CN103094813A - Fully automatic butted system of electrode and method through mechanical arm - Google Patents
Fully automatic butted system of electrode and method through mechanical arm Download PDFInfo
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- CN103094813A CN103094813A CN2013100351535A CN201310035153A CN103094813A CN 103094813 A CN103094813 A CN 103094813A CN 2013100351535 A CN2013100351535 A CN 2013100351535A CN 201310035153 A CN201310035153 A CN 201310035153A CN 103094813 A CN103094813 A CN 103094813A
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Abstract
The invention relates to the technical field of an electric car charging, in particularly to a fully automatic butted system of electrode and a method through a mechanical arm. The system can manufacture an electrode assembly which can be fully automatic and safe butted and enables the user of the electric car to enjoy the quick and safe charging service. Compared with the prior art, the fully automatic butted system of an electrode and a method through a mechanical arm has the advantages that better flexibility can be achieved and the automatic docking of two sets of electrodes can be achieved on the condition that the other set of the electrode is in the working range of the mechanical arm without the requirement for a fixed relative location of the electrode combination. Accidents can be reduced caused in the process of connecting the electricity through the automation of connecting the electricity. The automatic docking of the electrode can be achieved within certain realms facilitating greatly the removable electric equipment.
Description
Technical field
The present invention relates to the electric vehicle charging electro-technical field, particularly a kind of system and method for realizing the full-automatic docking of electrode by mechanical arm.
Background technology
Along with growth in the living standard, automobile quantity increases, and vehicle burning fuel oil causes the air-polluting problem more and more serious, and the drawback of traditional energy highlights day by day.Oil electric mixed dynamic or all-electric gas car are regarded as solving the outlet of air pollution problems inherent, and related industry has also obtained the support energetically of national policy.From electric automobile was put on market, how easily the electric automobile electric energy supplement was the problem of industry research always.
Promulgated by the State Council (2012) 22 " energy-conservation with new-energy automobile industrial development planning (2012-2020) " cultivate and develop energy-conservation with the new-energy automobile industry as a vital task of accelerating transformation of the mode of economic development, requirement each place government coordinates quickening to cultivate and development new-energy automobile industry, and propelling vehicle dynamical system motorized makes the transition.Although electric automobile is subject to unprecedented attention, the charging problem of electric automobile is limiting the universal fast of electric automobile always.
At present, when electric automobile need to charge, the driver need to take out the charging cable in car, was connected to special-purpose charging inlet and charged, and this action need manually carries out.Charging inlet is the place that staff can touch mostly, and charging process often needs time of growing, and in order to ensure the safety of charging, overall process also needs someone to keep an eye on.
Summary of the invention
In order to solve the problem of prior art, the invention provides a kind of system and method for realizing the full-automatic docking of electrode by mechanical arm, the electrode combination that it produces the docking of energy automatic safety makes the electric automobile user can enjoy quick, safe charging service.
The technical solution adopted in the present invention is as follows:
a kind of system that realizes the full-automatic docking of electrode by mechanical arm, comprise vehicle-mounted plug device, mechanical arm, charging pile socket device and control system thereof, mechanical arm one end is connected on charging pile, the other end connects the charging pile socket device, on described joint of mechanical arm, angular displacement sensor is housed, the controlled system of the action of described mechanical arm controls, described angular displacement sensor is used for helping control system to grasp the attitude of mechanical arm, described vehicle-mounted plug device is realized radio contact by wireless communication system and control system, be provided with the image recognition navigation system in described charging pile socket device, described image recognition navigation system is used for helping control system to adjust mechanical arm, thereby driving charging pile socket device and vehicle-mounted plug device achieves a butt joint, be provided with the ultrasonic wave transmitter module on described vehicle-mounted plug device, consist of ultrasonic positioning system with the ultrasonic wave receiver module that is arranged on charging pile, described ultrasonic positioning system be used for to help control system adjust mechanical arm described charging pile socket device move to vehicle-mounted plug device near.
The charging pile socket device comprises the protection housing; be provided with float electrode mechanism in described protection housing; described float electrode mechanism is made of execution unit, driver part and electrode; described execution unit changes the position of described electrode with the power that driver part was provided; described protection housing below has a housing with vehicle-mounted plug device to coordinate the opening that docks, and described opening part is provided with can movable cover plate.
Driver part connects described execution unit by wireway, described driver part comprises air pump and vent valve, described execution unit comprises piston, cylinder and spring, described wireway is used for the gas-pressurized that air pump produces is transported to described cylinder, described vent valve is used for discharging the gas-pressurized in wireway, and described spring is used for making described piston reset.
The opening part of charging pile socket device is provided with the pressure sensitive device, on the contact-making surface when several pressure sensitive devices are evenly distributed on the charging pile socket device and dock with vehicle-mounted plug device.
Be provided with the puff prot of airflow mechanism in the charging pile socket device, described airflow mechanism also comprises air blast, and described air blast connects described puff prot by wireway.
