阅读说明：本技术 一种移动跟随式岸电供电系统 (Mobile following shore power supply system ) 是由 赵伟 何忠祖 李永昌 梁雄俊 于 2020-07-08 设计创作，主要内容包括：移动跟随式岸电供电系统包括：移动载体；位置定位模块,用于确定船舶的受电模块的位置信息；移动模块,包括提升框和伸缩框；供电模块,用于跟随所述伸缩框移动直至插接于所述受电模块以供电；位置跟随模块,包括分别连接于所述位置定位模块的伸缩驱动机构和提升驱动机构。上述的移动跟随式岸电供电系统通过移动载体拖动供电电缆移动使得供电模块能够插接至船舶的受电模块,提高船舶充电的操作效率。而且,在充电过程中,当船舶摆动幅度较大时,位置定位模块可实时检测更新受电模块的位置信息并反馈至位置跟随模块,实时调整供电模块的位置以跟随船舶的摆动而调整,实现可靠的连接及供电。(The mobile following shore power supply system comprises: moving the carrier; the position positioning module is used for determining the position information of a power receiving module of the ship; the mobile module comprises a lifting frame and a telescopic frame; the power supply module is used for moving along with the telescopic frame until the power supply module is inserted into the power receiving module to supply power; and the position following module comprises a telescopic driving mechanism and a lifting driving mechanism which are respectively connected with the position positioning module. The mobile following shore power supply system drags the power supply cable to move through the mobile carrier, so that the power supply module can be plugged into the power receiving module of the ship, and the operation efficiency of ship charging is improved. In addition, in the charging process, when the swing amplitude of the ship is large, the position positioning module can detect and update the position information of the power receiving module in real time and feed the position information back to the position following module, and the position of the power supply module is adjusted in real time to follow the swing of the ship so as to realize reliable connection and power supply.)

1. A mobile follow-on shore power supply system, comprising:

a movable carrier movably provided on the bank side;

the position positioning module is connected to the mobile carrier and used for determining the position information of the power receiving module of the ship;

the moving module comprises a lifting frame and a telescopic frame, and the lifting frame is movably connected to the moving carrier along the vertical direction; the telescopic frame is movably connected to the lifting frame along the horizontal direction;

the power supply module corresponds to the power receiving module of the ship, is arranged on the telescopic frame, is connected to the power supply interface on the shore side through a power supply cable, and is used for moving along with the telescopic frame until being inserted into the power receiving module to supply power;

the position following module comprises a telescopic driving mechanism and a lifting driving mechanism which are respectively connected to the position positioning module, the telescopic driving mechanism is used for driving the telescopic frame to be close to or far away from the power receiving module along the horizontal direction according to the position information, and the lifting driving mechanism is used for driving the lifting frame to move along the vertical direction according to the position information, so that the power supply module follows the telescopic frame to move until being inserted into the power receiving module to supply power.

2. The mobile-follower shore power supply system according to claim 1, wherein said power supply module is movably connected to said telescopic frame in a transverse direction, said transverse direction being horizontally perpendicular to the direction of movement of the telescopic frame.

3. The mobile-follower shore power supply system of claim 2, further comprising a transverse drive motor and a transverse rack, said transverse rack extending in a transverse direction and being connected to said telescoping frame, a drive gear of said transverse drive motor being engaged with said transverse rack to drive said power supply module to move in the transverse direction.

4. The mobile-follower shore power supply system according to claim 3, wherein said power supply module is connected to said telescopic frame by means of a slide rail and a slider extending in said transverse direction, and,

the telescopic frame is provided with a transverse rack extending along the transverse direction, the transverse driving motor is connected to the power supply module, and a gear of the transverse driving motor is meshed with the transverse rack to drive the power supply module to move transversely along the sliding rail on the telescopic frame.

5. The mobile follow-on shore power supply system according to claim 4, wherein said telescopic frame further comprises a telescopic slot extending in a horizontal direction, said lifting frame is provided with rollers embedded in said telescopic slot, and said telescopic frame is movably connected to said lifting frame by said rollers and embedded in said telescopic slot.

