direction to adjust the protrusion of the eighth connecting rod 208 from the rotating member 220. The length further helps the eighth connecting rod 208 to cooperate with the fourth elastic member 290 .

In this embodiment, the eighth connecting rod 208 may be the same connecting rod as the first connecting rod 201 . Of course, in other embodiments, the eighth connecting rod 208 and the first connecting rod 201 may be independent connecting rods.

The third elastic member 280 may be connected between the fifth connecting rod 205 and the seventh connecting rod 207 . In this way, the tightness of the third elastic member 280 can be adjusted by adjusting the length of the fifth connecting rod 205 protruding from the rotating member 220 and the length of the seventh connecting rod 207 protruding from the first connecting member 233, thereby helping to adjust the third elastic member 280. Three elastic members 280 preload.

The fourth elastic member 290 may be connected between the sixth connecting rod 206 and the eighth connecting rod 208 . In this way, the fourth elastic member 290 is formed. In this way, the tightness of the fourth elastic member 290 can be adjusted by adjusting the length of the sixth connecting rod 206 protruding from the rotating member 220 and the length of the eighth connecting rod 208 protruding from the first connecting member 233, thereby helping to adjust the fourth elastic member 290. The pre-tightening force of the four elastic members 290.

In some embodiments, the transmitter electrode assembly 200 may further include a guide post 209 . The transmitter electrode 210 and the guide post 209 may be located on the same side of the rotating member 220 . The length direction of the guide post 209 is consistent with the length direction of the transmitter electrode 210 . Consistently, the maximum distance between the end of the guide post 209 away from the rotating member 220 and the rotating member 220 is greater than the maximum distance between the end of the transmitting end electrode 210 facing away from the rotating member 220 and the rotating member 220 .

Specifically, when the charging device 10 needs to charge the self-moving device 20, since the length direction of the guide post 209 is consistent with the length direction of the transmitting end electrode 210, the maximum distance between the end of the guide post 209 away from the rotating member 220 and the rotating member 220 is greater than The maximum distance between the end of the transmitting electrode 210 away from the rotating member 220 and the rotating member 220. Under the action of the push-pull assembly 100, the guide column 209 preferentially adjusts adaptively with the receiving end electrode assembly 300 of the self-moving device 20. The transmitting electrode 210 is at The guide post 209 is connected to the receiving end electrode assembly 300 of the self-moving device 20 only after it is positioned and guided, which helps to reduce the contact process between the transmitting end electrode 210 and the receiving end electrode assembly 300 of the self-moving device 20 , thus helping to reduce emissions. The wear of the terminal electrode 210 and the receiving terminal electrode assembly 300 of the moving device 20 further helps to extend the service life of the transmitting terminal electrode 210 .

It can be understood that when the charging device 10 needs to charge the self-moving device 20, the guide post 209 can replace the transmitting end electrode 210 and first contact the receiving end electrode assembly 300 of the self-moving device 20 during the adaptive adjustment process, which is helpful. In order to reduce the contact process between the transmitting end electrode 210 and the receiving end electrode assembly 300 of the self-moving device 20, it helps to reduce the wear of the transmitting end electrode 210 and the receiving end electrode assembly 300 of the self-moving device 20. Among them, the receiving end electrode assembly 300 of the self-moving device 20 may also be provided with a guide groove that is plug-fitted with the guide post 209 .

The length direction of the guide post 209 can be consistent with the length direction of the transmitter electrode 210. That is to say, the length direction of the guide post 209 is parallel to the length direction of the transmitter electrode 210; or, the length direction of the guide post 209 can be approximately parallel to the length direction of the transmitter electrode. The length direction of 210 is parallel.

In this application, unless otherwise expressly stated or limited, the terms "installation", "connection" and other terms should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, an integral connection, or a transmission connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In addition, the terms "first", "second", etc. are only used to differentiate the description and cannot be understood as specific designations or special structures. Description of the term "some embodiments" means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this application, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this application unless they are inconsistent with each other.

The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the foregoing embodiments. The recorded technical solutions are modified, or some of the technical features are equivalently replaced; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each embodiment of this application, and shall be included in this application. within the scope of protection.