Vehicle-mounted plug device comprises columnar protection housing; described protection enclosure interior is columniform flexible plug; be provided with the electrode of arranging up and down on described flexible plug; different electrodes covers one whole section face of cylinder of differentiated levels; be provided with the insulating material isolation between electrode; described protection housing top internal diameter is smaller; coordinate docking with the circular open below described charging pile socket device; flexible plug stretches out and retracts in can be along axis direction from shell, and expanding-contracting action is realized by electric executing part.
A kind of method that realizes the full-automatic docking of electrode by mechanical arm comprises the following steps:
A, the vehicle-mounted plug device that is arranged on the electric automobile top send wireless signal by wireless communication system and propose the charging request to charging pile, and charging pile is received and carried out charging after signal and prepare and keep intercommunication;
B, be connected to mechanical arm on charging pile under the help of ultrasonic positioning system, control system is controlled the motor in each joint of mechanical arm, makes the charging pile socket device that is arranged on the mechanical arm end near vehicle-mounted plug device;
C, charging pile socket device near vehicle-mounted plug device after, electric light source in the charging pile socket device is opened, the camera that arranges in the charging pile socket device photographed the mark of preprinting on vehicle-mounted plug device surface, control system is further adjusted the position of charging pile socket device under the help of image recognition navigation system, until the docking of accurate and vehicle-mounted plug device;
It is external that the flexible plug of D, vehicle-mounted plug device stretches out containment vessel, and the electrode of float electrode mechanism and the electrode of flexible plug are connected, thereby begin charging;
After E, charging are completed; the power switch of charging pile disconnects; the electrode of float electrode mechanism and the electrode of flexible plug disconnect; flexible plug is retracted in the protection housing; charging pile socket device direction is from bottom to top left vehicle-mounted plug device; the removable cover of charging pile socket device closes rapidly, and mechanical arm is amounted to, and waits for next task.
In step B, the charging pile socket device specifically comprises near the action of vehicle-mounted plug device the top that first moves to vehicle-mounted plug device, more from top to bottom slowly near vehicle-mounted plug device.
In step C, also comprise the step of the airflow mechanism that starts the charging pile socket device, airflow mechanism is used for removing impurity and the moisture on vehicle-mounted plug device surface.
a kind of system that realizes the full-automatic docking of electrode by mechanical arm, comprise vehicle-mounted plug device, mechanical arm, charging pile socket device and control system thereof, it is characterized in that, described mechanical arm one end is connected on car body, the other end connects vehicle-mounted plug device, on described joint of mechanical arm, angular displacement sensor is housed, the controlled system of the action of described mechanical arm controls, described angular displacement sensor is used for helping control system to grasp the attitude of mechanical arm, described charging pile socket device is realized radio contact by wireless communication system and control system, be provided with the image recognition navigation system in described charging pile socket device, described image recognition navigation system is used for helping control system to adjust mechanical arm, thereby drive vehicle-mounted plug device and the charging pile socket device achieves a butt joint, described charging pile socket device is provided with the ultrasonic wave transmitter module, consist of ultrasonic positioning system with the ultrasonic wave receiver module that is arranged on automobile, described ultrasonic positioning system be used for to help control system adjust mechanical arm described vehicle-mounted plug device move to the charging pile socket device near.
Of the present inventionly a kind ofly realize that by mechanical arm the system of the full-automatic docking of electrode comprises following part:
1, mechanical arm is a multi-joint mechanical arm, and its degree of freedom increases with joint quantity and increases, and base provides supporting force, and far-end is connecting the charging pile socket device, also keeps wireway, power line and other pipeline in the mechanical arm of hollow.Mechanical arm can make the charging pile socket device progressively near vehicle-mounted plug device by the coordination in each joint, and the docking of the shell of accurate and vehicle-mounted plug device.
2, charging pile socket device has a protection housing, and the parts such as float electrode mechanism, camera, puff prot are housed in housing.There is an opening below, and opening part is provided with a removable cover, and cover plate closes when non operating state, and internal unit is shielded.
3, vehicle-mounted plug device, integral body is cylindrical, the top is slightly protruding; cylindrical shape protection housing is arranged, and housing top is slightly narrow, herein just with the circular open docking of charging pile socket device below; after docking, both can not produce relative displacement in the horizontal direction, thereby play stabilization.Whole up-narrow and down-wide design facilitates water and impurity by the self gravitation landing, also is conducive to the charging pile socket device and docks with the shell of vehicle-mounted plug device from top to bottom.Flexible plug stretches out and retracts in can be along axis direction from shell, and expanding-contracting action is realized by electric executing part.Electric executing part comprises screw rod and is contained in the transmission device that the nut of flexible plug bottom consists of, provide power to make the screw rod rotation by electro-motor, utilize the engagement of screw rod and nut rotatablely moving of screw rod to be converted to the rectilinear motion of nut, thereby drive the motion of flexible plug, stretch out or retract by the decision that turns to of screw rod.Shell is useful on fixing base, and control circuit is arranged in base, and vehicle-mounted plug device needs external power source to work.