6. The mobile-follower shore power supply system according to claim 5, wherein said telescopic driving mechanism comprises a telescopic driving motor and a telescopic rack extending in a horizontal direction, said telescopic rack being connected to said lifting frame, said telescopic driving motor being provided to said telescopic frame and a driving gear of said telescopic driving motor engaging with said telescopic rack to drive said telescopic frame to extend from or retract from said lifting frame.

7. The mobile-follower shore power supply system according to claim 6, wherein said lifting frame comprises a guide groove and a guide wheel, said mobile carrier is provided with a guide portion extending in a vertical direction, said guide groove receives said guide portion, said guide wheel is rotatably connected to said lifting frame and rollably interferes with said guide portion, so that said lifting frame is movably connected to said mobile carrier along said guide portion.

8. The mobile follower shore power supply system of claim 7, wherein said lifting drive mechanism comprises a lifting drive motor, a rotating shaft and a lifting chain, said lifting drive motor is disposed on top of said mobile carrier, said rotating shaft is rotatably connected to said mobile carrier, said lifting chain bypasses a sprocket of said lifting drive motor and a sprocket disposed on said rotating shaft and is connected to said lifting frame, such that said lifting drive motor is capable of driving said lifting frame to move in a vertical direction via said lifting chain when rotating.

9. The mobile tracking shore power supply system of claim 8, wherein said mobile carrier further comprises a traveling mechanism, said traveling mechanism comprises a traveling wheel disposed at the bottom of said mobile carrier and a traveling drive motor for driving said traveling wheel to rotate, said traveling drive motor is connected to said traveling wheel for driving said mobile carrier to move.

10. The mobile-follower shore power supply system according to claim 9, wherein said power supply module comprises a first fixing member, a first elastic member and a first mounting plate, said first fixing member being provided with a power supply plug and a guide post, and said first fixing member and first mounting plate being disposed opposite to each other; one end of the first elastic piece is connected to the first fixing piece, and the other end of the first elastic piece is connected to the first mounting plate;

the power receiving module comprises a second fixing piece, a second elastic piece and a second mounting plate, the second fixing piece is provided with a power receiving female seat and a guide hole corresponding to the guide post, and the second fixing piece and the second mounting plate are arranged oppositely; one end of the second elastic piece is connected to the second fixing piece, and the other end of the second elastic piece is connected to the second mounting plate.

Technical Field

The invention belongs to the field of new energy equipment, and particularly discloses a mobile following shore power supply system.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

During the operation of ships at ports, in order to maintain the production life, an auxiliary generator on the ship needs to be driven to generate electricity to provide necessary power, thereby generating a large amount of harmful substances. According to statistics, carbon emission generated by auxiliary generators of ships during berthing at harbors accounts for 40-70% of the total carbon emission of the harbors, and is an important factor influencing air quality of the harbors and the cities. With the wide application of clean energy, the shore power supply system for replacing the power supply of the ship generator is applied more and more.

When boats and ships are leaned on the bank and are charged, generally supply power through bank electric system, traditional power supply system adopts huge plug and cable to pass through the manual work and pegs graft on the hull, because the cable is comparatively thick and heavy, leads to unable quick completion operation of charging, and operating time is longer, unable make full use of boats and ships berth time.

Disclosure of Invention

In view of the above, there is a need to provide a power supply module, a power receiving module, a ship and a mobile following shore power supply system, aiming at overcoming the technical defect of difficult plugging in the process of supplying power to the ship by the shore power system.

