CN107323273B - Retractable automatic charging mechanical arm and electric automobile carrying same - Google Patents
Retractable automatic charging mechanical arm and electric automobile carrying same Download PDFInfo
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- CN107323273B CN107323273B CN201610272611.0A CN201610272611A CN107323273B CN 107323273 B CN107323273 B CN 107323273B CN 201610272611 A CN201610272611 A CN 201610272611A CN 107323273 B CN107323273 B CN 107323273B
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- automatic charging
- mechanical arm
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- upper arm
- electric automobile
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention relates to a retractable automatic charging mechanical arm and an electric automobile carrying the mechanical arm, comprising the automatic charging mechanical arm, an electric automobile body and a buckle, wherein a driving part of the automatic charging mechanical arm comprises a control device; the automatic charging mechanical arm is arranged on the longitudinal axis of the electric automobile through the moving guide rail and is embedded in a concave part of the chassis, when the automatic charging mechanical arm is in a non-working state, the automatic charging mechanical arm returns to the initial position and automatically contracts to be flat and clings to the chassis of the automobile, at least 2 pairs of buckles are configured at the initial position of the automatic charging mechanical arm on the chassis of the automobile, the buckles are connected with the control device through the CAN bus, and the rotating swing arms after the buckles are rotated, fixed and contracted are controlled. Compared with the prior art, the invention has the advantages of realizing automatic charging and automatic power-off of the electric automobile and the like.
Description
Technical Field
The invention relates to an automatic charging technology of an electric automobile, in particular to a retractable automatic charging mechanical arm and an electric automobile carrying the mechanical arm.
Background
Along with the gradual popularization and use of electric vehicles, the safety and convenience of electric vehicle charging become the problem that must be valued in the electric vehicle popularization process, and especially for leasing special electric vehicles, in unmanned on duty's car returning network, how to guarantee that the user can timely and safely supplement electric quantity after returning to the car, and the automatic electric vehicle charging mechanical arm can solve this problem.
Chinese patent publication No. CN104795868A discloses an automatic charging system for electric vehicles, which implements that an electric vehicle charging plug is plugged into or pulled out of a charging socket by an automatic plug-in device of an independently movable charging plug, so as to solve the potential safety hazard existing in the operation of manually plugging in and pulling out the charging plug for charging the electric vehicle, but such an automatic charging device installed on a parking space must solve the problems of water resistance and theft prevention, and has larger maintenance workload. At present, an on-board automatic charging device and an electric automobile carrying the same are not seen.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a retractable automatic charging mechanical arm and an electric automobile carrying the mechanical arm.
The aim of the invention can be achieved by the following technical scheme:
a collapsible automatic charging arm, installs on electric automobile, the charging arm include:
the motion guide rail is embedded in a concave part of the chassis of the electric automobile;
the sliding block is in sliding connection with the moving guide rail and slides along the length direction of the moving guide rail;
the telescopic rotary upper arm is connected with the sliding block through an upper arm rotating shaft, rotates around the upper arm rotating shaft and simultaneously performs telescopic motion along the length direction of the telescopic rotary upper arm;
the rotary swing arm is connected with the tail end of the telescopic rotary upper arm and rotates around the axis of the telescopic rotary upper arm;
and the charging plug is fixedly arranged at the tail end of the rotary swing arm.
The automatic charging mechanical arm also comprises an image positioning device which is arranged on the insulating wall of the front half part of the charging plug and is used for positioning the ground socket.
The automatic charging mechanical arm also comprises a driving part, wherein the driving part comprises a first driving device arranged on the sliding block, a second driving device arranged on the rotating shaft of the upper arm, a third driving device and a fourth driving device respectively arranged on the telescopic rotating upper arm, and a control device arranged on the electric automobile;
the control device is respectively connected with the first driving device, the second driving device, the third driving device and the fourth driving device through CAN buses and controls the driving devices.
The first driving device comprises a first motor and a first transmission mechanism connected with the first motor, and the first transmission mechanism is driven by the motor to realize the translation of the sliding block on the moving guide rail.
The second driving device comprises a second motor and controls the telescopic rotating upper arm to rotate around the upper arm rotating shaft.
The third driving device comprises a third motor and a third transmission mechanism connected with the third motor, and controls the telescopic rotating upper arm to do telescopic motion along the length direction of the telescopic rotating upper arm.
The fourth driving device comprises a fourth motor and is used for controlling the rotation swing arm to rotate along the axis of the telescopic rotation upper arm.