In the time of in flexible plug retraction shell, the seal washer that is arranged between flexible plug exposed parts and shell is strengthened seal, helps to prevent that outside rainwater from infiltrating.Whole vehicle-mounted plug device outer surface all scribbles hydrophobic coating, makes without water stained on its surface.Two electrodes of arranging are up and down arranged on flexible plug, and different electrodes covers one whole section face of cylinder of differentiated levels, and the insulating material isolation is arranged between electrode, and electrode is connected with the charging cable of electric motor car by the internal voids of cable through vehicle-mounted plug device.
4, airflow mechanism mainly comprises air blast, wireway and is arranged on the several parts of puff prot of charging pile socket device.The air-flow that is produced by air blast work is delivered to puff prot ejection in the charging pile socket device by wireway.Can install air strainer additional before fan inlet, filter out airborne impurity and water droplet.The air-flow that airflow mechanism produces has a lot of purposes, comprises the surface of clean vehicle-mounted plug device, and interior each parts of cleaning charging pile socket device prevent that outside wind and rain is blown in the charging pile socket device, and the heat that produces when taking away each component working etc.
5, float electrode mechanism, be positioned at the charging pile socket device, be made of execution unit, driver part and electrode, the power that execution unit provides with driver part changes the position of electrode, and electrode is connected with the power switch of charging pile by the wire of ensconcing in mechanical arm.After the shell of charging pile socket device and vehicle-mounted plug device accurately docks, flexible plug stretches out and enters in the charging pile socket device in the shell of vehicle-mounted plug device, this moment several float electrodes mechanism electrode just with the electrode alignment on flexible plug but do not contact, the action of the execution unit of float electrode mechanism can be pushed the electrode of float electrode mechanism to the electrode of flexible plug, thereby realizes the connection of two arrays of electrodes.When execution unit resetted, two arrays of electrodes disconnected.
6, navigation system comprises ultrasonic positioning system and image recognition navigation system.
6.1, ultrasonic positioning system, under certain air pressure and temperature, sound wave has stable propagation velocity, just can extrapolate distance by calculating the Acoustic Wave Propagation required time of segment distance, with the ultrasonic wave implementation space locating the geometry calculating of distance-based.To be positioned a little as launch point, and select 3 or above different reference points as acceptance point, once emission obtains minimum 3 distances, can be calculated launch point with respect to the coordinate of reference point according to how much.The position that needs to follow the tracks of charging pile socket device and vehicle-mounted plug device in this invention, the ultrasonic wave transmitter module is installed on vehicle-mounted plug device shell and charging pile socket device respectively, and receiver module can be located on the inactive object such as the base, charging pile shell of mechanical arm.
6.2, the image recognition navigation system, the charging pile socket device will be accurately with the shell docking of vehicle-mounted plug device, it is helpful obtaining more locating information from vehicle-mounted plug device.Be provided with a camera in the charging pile socket device, there is electric light source on the side, in the certain limit of charging pile socket device above vehicle-mounted plug device, camera just can photograph the overall profile of vehicle-mounted plug device and be printed in advance the mark at vehicle-mounted plug device top.Overall profile, preprint the information such as size, direction and center position that are marked at camera imaging and be analyzed with the relevant information that system stores in advance, can draw the deviation oscillation of distance, charging pile socket device opening and the vehicle-mounted plug device shell of camera and vehicle-mounted plug device, the information such as direction of vehicle-mounted plug device.System can accurately control mechanical arm in conjunction with these information, to realize the accurate docking of charging pile socket device and vehicle-mounted plug device.
7, wireless communication system
Control system will be brought into play overall adjusting function, the each several parts such as mechanical arm, charging pile socket device, vehicle-mounted plug device must have the signal contact with control system as controlled device, vehicle-mounted plug device and charging pile socket device are in contactless state before docking, this means that control system can not be in the mode of wired connection with all controlled device signal transmissions, no matter master control system is located at any one side, realize that with another side signal transmits the competence exertion adjusting function always need to use wireless communication system.The effect of wireless communication system comprises remote control, identification, transfer of data etc.
8, control system
Power-supply system, data accumulating equipment, central processing unit and hardware device that some are supporting are arranged in control system.The transducer of mechanical arm and charging pile socket device is more, data processing amount is large, normally main frame is located at here, be widely read information with the mode of wired connection and mechanical arm and charging pile socket device, load onto respectively radio receiving transmitting module on main frame and vehicle-mounted plug device, control system realizes radio contact by wireless communication system and vehicle-mounted plug device.When the present invention was used on charging pile, main frame can combine with the control circuit of charging pile, realizes hardware resource sharing on the one hand, better coordinated on the other hand the functions such as electrode docking and charging.
The beneficial effect that technical scheme provided by the invention is brought is:
1, the present invention realizes connecing in the electric motor car charging process automation of electricity, has broken away from the safety problem that staff connects the worry of electricity operation and avoids bringing thus.
2, the electrode combination in the present invention can be worked in the palp scope of mechanical arm, and providing great convenience property greatly facilitates the removable power consumption equipment such as electric motor car, and indirectly promotes the universal of electric motor car.