A mobile follow-on shore power supply system, comprising:

a movable carrier movably provided on the bank side;

the position positioning module is connected to the mobile carrier and used for determining the position information of the power receiving module of the ship;

the moving module comprises a lifting frame and a telescopic frame, and the lifting frame is movably connected to the moving carrier along the vertical direction; the telescopic frame is movably connected to the lifting frame along the horizontal direction;

the power supply module corresponds to the power receiving module of the ship, is arranged on the telescopic frame, is connected to the power supply interface on the shore side through a power supply cable, and is used for moving along with the telescopic frame until being inserted into the power receiving module to supply power;

the position following module comprises a telescopic driving mechanism and a lifting driving mechanism which are respectively connected to the position positioning module, the telescopic driving mechanism is used for driving the telescopic frame to be close to or far away from the power receiving module along the horizontal direction according to the position information, and the lifting driving mechanism is used for driving the lifting frame to move along the vertical direction according to the position information, so that the power supply module follows the telescopic frame to move until being inserted into the power receiving module to supply power.

Preferably, the power supply module is movably connected to the telescopic frame in a transverse direction, and the transverse direction is horizontally perpendicular to the moving direction of the telescopic frame.

Preferably, the power supply module further comprises a transverse driving motor and a transverse rack, wherein the transverse rack extends along the transverse direction and is connected to the telescopic frame, and a driving gear of the transverse driving motor is meshed with the transverse rack to drive the power supply module to move along the transverse direction.

Preferably, the power supply module is connected to the expansion frame by a slide rail and a slider extending in the lateral direction, and,

the telescopic frame is provided with a transverse rack extending along the transverse direction, the transverse driving motor is connected to the power supply module, and a gear of the transverse driving motor is meshed with the transverse rack to drive the power supply module to move transversely along the sliding rail on the telescopic frame.

Preferably, the telescopic frame further comprises a telescopic groove extending along the horizontal direction, the lifting frame is provided with a roller embedded in the telescopic groove, and the telescopic frame is movably connected to the lifting frame through the roller and the telescopic groove.

Preferably, the telescopic driving mechanism comprises a telescopic driving motor and a telescopic rack extending along the horizontal direction, the telescopic rack is connected to the lifting frame, the telescopic driving motor is arranged on the telescopic frame, and a driving gear of the telescopic driving motor is meshed with the telescopic rack to drive the telescopic frame to extend out of or retract back from the lifting frame.

Preferably, the lifting frame includes a guide groove and a guide wheel, the movable carrier is provided with a guide portion extending in a vertical direction, the guide groove receives the guide portion, and the guide wheel is rotatably connected to the lifting frame and rollably abuts against the guide portion, so that the lifting frame is movably connected to the movable carrier along the guide portion.

Preferably, promote actuating mechanism including promoting driving motor, pivot and promotion chain, it locates to promote driving motor remove the top of carrier, the pivot connect with moving the carrier rotatoryly, promote the chain and walk around promote driving motor's sprocket with locate the sprocket of pivot and with promote the frame and connect, make it can pass through when promoting driving motor rotates promote the chain drives promote the frame and remove along vertical direction.

Preferably, the mobile carrier further comprises a traveling mechanism, the traveling mechanism comprises a traveling wheel arranged at the bottom of the mobile carrier and a traveling driving motor used for driving the traveling wheel to rotate, and the traveling driving motor is connected to the traveling wheel so as to drive the mobile carrier to move.

Preferably, the power supply module comprises a first fixing piece, a first elastic piece and a first mounting plate, the first fixing piece is provided with a power supply plug and a guide post, and the first fixing piece and the first mounting plate are oppositely arranged; one end of the first elastic piece is connected to the first fixing piece, and the other end of the first elastic piece is connected to the first mounting plate;

the power receiving module comprises a second fixing piece, a second elastic piece and a second mounting plate, the second fixing piece is provided with a power receiving female seat and a guide hole corresponding to the guide post, and the second fixing piece and the second mounting plate are arranged oppositely; one end of the second elastic piece is connected to the second fixing piece, and the other end of the second elastic piece is connected to the second mounting plate.