An electric automobile carrying the retractable automatic charging mechanical arm comprises the automatic charging mechanical arm, an electric automobile body and a buckle, wherein a driving part of the automatic charging mechanical arm comprises a control device;
the automatic charging mechanical arm is arranged on the longitudinal axis of the electric automobile through the moving guide rail and is embedded in a concave part of the chassis, when the automatic charging mechanical arm is in a non-working state, the automatic charging mechanical arm returns to the initial position and automatically contracts to be flat and clings to the chassis of the automobile, at least 2 pairs of buckles are configured at the initial position of the automatic charging mechanical arm on the chassis of the automobile, the buckles are connected with the control device through the CAN bus, and the rotating swing arms after the buckles are rotated, fixed and contracted are controlled.
The buckle comprises a vehicle body connecting piece, a rotating shaft and an L-shaped aluminum plate buckle;
the automobile body connecting piece pass through the nut and link firmly with the automobile body chassis, the rotation axis articulated with L type aluminum plate buckle, the rotation axis rotates and drives L type aluminum plate buckle and rotate, withholds rotatory swing arm.
Compared with the prior art, the invention has the following advantages:
(1) The invention realizes automatic charging and automatic power-off of the electric automobile. The automatic charging mechanical arm is arranged on an automobile, and the mechanical arm can automatically find a socket of a parking space to charge the electric automobile under the control of the control device; and after the charging is finished, the power supply is automatically disconnected, and the device returns to the original position. The whole process does not need manual operation, and is convenient and safe: on one hand, potential safety hazards and misoperation possibly existing in manual charging are avoided; on the other hand, the charging requirement of the electric automobile is guaranteed, and the problem that the endurance mileage of the electric automobile is insufficient due to the fact that a user forgets to charge the electric automobile is avoided.
(2) The automatic charging mechanical arm is embedded in the automobile chassis, so that the safety of the charging mechanical arm is ensured, and the problem that the off-vehicle charging robot is stolen and damaged is avoided to a great extent.
(3) According to the automatic charging mechanical arm, when the automatic charging mechanical arm is in a non-working state, the mechanical arm can be contracted to a flat state and is tightly attached to the chassis of a vehicle body, and the mechanical arm is fixed by the buckle, so that the occupied space is small, and the running of the vehicle is not influenced. The left and right load distribution of the electric automobile is not affected, and the influence on the running of the automobile and the dynamics characteristic of the automobile is negligible.
(4) Aiming at large-scale time-sharing leasing electric automobile projects, the invention can charge the automobile with insufficient electric quantity by monitoring the electric quantity of the battery through the management center, thereby preventing other customers from borrowing the automobile with insufficient endurance mileage due to the fact that the customers do not charge after using the automobile, and improving the utilization rate of the automobile.
Drawings
FIG. 1 is a schematic diagram of a vehicle-mounted automatic charging mechanical arm;
FIG. 2 is a schematic view of the structure of the vehicle-mounted automatic charging mechanical arm in a contracted state;
FIG. 3 is a schematic view of an electric vehicle with an automatic charging mechanical arm in an operating state according to the present invention;
fig. 4 is a schematic view of a vibration-proof fixing buckle structure (non-working state);
FIG. 5 is a schematic view showing the structure of the vibration-proof fixing buckle in the working state
The reference numerals in fig. 1 indicate:
101. a moving guide rail; 102. a slide block; 103. a telescopic rotary upper arm; 104. rotating the swing arm; 105. a charging plug; 106. a first driving device; 107. a second driving device; 108. a third driving device; 109. a fourth driving device; 110. an image recognition device; 11. an upper arm rotation shaft; 12. and a control device.
The reference numerals in fig. 3 indicate:
1. an automatic charging mechanical arm; 2. an electric automobile carrying an automatic charging mechanical arm; 3. and a charging socket.
The reference numerals in fig. 4 and 5 indicate:
207. a vehicle body connection; 208. a rotation shaft; 209. l-shaped aluminum plate buckle.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
As shown in fig. 1 and 2, an automatic charging mechanical arm mainly includes a mechanical part and a driving part and an image positioning device.
The mechanical part of the automatic charging mechanical arm 1 mainly comprises a moving guide rail 101, a sliding block 102, a telescopic rotating upper arm 103, a rotating swing arm 104, a charging plug 105, an upper arm rotating shaft 11 and an image positioning device 110; the driving part of the automatic charging robot arm 1 is composed of a first actuator 106 provided on the slider 102, a second actuator 107 provided on the upper arm rotation shaft 11, a third actuator 108 provided on the telescopic rotation upper arm 103, a fourth actuator 109, and a control device 12 provided on the electric vehicle.