3, the present invention has good compatibility and dilatancy.For example, for the electric motor car that will use electrode combination in system of the present invention, installation be vehicle-mounted plug device, can not affect internal structure during installation, be easy to the repacking; Mechanical arm on charging pile can improve the flexibility of mechanical arm and broaden the scope of work by the length that increases joint quantity and the every joint mechanical arm of lengthening.
Description of drawings
In order to be illustrated more clearly in the technical scheme in the present invention, during the below will describe embodiment, the accompanying drawing of required use is done to introduce simply, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is a kind of overall structure schematic diagram (embodiment 1) of realizing the system of the full-automatic docking of electrode by mechanical arm of the present invention;
Fig. 2 is a kind of structural representation (embodiment 1) of realizing the charging pile socket device of the system that electrode automatically docks by mechanical arm of the present invention;
Fig. 3 is a kind of structural representation (embodiment 1) of realizing the vehicle-mounted plug device of the system that electrode automatically docks by mechanical arm of the present invention;
Fig. 4 is the structural representation (embodiment 1) of the float electrode mechanism of a kind of system that realizes the full-automatic docking of electrode by mechanical arm of the present invention;
Fig. 5 is a kind of overall structure schematic diagram (embodiment 3) of realizing the system of the full-automatic docking of electrode by mechanical arm of the present invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
Embodiment one:
as shown in Figure 1, comprise vehicle-mounted plug device 1, mechanical arm 2, charging pile socket device 3 and control system thereof, mechanical arm 2 one ends are connected on charging pile 4, the other end connects charging pile socket device 3, described mechanical arm is equipped with angular displacement sensor on 2 joints, the controlled system of the action of described mechanical arm 2 controls, described angular displacement sensor is used for helping control system to grasp the attitude of mechanical arm 2, described vehicle-mounted plug device 1 is realized radio contact by wireless communication system and control system, be provided with the image recognition navigation system in described charging pile socket device 3, described image recognition navigation system is used for helping control system to adjust mechanical arm 2, thereby driving charging pile socket device 3 achieves a butt joint with vehicle-mounted plug device 1, be provided with the ultrasonic wave transmitter module on described vehicle-mounted plug device 1, consist of ultrasonic positioning system with the ultrasonic wave receiver module that is arranged on charging pile 4, described ultrasonic positioning system be used for to help control system adjust mechanical arm 2 described charging pile socket device 3 move to vehicle-mounted plug device 1 near.
As shown in Figure 2; charging pile socket device 3 comprises protection housing 31; be provided with float electrode mechanism 32 in described protection housing 31; described float electrode mechanism 32 is made of execution unit, driver part and electrode; described execution unit changes the position of described electrode with the power that driver part was provided, the opening part of described protection housing 31 is provided with can movable cover plate 33.
Accompanying drawing 4 is structure charts of float electrode mechanism 32, the execution unit of float electrode mechanism is made of piston 321, cylinder 322 and the spring leaf 323 that is used for resetting, one end of cylinder 322 and spring leaf 323 borrows the inwall 324 of charging pile socket device fixing, 325 piston rods with piston 321 of the electrode of float electrode mechanism are connected, this execution unit with gas-pressurized as power source.Air pump 326, inflator 327, intake valve 328 and vent valve 329 consist of driver part, air pump 326 work also are stored in a certain amount of gas-pressurized in inflator 327 gas pressurized, when vent valve 329 is closed and intake valve 328 when open, gas-pressurized is delivered in the cylinder 322 of execution unit by conduit, air pressure pushing piston 321 motion of turning right, in the situation that the flexible plug of vehicle-mounted plug device puts in the charging pile socket device, above-mentioned action makes the electrode 325 of float electrode mechanism be connected with the electrode on flexible plug; When intake valve 328 cuts out and vent valve 329 when open, cylinder 322 internal gas pressures in execution unit are reduced to extraneous the same, the pulling force of spring 323 makes piston 321 toward left movement (resetting), and this action separates the electrode 325 of float electrode mechanism and electrode on flexible plug.
In the present embodiment, the electrode 325 of float electrode mechanism can form by some thin conductor silks are staggered, has certain elasticity.Also can be by some ends crooked and have flexible strip or patch conductor consists of.
As shown in Figure 2, be provided with the puff prot 34 of airflow mechanism in charging pile socket device 3, described airflow mechanism comprises air blast, and described air blast connects described puff prot 34 by the wireway that is arranged in mechanical arm 2.
As shown in Figure 3; vehicle-mounted plug device 1 outer setting has columnar protection housing 11; inside is columniform flexible plug 12; the electrode 13 of arranging is up and down arranged on described flexible plug 12; different electrodes covers one whole section face of cylinder of differentiated levels; 13, electrode has insulating material 14 isolation; described protection housing 11 tops are slightly narrow; just with the circular open docking of charging pile socket device 3 belows; flexible plug 12 stretches out and retracts in can be along axis direction from shell, and expanding-contracting action is realized by electric executing part.Electric executing part comprises screw rod 15 and is contained in the transmission device that the nut 16 of flexible plug 12 bottoms consists of, provide power to make screw rod 15 rotations by electro-motor 17, utilize the engagement of screw rod 15 and nut 16 rotatablely moving of screw rod 15 to be converted to the rectilinear motion of nut 16, thereby drive the motion of flexible plug 12, stretch out or retract by the decision that turns to of screw rod 15.