Compared with the prior art, the power supply cable is dragged to move by the movable carrier in the movable following shore power supply system, after the position locating module determines the position information of the power receiving module of the ship, the movable module is driven to move by the position following module, so that the power supply module can be plugged into the power receiving module of the ship, the labor intensity of operators can be effectively reduced, the operation efficiency of ship charging is improved, the berthing time of the ship is effectively utilized for charging, the time and labor are saved, the labor and the time cost are reduced, and the economic benefit is increased.

In addition, in the charging process, when the swing amplitude of the ship is large, the position locating module can detect and update the position information of the power receiving module in real time and feed back the position information to the position following module, and the position following module adjusts the position of the power supply module in real time according to the position information so as to follow the swing of the ship and achieve reliable connection and power supply.

Further, the mobile following shore power supply system fixes the power supply plug and the guide post on the first mounting plate, and the first mounting plate is connected to the first fixing member through one or more first elastic members, so that the first mounting plate and the first fixing member are elastically connected; similarly, the power receiving female socket of the power receiving module can be elastically connected to the second fixing member through the second elastic member. Therefore, the electrode of the power supply module is inserted into the power receiving female socket in the process or after the electrode of the power supply module is inserted into the power receiving female socket, the ship is allowed to swing slightly in the power supply process, the omnibearing floating of the connection structure is realized, and the reliability of the insertion between the power supply module and the power receiving module is improved.

Drawings

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

Fig. 1 is a schematic structural diagram of a follow-up shore power supply system.

Fig. 2 is a schematic structural diagram of a mobile carrier, a position location module and a power supply module.

Fig. 3 is a schematic view of the internal structure of the mobile carrier.

Fig. 4 is a schematic structural view of the expansion frame.

Fig. 5 is a schematic structural view of the lifting frame.

Fig. 6 is a schematic structural diagram of a power supply module.

Fig. 7 is a schematic structural diagram of a power receiving module.

Description of the main elements

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments thereof which are illustrated in the appended drawings. In addition, the embodiments and features of the embodiments of the present application may be combined with each other without conflict. In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention, and the described embodiments are merely a subset of the embodiments of the present invention, rather than a complete embodiment. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In various embodiments of the present invention, for convenience in description and not in limitation, the term "coupled" as used in the specification and claims of the present application is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.

Fig. 1 is a schematic diagram of a following shore power supply system, which may be arranged on the shore side, for example a quay 30, for supplying power to a ship 10. The dock 30 is provided with a plurality of power supply interfaces 31, and the power supply interfaces 31 are arranged along the length direction of the ship 10 on the shore side for providing power for the ship 10.

Fig. 2 is a schematic structural diagram of the mobile carrier 20, the position locating module 24 and the power supply module 21. For convenience of explanation, the vertical direction shown in fig. 2 is taken as the Z-axis direction, the direction in which the power supply module 21 approaches or separates from the ship 10 is taken as the Y-axis direction, and the left-right direction in fig. 2 is taken as the X-axis direction. In the present application, the movable carrier 20 may be disposed at a suitable position away from the edge of the dock 30, and may be movable along the X-axis direction (i.e., along the length of the dock 30). As shown in fig. 1 and 2, the mobile-follower shore power supply system includes a mobile carrier 20, a position-locating module 24, a moving module 23, a power supply module 21, and a position-follower module (shown in fig. 3). The moving carrier 20 is arranged on the bank side, and the bottom of the moving carrier is provided with a traveling mechanism for driving the moving carrier 20 to travel on the bank side. The walking mechanism comprises a walking wheel 29 arranged at the bottom of the moving carrier 20 and a walking driving motor (not shown in the figure) for driving the walking wheel 29 to rotate, and the walking driving motor is connected to the walking wheel 29 to drive the moving carrier 20 to move. In use, the power supply module 21 of the mobile carrier 20 can be interfaced with any one of the power supply interfaces 31 disposed at the dock 30 via the power supply cable 22, and the other part of the power supply cable 22 is wound on the reel of the mobile carrier 20.