The moving guide rail 101 is fixed on the longitudinal axis of the electric automobile 2 (the whole automobile is in the X direction) and is embedded in a concave part of the chassis; the charging plug 105 translates on the moving guide rail 101 (along the X-axis direction) jointly through the first actuating device, the telescopic rotating upper arm 103 is connected with the sliding block 102 through the upper arm rotating shaft 11, the sliding block 102 rotates around the upper arm rotating shaft 11 through the second actuating device 107 (the rotating angle range is 0-90 degrees), and the telescopic rotating upper arm 103 also performs telescopic motion along the length direction of the telescopic rotating upper arm 103 through the third actuating device 108; one end of the rotary swing arm 104 is connected with the tail end of the telescopic rotary upper arm 103, and the rotary swing arm 104 can rotate along the axis of the telescopic rotary upper arm 103 through a fourth actuating device; the charging plug 105 is fixedly arranged at the tail end of the rotary swing arm 104 and is used for docking a charging socket, and under the control of the actuating device, the charging plug 105 can have four degrees of motion in the space between the chassis of the electric automobile and the ground, and can translate along the X axis, translate along the Y axis, lift along the Z axis and rotate around the Z axis in the process of searching the socket;
the image positioning device 110 is provided on an insulating wall of the front half of the charging plug 105 for positioning the floor socket.
The first actuating device 106 comprises a motor and a gear rack mechanism connected with the motor, and the gear rack is driven by the motor to realize the translation of the sliding block 102; the second actuating means 107 comprises a motor controlling the rotation of the telescopic rotating upper arm 103; the third actuating device 108 block comprises a motor and a gear rack mechanism connected with the motor, and telescopic movement of the telescopic rotary upper arm 103 is realized through gear rack transmission; the fourth actuating means 109 comprises a motor controlling the rotation of the rotary swing arm 104;
the control device 12 is connected to and controls the first, second, third, and fourth actuators 106, 107, 108, and 109, respectively, via a CAN bus.
As shown in fig. 3, an electric vehicle with an automatic charging mechanical arm comprises an electric vehicle body 2, an automatic charger mechanical arm 1, a control device 12 and a buckle 201; the control device 12 is installed on the electric automobile 2, the automatic charging mechanical arm 1 is arranged on the longitudinal axis of the electric automobile (in the X direction of the whole automobile) through the moving guide rail 101 and is embedded in a concave part of the chassis, when the automatic charging mechanical arm is in a non-working state, the automatic charging mechanical arm returns to an initial position and automatically contracts to be flat and clings to the automobile chassis, at least 2 pairs of buckles 201 are arranged at the initial position of the automatic charging mechanical arm on the automobile chassis, the buckles 201 are connected with the control device 12 through a CAN bus, and the rotating swing arms 104 after the rotation and the contraction of the buckles are controlled.
As shown in fig. 4 and 5, the buckle 201 is composed of a vehicle body connecting piece 207, a rotating shaft 208 and an L-shaped aluminum plate buckle 209, the vehicle body connecting piece 207 is fixedly connected with a vehicle body chassis through a nut, the rotating shaft 208 is hinged with the L-shaped aluminum plate buckle 209, and the rotating shaft 208 rotates to drive the buckle to rotate so as to buckle the mechanical arm.
The charging cable is routed in the automatic charger mechanical arm, and the charging cable on the moving guide rail 101 is a customized flat silver-plated cable, so that the cable can flexibly follow during movement. The mechanical arm structural member of the automatic charger and the buckle are made of aluminum alloy, the translation of the moving guide rail 101 and the sliding block 102 is driven by a gear and a rack, the moving guide rail 101 is made of stainless steel plate stamping parts, and the guide rail and the rack are formed by processing the stamping parts, so that the design concept of compact, flat and light weight of the integration of the transmission and the guide rail is realized. Most control modules are controlled by motors to realize rotation or translation through gear-rack transmission.
The invention mainly improves the following steps:
(1) The automatic charging mechanical arm is vehicle-mounted and is arranged in the concave position of the chassis of the electric automobile, so that the running of the automobile is not influenced;
(2) The automatic charging mechanical arm can be contracted to be flush with the lowest plane of the electric automobile chassis when in a non-working state, and the lowest height of the automobile from the ground is not affected.