When flexible plug 12 was retracted, exposed parts was provided with seal washer with the place that protection housing 11 contacts, and the outer surface of vehicle-mounted plug device 1 is coated with hydrophobic coating.
Multi-joint mechanical arm 2 in the present embodiment also can be in conjunction with structures such as rocking arm, telescopic arms, can complete various rotations, swing, movement, flexible or compound motion and realize the action of appointment, with position and the posture of the charging pile socket device that changes mechanical arm tail end.
Hydrophobic coating is coated on charging pile socket device surface in the present embodiment, and it is not got wet.in the action and the process of vehicle-mounted plug device docking of charging pile socket device by mechanical arm, if position or angle have deviation, the a certain side of charging pile socket device opening can more early be encountered the housing of vehicle-mounted plug device, opening part setting pressure induction installation at the charging pile socket device, several pressure sensitive devices are evenly distributed on contact-making surface when docking with vehicle-mounted plug device, can use waterproof light-touch switch and thin film switch as induction installation, system can be adjusted accordingly mechanical arm according to the folding situation of these switches, charging pile socket device energy and vehicle-mounted plug device are accurately docked, and monitoring the docking after stressing conditions.The inboard of charging pile socket device opening also has leakage hole, after charging pile socket device and the docking of vehicle-mounted plug device, the air-flow that air blast produces is difficult for flowing to outside, always Jiu Shi these apertures take away in order to ensure there being a certain amount of air flow energy to flow out outside the charging pile socket device heat that charging pile socket device internal heat generation parts produce.
The present embodiment can also be at the interior installation infrared temperature measurement module of charging pile socket device 3, and facing to the contact-making surface of two arrays of electrodes, the variations in temperature during to work is monitored.As accompanying drawing 2, charging pile socket device right half part also has a lot of spaces, and removable cover 33 and other light and handy parts also can be placed in herein.
Charging pile socket device 3 outsides can also fill relay indicating light and screen, are in certain operating state with prompting other people electrode combination, avoid unnecessary security incident.
The design of arranging two electrodes on the flexible plug in the present embodiment is an embodiment, and the quantity of electrode is not limited to two, can increase according to actual needs number of electrodes.
Airflow mechanism in the present embodiment, this section of the puff prot wireway from air blast to the charging pile socket device can be ensconced in mechanical arm, if the joint sealing property of mechanical arm is enough good, also can utilize mechanical arm self as wireway.Wireway can be drawn wireway, and the air flow energy supply many places that make that an air blast job produces are local, and for example drawing a wireway has the place of heat generating components to help to dispel the heat to the transformer of power-supply system, data processor and other.
The electrode surface camber of float electrode mechanism, this be because will with columniform flexible plug on electrode keep large tracts of land to contact as far as possible.If two cube electrodes are all hard, when the surface exists foreign material or electrode to misplace a little, thereby can producing the space when contact, two hard and uneven surfaces cause contact area to reduce.For fear of this phenomenon, can use resilient material as electrode, for example with the staggered agglomerate that forms of a large amount of thin conductive filaments, this structure makes it have elasticity, and effect is as the cushion of same conduction.Also available some have flexible thin wire electrode surface are made the hairbrush sample, and every thin wire end is crooked, when two electrode surfaces incomplete when parallel, different thin wires can be with the variation of contact-making surface in various degree bending; Also can use the resilient conducting strip of multi-disc instead, afterbody is crooked as above-mentioned thin wire, these conducting strips also can be with the variation of contact-making surface in various degree bending, also have same effect.These surface configurations can be intended to the electrode that external force changes to eliminate the gap of two interpolars and avoid loose contact.
Mechanical arm in the present embodiment all is equipped with angular displacement sensor on each joint, and main application is to measure the subtended angle (and corner) in each joint.Because the position of mechanical arm base and the length of every joint mechanical arm are constant; add that angle that each angular displacement sensor provides is enough to calculate by geometry the locus of the attitude of calculating mechanical arm mechanical arm base relative to the charging pile socket device, also can help the control system adjusting mechanical arm always to keep with the charging pile socket device of guaranteeing mechanical arm tail end that Open Side Down.
in the present embodiment, all directions at vehicle-mounted plug device shell all are provided with the ultrasonic wave transmitter module, make ultrasonic signal can cover any one angle, before no matter electric motor car is parked in charging pile with what direction, ultrasonic wave receiver module on charging pile also can receive the ultrasonic signal from vehicle-mounted plug device. because the charging pile socket device that connects mechanical arm can be determined its locus by the angle in mechanical arm each joint and the length of Ge Jie mechanical arm, so the charging pile socket device also can be used as a reference point, the ultrasonic wave receiver module can be installed on the charging pile socket device, make navigation system more perfect. some benefit of receiver module is installed on the charging pile socket device, because the charging pile socket device is walked the place ahead at mechanical arm usually, pass to this section distance sound wave of charging pile socket device from vehicle-mounted plug device and can not stopped by mechanical arm.
vehicle-mounted plug device in the present embodiment is except can directly being fixed on roof, also can install mechanical device additional between vehicle-mounted plug device and car body, when non operating state, vehicle-mounted plug device can ensconce car body some safety and hidden place (under the protecgulum as car), when automobile need to charge, the mechanical device that installs additional (comprises movement by default action, rotate, lifting, swing and composite move) vehicle-mounted plug device is not suitable for being fit on orientation with the docking of charging pile socket device with the azimuth transfer to of charging pile socket device docking from one, installing this mechanical device additional makes practicality and is attractive in appearancely all taken into account.