A position location module 24 is connected to the mobile carrier 20 for determining position information of the powered module 11 of the vessel 10. In some embodiments, the position locating module 24 may include a camera disposed on the mobile carrier 20 (preferably disposed on the power supply module 21) to capture or capture an image of the power receiving module 11 of the ship 10, and the position information of the power receiving module 11 is obtained through an image analysis method. For another example, the position locating module 24 may be a laser locator or the like, and the position information of the power receiving module 11 is determined by means of laser locating. The position information may be the position information of the power receiving module 11 itself, or may be the position information of another marker (for example, a target map) provided on the ship 10, and the position information of the power receiving module 11 is calculated from the distance between the marker and the power receiving module 11.

Fig. 3 is a schematic view of the internal structure of the moving carrier 20. As shown in fig. 3, the moving carrier 20 is of a generally frame structure provided with a guide portion 27 extending in a vertical direction. A position location module 24, a movement module 23, a power supply module 21 and a position following module are arranged within the mobile carrier 20.

The moving module 23 includes a lifting frame 232 and a telescopic frame 231. The lifting frame 232 is movably connected to the moving carrier 20 in a vertical direction. The telescopic frame 231 is movably connected to the lifting frame 232 in the horizontal direction, so that the telescopic frame 231 can move in a direction (Y-axis direction) approaching or separating from the ship 10 and move up and down (Z-axis direction) along with the lifting frame 232, thereby realizing position adjustment in the Y-axis direction and the Z-axis direction.

Fig. 4 is a schematic structural diagram of the telescopic frame 231, as shown in fig. 4, the telescopic frame 231 is a substantially square frame structure, two sides of the frame structure are provided with telescopic slots 2311 extending along the horizontal direction, and the opening direction of the telescopic slots 2311 is outward for movably connecting with the lifting frame 232, so that the telescopic frame 231 can extend or retract along the Y-axis direction relative to the lifting frame 232.

Fig. 5 is a schematic structural diagram of the lifting frame 232, and as shown in fig. 5, the lifting frame 232 is a substantially cubic frame structure. In the present embodiment, the guide groove 2321 and the guide wheel 2322 are provided at each of eight vertexes of the lifting frame 232. The guide slot 2321 opens outward to receive the guide portion 27 of the moving carrier 20. A plurality of guide wheels 2322 may be disposed at each vertex of the lifting frame 232, and the guide wheels 2322 are rotatably connected to the lifting frame 232 and rollably abut against the guide 27 from different directions, so that the lifting frame 232 is closely attached to the guide 27 and movably connected to the moving carrier 20 along the guide 27. In addition, the lifting frame 232 is provided with a plurality of sets of rollers 2312, and the rollers 2312 are rotatably disposed at the side surfaces of the lifting frame 232 and are used for being inserted into the telescopic grooves 2311 of the telescopic frame 231, so that the telescopic frame 231 can be movably connected to the lifting frame 232 through the rollers 2312 and being inserted into the telescopic grooves 2311, and thus can be telescopically moved in the lifting frame 232.

With continued reference to fig. 3-5, the position following module includes a telescopic driving mechanism and a lifting driving mechanism respectively connected to the position positioning module 24. The telescopic driving mechanism is used for driving the telescopic frame 231 to move along the Y-axis direction (the maximum extending distance is 3.5m) according to the position information, the lifting driving mechanism is used for driving the lifting frame 232 to move along the vertical direction (the Z-axis direction) (the lifting range is 0.5-6.5 m) according to the position information, and the power supply module 21 is connected with the power receiving module 11 in an inserting mode to supply power to the ship 10 through the driving of the telescopic driving mechanism and the lifting driving mechanism.

The telescopic driving mechanism includes a telescopic driving motor 26 and a telescopic rack 261 extending in a horizontal direction, and the telescopic rack 261 is provided to the lifting frame 232 and extends in the Y-axis direction. The telescopic driving motor 26 is disposed on the telescopic frame 231 and the telescopic driving motor 26 drives the driving gear 263 to rotate through the transmission shaft 262, and the driving gear 263 is engaged with the telescopic rack 261 to drive the telescopic frame 231 to extend or retract from the lifting frame 232.