Claims (14)

1. A charging device, characterized in that it includes a push-pull assembly and a transmitter electrode assembly, and the push-pull assembly is driveably connected to the transmitter electrode assembly to drive the transmitter electrode assembly to move in the first direction; The transmitting end electrode assembly includes a transmitting end electrode, a rotating member, a first adjusting member, a second adjusting member and a transmitting end mounting seat arranged in sequence, and the rotating member is rotatably connected to the first adjusting member to The transmitting end electrode is driven to swing under the action of external force, and the first adjusting member is movably connected between the rotating member and the second adjusting member to drive the transmitting end electrode and the transmitting end electrode to swing under the action of external force. The rotating member moves in the second direction, and the second adjusting member is movably connected between the first adjusting member and the transmitting end mounting base to drive the transmitting end electrode and the transmitting end electrode under the action of external force. The rotating member and the first adjusting member move in the third direction; The first direction, the second direction and the third direction intersect each other. 2. The charging device according to claim 1, wherein the first adjustment member includes a first adjustment member and a second adjustment member, the first adjustment member is connected to the second adjustment member, and the The second adjusting member is movably connected to the first adjusting member along the second direction, and the rotating member is located on a side of the second adjusting member away from the first adjusting member. 3. The charging device according to claim 2, wherein one of the first adjustment member and the second adjustment member is a guide rail, and the other of the first adjustment member and the second adjustment member is a guide rail. One for the slider. 4. The charging device according to claim 2, wherein the first adjusting member further includes a first connecting member located between the second adjusting member and the rotating member, The second adjustment component includes a second connecting member located between the transmitting end mounting base and the first adjusting member; the transmitting end electrode assembly also includes a first elastic member, the First An elastic member is connected between the first connecting piece and the second connecting piece for maintaining the transmitting end electrode at a central position of the transmitting end mounting base or adjacent to a central position of the transmitting end mounting base. 5. The charging device according to claim 4, wherein the transmitter electrode assembly further includes a first connecting rod and a second connecting rod, and the first connecting rod is movably connected to the The first connecting piece and the second connecting rod are movably connected to the second connecting piece along its length direction; the first elastic member is connected to the first connecting rod and the second connecting piece. between the poles. 6. The charging device according to claim 4, wherein the second adjustment component further includes a third adjustment member and a fourth adjustment member, and the third adjustment member is connected to the transmitter mounting base, so The fourth adjusting member is movably connected to the third adjusting member along the third direction, and the second connecting member is located on a side of the fourth adjusting member away from the third adjusting member. 7. The charging device according to claim 6, wherein one of the third adjustment member and the fourth adjustment member is a guide rail, and the other of the third adjustment member and the fourth adjustment member is a guide rail. One for the slider. 8. The charging device according to claim 6, wherein the transmitter electrode assembly further includes a second elastic member, and the second elastic member is connected to the transmitter mounting base and the second connecting member. in order to maintain the transmitting end electrode at the center position of the transmitting end mounting base or adjacent to the center position of the transmitting end mounting base. 9. The charging device according to claim 8, wherein the transmitter electrode assembly further includes a third connecting rod and a fourth connecting rod, and the third connecting rod is movably connected to the connecting rod along its length direction. In the transmitting end mounting base, the fourth connecting rod is movably connected to the second connecting piece along its length direction; the second elastic member is connected to the third connecting rod and the fourth connecting rod. between the poles. 10. The charging device according to claim 4, wherein a first rotating structure is provided on a side of the rotating member facing the transmitting end mounting base, and a first connecting member faces a side of the rotating member. A second rotating structure is provided on the side. The second rotating structure includes a first side wall and a second side wall that are opposite and spaced apart. The first rotating structure is rotatably hinged to the first side wall and the first side wall. between the second side walls. 11. The charging device according to claim 10, wherein the transmitter electrode assembly further includes a third elastic member and a fourth elastic member, the third elastic member is located along the fourth direction of the transmitter electrode. The third elastic member is connected to the rotating member and the first connecting member relative to the swing side of the second rotating structure; The fourth elastic member is located on the side of the transmitter electrode that swings in the fifth direction relative to the second rotating structure. The fourth elastic member is connected to the rotating member and the second connecting member. The fourth direction and the fifth direction are arranged around the rotation axes of the first rotation structure and the second rotation structure, and the fourth direction is opposite to the fifth direction. 12. The charging device according to claim 11, wherein the transmitter electrode assembly further includes a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod, the fifth connecting rod The sixth connecting rod and the sixth connecting rod are respectively movably connected to the rotating member along its own length direction, and the seventh connecting rod and the eighth connecting rod are respectively movably connected to the third connecting rod along its own length direction. A connecting piece; the third elastic piece is connected between the fifth connecting rod and the seventh connecting rod, and the fourth elastic piece is connected between the sixth connecting rod and the eighth connecting rod. between. 13. The charging device according to claim 1, wherein the transmitter electrode assembly further includes a guide post, the transmitter electrode and the guide post are located on the same side of the rotating member, and the guide post The length direction of the column is consistent with the length direction of the transmitter electrode, and the maximum distance between the end of the guide column facing away from the rotating member and the rotating member is greater than the distance between the end of the transmitting electrode facing away from the rotating member and the rotating member. Maximum distance of rotating parts. 14. A charging system, characterized by comprising: A self-moving device provided with a receiving end electrode; and The charging device according to any one of claims 1 to 13, wherein the transmitting end electrode of the charging device can selectively contact or separate from the receiving end electrode.