In the present embodiment, the transducer of mechanical arm and charging pile socket device is more, and data processing amount is large, and main frame is located at here, control system is widely read information with the mode of wired connection and mechanical arm and charging pile socket device, realizes radio contact over there by wireless communication system and vehicle-mounted plug device.
In the present embodiment, the execution unit of float electrode mechanism is not limited to pneumatic execution unit or the execution unit that surges, and also can select according to actual needs the execution unit such as electric executing part and use corresponding driver part.
The present invention is not limited to and uses aforesaid targeting scheme, can also use binocular vision location technology, based on the targeting schemes such as three-dimensional localization techniques of laser ranging.
Embodiment two: a kind of method that realizes the full-automatic docking of electrode by mechanical arm comprises the following steps:
1, the driver does the beginning that relevant button operation is confirmed the charging task in car, and at first vehicle-mounted plug device one side sends wireless signal and propose charging requirement to charging pile, and charging pile receives that signal can prepare and keep both sides' communication according to relevant information.
2, under the help of ultrasonic positioning system, control system makes the charging pile socket device near vehicle-mounted plug device by controlling the motor in each joint of mechanical arm, is generally all the top that first moves to vehicle-mounted plug device, more slowly close from top to bottom.
When 3, the charging pile socket device is very near vehicle-mounted plug device, air blast starts, and the removable cover of charging pile socket device is opened, and air-flow is from being arranged on the puff prot ejection in the charging pile socket device, blow to vehicle-mounted plug device, to remove impurity and the moisture on surface.
4, the electric light source in the charging pile socket device is opened, camera can photograph the mark of preprinting on vehicle-mounted plug device surface, control system is further adjusted the position of charging pile socket device under the help of image recognition navigation system, and slowly down motion, until the docking of accurate and vehicle-mounted plug device.
5, the flexible plug of vehicle-mounted plug device stretches out outside shell.
6, the electrode of float electrode mechanism and the electrode of flexible plug couple together.
7, the power switch of charging pile closes, and begins to provide electric energy.
8, complete charging or driver when stopping the charging task by operation requirements; the power switch of charging pile disconnects; the electrode of float electrode mechanism and the electrode of flexible plug disconnect; in flexible plug retraction containment vessel; charging pile socket device direction is from bottom to top left vehicle-mounted plug device, and the removable cover of charging pile socket device closes rapidly, and air blast quits work; mechanical arm is amounted to, and waits for next task.
In the present embodiment, a charging pile can be served many electric motor cars, the car owner only need to install vehicle-mounted plug device and need not to install a whole set of electrode combination equipment that comprises mechanical arm, the cost of the relative mechanical arm of cost of vehicle-mounted plug device is much lower, and number of users can make use cost reduce when increasing.
Charging pile socket device and vehicle-mounted plug device surface all apply hydrophobic material, make without water stained on its surface.And the air flow energy that airflow mechanism produces is kept out outside wind and rain and is crept in the charging pile socket device, guaranteed electrode connection procedure be connected after all be in the environment of a safety.So the present invention can provide round-the-clock service with out of doors, all has positive effect to producing and living.
Embodiment three:
As shown in Figure 5, the difference of the present embodiment and embodiment 1 is, mechanical arm 2 is installed between car body 5 and vehicle-mounted plug device 1, and charging pile socket device 3 directly is installed on charging pile 4.
a kind of system that realizes the full-automatic docking of electrode by mechanical arm of the present embodiment, comprise vehicle-mounted plug device, mechanical arm, charging pile socket device and control system thereof, mechanical arm one end is connected on car body, the other end connects vehicle-mounted plug device, on described joint of mechanical arm, angular displacement sensor is housed, the controlled system of the action of described mechanical arm controls, described angular displacement sensor is used for helping control system to grasp the attitude of mechanical arm, described charging pile socket device is realized radio contact by wireless communication system and control system, be provided with the image recognition navigation system in described charging pile socket device, described image recognition navigation system is used for helping control system to adjust mechanical arm, thereby drive vehicle-mounted plug device and the charging pile socket device achieves a butt joint, described charging pile socket device is provided with the ultrasonic wave transmitter module, consist of ultrasonic positioning system with the ultrasonic wave receiver module that is arranged on automobile, described ultrasonic positioning system be used for to help control system adjust mechanical arm described vehicle-mounted plug device move to the charging pile socket device near.
in the present embodiment, different directions at charging pile socket device 3 all is provided with the ultrasonic wave transmitter module, make the stopped scope before ultrasonic signal can cover charging pile, in whole scope of stopping, ultrasonic wave receiver module on automobile also can receive the ultrasonic signal from the charging pile socket device. because the angle by mechanical arm each joint and the length that respectively saves mechanical arm can determine that vehicle-mounted plug device is with respect to the locus of car body, so vehicle-mounted plug device also can be used as a reference point, the ultrasonic wave receiver module can be installed on vehicle-mounted plug device, make navigation system more perfect. some benefit of receiver module is installed on vehicle-mounted plug device, because common vehicle-mounted plug device is walked the place ahead at mechanical arm, pass to this section distance sound wave of vehicle-mounted plug device from the charging pile socket device and can not stopped by mechanical arm.