The lifting driving mechanism comprises a lifting driving motor 25, a rotating shaft 252 and a lifting chain 251, the lifting driving motor 25 is arranged on the top of the moving carrier 20, the rotating shaft 252 is arranged on the top of the moving carrier 20 and is rotationally connected to the moving carrier 20, and two chain wheels are arranged on the rotating shaft 252. The lifting chain 251 bypasses the chain wheel of the lifting driving motor 25 and the chain wheel arranged on the rotating shaft 252 and is connected with the lifting frame 232, so that the lifting driving motor 25 can drive the lifting frame 232 to move in the vertical direction through the lifting chain 251 when rotating.

The power supply module 21 corresponds to the power receiving module 11 of the ship 10, is disposed at an end of the telescopic frame 231, is connected to the power supply interface 31 on the shore side through the power supply cable 22, and is configured to move along with the telescopic frame 231 until being plugged into the power receiving module 11 for supplying power. As shown in fig. 2 and 3, the power supply module 21 is movably connected to the expansion frame 231 in a lateral direction (i.e., an X-axis direction in fig. 2) horizontally perpendicular to an expansion direction of the expansion frame 231. Specifically, the power supply module 21 is connected to the telescopic frame 231 through a slide rail 218 and a slide rail 217 extending along the transverse direction, the slide rail 217 is disposed at the bottom of the power supply module 21, and the slide rail 218 is disposed at the telescopic frame 231 along the transverse direction, so that the power supply module 21 can be movably connected to the telescopic frame 231 along the transverse direction through the slide rail 217 and the slide rail 218. Wherein, the moving range of the power supply module 21 along the X-axis direction (transverse direction) is ± 300 mm. In addition, the power supply module 21 further includes a lateral driving motor 28 and a lateral rack 281, the lateral rack 281 extends in the lateral direction and is provided to the expansion frame 231, the lateral driving motor 28 is connected to the power supply module 21, and a driving gear 263 is engaged with the lateral rack 281 to drive the power supply module 21 to move in the lateral direction.

Fig. 6 is a schematic structural diagram of the power supply module 21, and as shown in fig. 6, the power supply module 21 includes a first fixing member 213, a first elastic member 214, and a first mounting plate 212. The first fixing member 213 is substantially a triangular frame structure, and a plane of the first fixing member 213 and the first mounting plate 212 are disposed in parallel, and the bottom is movably connected to the telescopic frame 231 through the sliding block 217 and the sliding rail 218. The first fixing member 213 is further provided with a first opening 2131 for passing through the power supply cable 22, and the power supply cable 22 passes through the first opening 2131 to be connected to the power supply plug 216.

The first elastic member 214 has one end connected to the first fixing member 213 and the other end connected to the first mounting plate 212. The first elastic member 214 may be a compression spring, and the number thereof may be one or more, preferably 4 to 6. The first elastic member 214 is disposed between the first mounting plate 212 and the first fixing member 213, and has one end connected to the first mounting plate 212 and the other end connected to the first fixing member 213. The power supply plug 216 and the guide post 211 are connected to the first mounting plate 212, wherein the end of the guide post 211 far from the first mounting plate 212 has a cross section decreasing along the direction far from the first mounting plate 212 to form a cone-like structure, so as to be inserted into the power receiving module 11 of the ship 10 in a guiding manner.

The baffle 215 is attached to the first mounting plate 212 and protrudes from the surface of the first mounting plate 212. The baffle 215 is a generally closed curved surface connected end to end and surrounds the power plug 216 and the guide post 211. When the power supply module 21 is plugged into the power receiving module 11 of the ship 10, the power supply plug 216 is completely inserted into the power receiving female socket 111, and at this time, the upper surfaces of the power supply plug 216 and the power receiving female socket 111 are located in the closed space of the baffle 215, so that the dustproof and waterproof effects are achieved.