The working principle of the invention is as follows:
the functions are as follows:
when the electric automobile carrying the mechanical arm stops to a specified parking space, the control device reads the electric quantity of the battery of the electric automobile, and under the condition that the electric quantity of the electric automobile is insufficient, the automatic docking of the automatic mechanical arm and the ground charging plug is controlled to realize charging. After the electric automobile electric quantity is sufficient, the plug is automatically pulled out under the condition that the charging is completed, and the mechanical arm is contracted to return to the original position, so that the automatic and safe charging of the electric automobile is realized.
Principle of:
basic communication principle: according to the invention, the automatic charging mechanical arm is arranged below the chassis of the electric automobile, and the mechanical arm is controlled through the can bus, so that the electric quantity of the automobile is monitored, and a charging socket on the ground is automatically found to charge the electric automobile. Meanwhile, a control device on the electric automobile exchanges data with an operation center through a 3G/4G wireless module, so that big data scheduling is realized.
Charging and outage action principle of automatic charging mechanical arm: when the electric automobile is parked on the ground in a parking space with a charging socket, the control device reads the electric quantity of the battery of the electric automobile through the CAN bus, and when the electric quantity is lower than a set threshold value, the control device 12 commands the automatic charging mechanical arm 1 to prepare for charging, specifically: the control device 12 controls the buckle 201 to open and release the automatic charging mechanical arm 1, then commands the image recognition device 110 to position the ground charging socket 3 through photographing, the first actuating device 106 drives the gear rack transmission through the motor to realize the translation of the sliding block 102, the second actuating device 107 controls the rotation of the telescopic rotating upper arm 103, the third actuating device 108 drives the telescopic rotating upper arm 103 through the gear rack transmission to realize the telescopic movement of the telescopic rotating upper arm 103, the fourth actuating device 109 controls the rotating swing arm 104 to rotate, the control device 12 controls the joint linkage of the automatic charging mechanical arm to search and insert the charging socket 3 positioned on a parking space through the first actuating device 106, the second actuating device 107, the third actuating device 108 and the fourth actuating device 109, and the charging circuit is connected; after the charging is finished, the control device 12 commands the third actuating device 108 to enable the telescopic rotating upper arm 103 to shrink, so that the charging plug 105 is pulled out of the charging socket 3, the second actuating device 107 and the fourth actuating device 109 respectively control the rotating upper arm 103 and the rotating swing arm 104 to rotate, finally the automatic charging mechanical arm 2 is shrunk to the position below the chassis, parallel to the guide rail and closely attached to the guide rail, at the moment, vibration-proof fixing buckles 201 at all positions on the chassis are installed, the mechanical arm is automatically buckled by the L-shaped aluminum plate buckles 209 through the motor control rotating shaft 208, and vibration of an automobile body caused by the fact that the mechanical arm is not closely attached to the automobile chassis in the running process of the automobile is prevented, and riding comfort is affected.
The working process comprises the following steps:
the application of the contractible automatic charging mechanical arm can automatically charge the electric automobile carrying the mechanical arm, and the specific steps are as follows:
s1, an electric automobile carrying an automatic charging mechanical arm is parked on a parking space with a ground socket;
s2, the automatic charging mechanical arm receives a charging preparation instruction issued by the electric vehicle controller;
s3, each joint of the automatic charging mechanical arm is linked, and a charging socket of a parking space is automatically searched through the image recognition device;
s4, the charging plug of the automatic charging mechanical arm is in butt joint with the socket, and the position of the charging plug is locked;
s5, a charging circuit is connected to charge the electric automobile, and the control device monitors the charging state in real time through a CAN bus;
s6, after the charging is finished, disconnecting the power supply and pulling out the charging plug;
s7, controlling the mechanical arm to shrink so that the mechanical arm is parallel to the plane of the guide rail and clings to the guide rail;
s8, the vibration-proof fixing buckle automatically clamps the mechanical arm.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (5)
1. Electric automobile who carries collapsible automatic charging arm, automatic charging arm installs on electric automobile (2), its characterized in that, charging arm include:
the motion guide rail (101) is embedded in a concave part of a chassis of the electric automobile (2);
the sliding block (102) is in sliding connection with the moving guide rail (101) and slides along the length direction of the moving guide rail (101);