In the present embodiment, control system is located at mechanical arm 2 one sides, and control system can with mode and mechanical arm 2 and the vehicle-mounted plug device 1 transmission signal of wired connection, realize the signal transmission by wireless communication system and charging pile socket device 3.
The present invention is not limited to and uses aforesaid targeting scheme, can also use binocular vision location technology, based on the targeting schemes such as three-dimensional localization techniques of laser ranging.
Embodiment four:
A kind of method that realizes the full-automatic docking of electrode by mechanical arm comprises the following steps:
1, the driver does the beginning that relevant button operation is confirmed the charging task in car, and at first vehicle-mounted plug device one side sends wireless signal and propose charging requirement to charging pile, and charging pile receives that signal can prepare and keep both sides' communication according to relevant information.
2, under the help of ultrasonic positioning system, control system is by controlling the motor in each joint of mechanical arm, make vehicle-mounted plug device near the charging pile socket device that is arranged on charging pile, step is first to move to the below of charging pile socket device, more slowly close from the bottom up.
When 3, vehicle-mounted plug device is very near the charging pile socket device, air blast starts, and the removable cover of charging pile socket device is opened, and air-flow is from being arranged on the puff prot ejection in the charging pile socket device, blow to vehicle-mounted plug device, to remove impurity and the moisture on surface.
4, the electric light source in the charging pile socket device is opened, camera can photograph the mark of preprinting on vehicle-mounted plug device surface, control system further assists mechanical arm to adjust the position of vehicle-mounted plug device under the help of image recognition navigation system, and slowly up motion, until the open butt joint below accurate and charging pile socket device.
5, the flexible plug of vehicle-mounted plug device stretches out outside shell.
6, the electrode of float electrode mechanism and the electrode of flexible plug couple together.
7, the power switch of charging pile closes, and begins to provide electric energy.
8, complete charging or driver when stopping the charging task by operation requirements; the power switch of charging pile disconnects; the electrode of float electrode mechanism and the electrode of flexible plug disconnect; in flexible plug retraction containment vessel; vehicle-mounted plug device direction is from top to down left the charging pile socket device, and the removable cover of charging pile socket device closes rapidly, and air blast quits work; mechanical arm is amounted to, and waits for next task.
In the present embodiment, the charging pile socket device directly is contained on charging pile, mechanical arm is arranged on automobile, this design is suitable for use in the occasion that environmental beauty is had relatively high expectations, when car parks, headstock is partly very near with the distance of the charging pile before the parking stall, the mechanical arm that is arranged under automotive front or front cover for vehicle only needs shorter extending range just to dock with the charging pile socket device of charging pile, and charging pile is also unnecessary higher than roof, and is also just not too obvious when mechanical arm exposes.
Charging pile socket device and vehicle-mounted plug device surface all apply hydrophobic material, make without water stained on its surface.And the air flow energy that airflow mechanism produces is kept out outside wind and rain and is crept in the charging pile socket device, guaranteed electrode connection procedure be connected after all be in the environment of a safety.So the present invention can provide round-the-clock service with out of doors, all has positive effect to producing and living.
The above is only preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. realize by mechanical arm the system that electrode automatically docks for one kind, comprise vehicle-mounted plug device, mechanical arm, charging pile socket device and control system thereof, it is characterized in that, described mechanical arm one end is connected on charging pile, the other end connects the charging pile socket device, on described joint of mechanical arm, angular displacement sensor is housed, the controlled system of the action of described mechanical arm controls, described angular displacement sensor is used for helping control system to grasp the attitude of mechanical arm, described vehicle-mounted plug device is realized radio contact by wireless communication system and control system, be provided with the image recognition navigation system in described charging pile socket device, described image recognition navigation system is used for helping control system to adjust mechanical arm, thereby driving charging pile socket device and vehicle-mounted plug device achieves a butt joint, be provided with the ultrasonic wave transmitter module on described vehicle-mounted plug device, consist of ultrasonic positioning system with the ultrasonic wave receiver module that is arranged on charging pile, described ultrasonic positioning system be used for to help control system adjust mechanical arm described charging pile socket device move to vehicle-mounted plug device near.
2. a kind of system that realizes the full-automatic docking of electrode by mechanical arm according to claim 1; it is characterized in that; described charging pile socket device comprises the protection housing; be provided with float electrode mechanism in described protection housing; described float electrode mechanism is made of execution unit, driver part and electrode; described execution unit changes the position of described electrode with the power that driver part was provided; described protection housing below has a housing with vehicle-mounted plug device to coordinate the opening that docks, and described opening part is provided with can movable cover plate.