Fig. 7 is a schematic structural diagram of the power receiving module 11, and as shown in fig. 7, the power receiving module 11 includes a second fixing member 113, a second elastic member 114, and a second mounting plate 112. The second fixing member 113 is provided with a power receiving female socket 111 and a guide hole 115 corresponding to the guide post 211, and the second fixing member 113 and the second mounting plate 112 are oppositely disposed. In the present embodiment, the second fixing member 113 is fixed to a side surface of the ship 10. The second fixing member 113 may be a partial region of the hull, and is integrally disposed with the hull; the second fixing member 113 may be separately provided and coupled to the hull. In addition, the second fixing member 113 is further provided with a second opening 1131 for passing through the power receiving cable, and the power receiving cable passes through the second opening 1131 to be connected to the power receiving female socket 111. The second mounting plate 112 is substantially flat and disposed opposite to the second fixing member 113, and the second elastic member 114 is one or more, preferably 4 to 6. The second elastic member 114 may be a compression spring, and is disposed between the second mounting plate 112 and the second fixing member 113, and has one end connected to the second mounting plate 112 and the other end connected to the second fixing member 113. The power receiving female socket 111 is used for being electrically connected with a power receiving cable, and the specification of the guide hole 115 corresponds to the guide column 211 and is used for being plugged with the guide column 211.

In use, receiving a command to power the ship 10, the mobile carrier 20 moves and the position locating module 24 finds and determines the position information of the powered module 11 on the target ship 10.

Then, the moving carrier 20 is driven to travel to the power supply interface 31 closest to the power receiving module 11, the power supply cable 22 is butted against the power supply interface 31, and then the power supply cable 22 is carried to move close to the power receiving module 11 of the ship 10.

Then, the position following module controls the lifting driving mechanism to drive the lifting frame 232 to move along the Z-axis direction and controls the telescopic driving mechanism to drive the telescopic frame 231 to move accurately along the Y-axis direction to be close to the power receiving module 11 and the power supply module 21 to move along the X-axis direction according to the position information of the power receiving module 11, so that the power supply module 21 is aligned to the power receiving module 11, and the butt joint is completed.

In the charging process, the position positioning module 24 and the position following module continuously work in a cooperative mode, and the power supply module 21 is driven to swing along with the power receiving module 11 in real time according to the floating of the ship body, so that reliable connection is realized.

The power supply cable 22 is dragged to move by the mobile carrier 20, after the position locating module 24 determines the position information of the power receiving module 11 of the ship 10, the mobile module 23 is driven to move by the position following module, so that the power supply module 21 can be plugged into the power receiving module 11 of the ship 10, the labor intensity of operators can be effectively reduced, the operation efficiency of charging the ship 10 is improved, the docking time of the ship 10 is effectively utilized for charging, the time and labor are saved, the labor and the time cost are reduced, and the economic benefit is increased.

Moreover, in the charging process, when the swing amplitude of the ship 10 is large, the position locating module 24 can detect and update the position information of the power receiving module 11 in real time and feed back the position information to the position following module, and the position following module adjusts the position of the power supply module 21 in real time according to the position information so as to follow the swing of the ship 10 to realize reliable connection and power supply.

Further, the above-mentioned movement-following shore power supply system fixes the power supply plug 216 and the guide post 211 to the first mounting plate 212, and the first mounting plate 212 is connected to the first fixing member 213 through one or more first elastic members 214, so that the first mounting plate 212 and the first fixing member 213 are elastically connected; similarly, the power receiving female socket 111 of the power receiving module 11 may also be elastically connected to the second fixing element 113 through the second elastic element 114. Thus, in the process of inserting the electrode of the power supply module 21 into the power receiving female socket 111 or after inserting, the ship 10 is allowed to swing slightly in the power supply process, the omnibearing floating of the connection structure is realized, and the reliability of inserting between the power supply module 21 and the power receiving module 11 is improved.

In the several embodiments provided in the present invention, it is apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. The terms first, second, etc. are used to denote names, but not any particular order.

Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.