the telescopic rotating upper arm (103) is connected with the sliding block (102) through an upper arm rotating shaft (11), and the telescopic rotating upper arm (103) rotates around the upper arm rotating shaft (11) and simultaneously moves in a telescopic mode along the length direction of the telescopic rotating upper arm;
the rotary swing arm (104) is connected with the tail end of the telescopic rotary upper arm (103) and rotates around the axis of the telescopic rotary upper arm (103);
the charging plug (105) is fixedly arranged at the tail end of the rotary swing arm (104);
the charging mechanical arm also comprises an image positioning device (110), wherein the image positioning device (110) is arranged on the insulating wall of the front half part of the charging plug (105) and is used for positioning a ground socket;
the charging mechanical arm also comprises a driving part, wherein the driving part comprises a first driving device (106) arranged on the sliding block (102), a second driving device (107) arranged on the upper arm rotating shaft (11), a third driving device (108) and a fourth driving device (109) respectively arranged on the telescopic rotating upper arm (103), and a control device (12) arranged on the electric automobile (2);
the control device (12) is respectively connected with the first driving device (106), the second driving device (107), the third driving device (108) and the fourth driving device (109) through a CAN bus, and controls the driving devices;
the electric automobile comprises an automatic charging mechanical arm (1), an electric automobile body (2) and a buckle (201), wherein a driving part of the automatic charging mechanical arm (1) comprises a control device (12);
the automatic charging mechanical arm (1) is arranged on the longitudinal axis of the electric automobile through the moving guide rail (101) and is embedded in a concave part of the chassis, when the automatic charging mechanical arm (1) is in a non-working state, the automatic charging mechanical arm returns to an initial position and automatically contracts to be flat and clings to the automobile chassis, at least 2 pairs of buckles (201) are arranged at the initial position of the automatic charging mechanical arm (1) on the automobile chassis, the buckles (201) are connected with the control device (12) through a CAN bus, and the rotating swing arm (104) after the rotation and the contraction of the buckles are controlled;
the buckle (201) comprises a vehicle body connecting piece (207), a rotating shaft (208) and an L-shaped aluminum plate buckle (209);
the automobile body connecting piece (207) pass through the nut and link firmly with the automobile body chassis, rotation axis (208) articulated with L type aluminum plate buckle (209), rotation axis (208) rotate and drive L type aluminum plate buckle (209) rotation, buckle rotatory swing arm (104).
2. The electric vehicle with the retractable automatic charging mechanical arm according to claim 1, wherein the first driving device (106) comprises a first motor and a first transmission mechanism connected with the first motor, and the first transmission mechanism is driven by the motor to realize the translation of the sliding block (102) on the moving guide rail (101).
3. An electric vehicle with a retractable automatic charging robot according to claim 1, wherein the second driving means (107) comprises a second motor for controlling the telescopic rotating upper arm (103) to rotate around the upper arm rotating shaft (11).
4. The electric vehicle with the retractable automatic charging mechanical arm according to claim 1, wherein the third driving device (108) comprises a third motor and a third transmission mechanism connected with the third motor, and the telescopic rotating upper arm (103) is controlled to perform telescopic motion along the length direction of the telescopic rotating upper arm (103).
5. An electric vehicle with a retractable automatic charging robot according to claim 1, wherein the fourth driving means (109) comprises a fourth motor for controlling the rotation of the rotary swing arm (104) along the axis of the retractable rotary upper arm (103).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610272611.0A CN107323273B (en) | 2016-04-28 | 2016-04-28 | Retractable automatic charging mechanical arm and electric automobile carrying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610272611.0A CN107323273B (en) | 2016-04-28 | 2016-04-28 | Retractable automatic charging mechanical arm and electric automobile carrying same |
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| Publication Number | Publication Date |
|---|---|
| CN107323273A CN107323273A (en) | 2017-11-07 |
| CN107323273B true CN107323273B (en) | 2023-07-14 |
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| CN201610272611.0A Active CN107323273B (en) | 2016-04-28 | 2016-04-28 | Retractable automatic charging mechanical arm and electric automobile carrying same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109228901B (en) * | 2018-09-11 | 2021-05-11 | 合肥工业大学 | Dynamic wireless charging circulating receiving device for electric automobile |
| CN109305057A (en) * | 2018-09-27 | 2019-02-05 | 深圳精智机器有限公司 | A kind of automatic coupler to charge for new-energy automobile in stereo garage |
| CN109435728A (en) * | 2018-10-31 | 2019-03-08 | 喻正江 | A kind of telescopic new-energy automobile power supply unit |
| CN109291819A (en) * | 2018-11-07 | 2019-02-01 | 深圳精智机器有限公司 | A kind of vertical charging equipment of new-energy automobile |
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