3. a kind of system that realizes the full-automatic docking of electrode by mechanical arm according to claim 2, it is characterized in that, described driver part connects described execution unit by wireway, described driver part comprises air pump and vent valve, described execution unit comprises piston, cylinder and spring, described wireway is used for the gas-pressurized that air pump produces is transported to described cylinder, and described vent valve is used for discharging the gas-pressurized in wireway, and described spring is used for making described piston reset.
4. a kind of system that realizes the full-automatic docking of electrode by mechanical arm according to claim 1 and 2, it is characterized in that, the opening part of described charging pile socket device is provided with the pressure sensitive device, on the contact-making surface when several pressure sensitive devices are evenly distributed on the charging pile socket device and dock with vehicle-mounted plug device.
5. a kind of system that realizes the full-automatic docking of electrode by mechanical arm according to claim 1 and 2, it is characterized in that, be provided with the puff prot of airflow mechanism in described charging pile socket device, described airflow mechanism also comprises air blast, and described air blast connects described puff prot by wireway.
6. a kind of system that realizes the full-automatic docking of electrode by mechanical arm according to claim 1, it is characterized in that, described vehicle-mounted plug device comprises columnar protection housing, described protection enclosure interior is columniform flexible plug, be provided with the electrode of arranging up and down on described flexible plug, different electrodes covers one whole section face of cylinder of differentiated levels, be provided with the insulating material isolation between electrode, described protection housing top internal diameter is smaller, coordinate docking with the circular open below described charging pile socket device, flexible plug stretches out and retracts in can be along axis direction from shell, expanding-contracting action is realized by electric executing part.
7. realize the full-automatic method of docking of electrode by mechanical arm for one kind, comprise the following steps:
A, the vehicle-mounted plug device that is arranged on the electric automobile top send wireless signal by wireless communication system and propose the charging request to charging pile, and charging pile is received and carried out charging after signal and prepare and keep intercommunication;
B, be connected to mechanical arm on charging pile under the help of ultrasonic positioning system, control system is controlled the motor in each joint of mechanical arm, makes the charging pile socket device that is arranged on the mechanical arm end near vehicle-mounted plug device;
C, charging pile socket device near vehicle-mounted plug device after, electric light source in the charging pile socket device is opened, the camera that arranges in the charging pile socket device photographed the mark of preprinting on vehicle-mounted plug device surface, control system is further adjusted the position of charging pile socket device under the help of image recognition navigation system, until the docking of accurate and vehicle-mounted plug device;
It is external that the flexible plug of D, vehicle-mounted plug device stretches out containment vessel, and the electrode of float electrode mechanism and the electrode of flexible plug are connected, thereby begin charging;
After E, charging are completed; the power switch of charging pile disconnects; the electrode of float electrode mechanism and the electrode of flexible plug disconnect; flexible plug is retracted in the protection housing; charging pile socket device direction is from bottom to top left vehicle-mounted plug device; the removable cover of charging pile socket device closes rapidly, and mechanical arm is amounted to, and waits for next task.
8. a kind of method that realizes the full-automatic docking of electrode by mechanical arm according to claim 7, it is characterized in that, in described step B, the charging pile socket device specifically comprises near the action of vehicle-mounted plug device the top that first moves to vehicle-mounted plug device, more from top to bottom slowly near vehicle-mounted plug device.
9. a kind of method that realizes the full-automatic docking of electrode by mechanical arm according to claim 7, it is characterized in that, in described step C, also comprise the step of the airflow mechanism that starts the charging pile socket device, airflow mechanism is used for removing impurity and the moisture on vehicle-mounted plug device surface.
10. realize by mechanical arm the system that electrode automatically docks for one kind, comprise vehicle-mounted plug device, mechanical arm, charging pile socket device and control system thereof, it is characterized in that, described mechanical arm one end is connected on car body, the other end connects vehicle-mounted plug device, on described joint of mechanical arm, angular displacement sensor is housed, the controlled system of the action of described mechanical arm controls, described angular displacement sensor is used for helping control system to grasp the attitude of mechanical arm, described charging pile socket device is realized radio contact by wireless communication system and control system, be provided with the image recognition navigation system in described charging pile socket device, described image recognition navigation system is used for helping control system to adjust mechanical arm, thereby drive vehicle-mounted plug device and the charging pile socket device achieves a butt joint, described charging pile socket device is provided with the ultrasonic wave transmitter module, consist of ultrasonic positioning system with the ultrasonic wave receiver module that is arranged on automobile, described ultrasonic positioning system be used for to help control system adjust mechanical arm described vehicle-mounted plug device move to the charging pile socket device near.
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| CN103425073A (en) * | 2013-09-02 | 2013-12-04 | 重庆文理学院 | Automatic telescopic control system of charging plug |
| CN104539033A (en) * | 2015-01-15 | 2015-04-22 | 东北大学 | Self-adjusting wireless charging system and method for electric automobile |
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