CN105539190B - A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method - Google Patents

A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method Download PDF

Info

Publication number
CN105539190B
CN105539190B CN201610067522.2A CN201610067522A CN105539190B CN 105539190 B CN105539190 B CN 105539190B CN 201610067522 A CN201610067522 A CN 201610067522A CN 105539190 B CN105539190 B CN 105539190B
Authority
CN
China
Prior art keywords
move
platform
charging
base
moves
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610067522.2A
Other languages
Chinese (zh)
Other versions
CN105539190A (en
Inventor
冯玉朋
曾庆喜
徐亮
张鹏娜
马杉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Aeronautics and Astronautics
Original Assignee
Nanjing University of Aeronautics and Astronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University of Aeronautics and Astronautics
Priority to CN201610067522.2A priority Critical patent/CN105539190B/en
Publication of CN105539190A publication Critical patent/CN105539190A/en
Application granted granted Critical
Publication of CN105539190B publication Critical patent/CN105539190B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION 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
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30Constructional details of charging stations
    • B60L53/35Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations

Abstract

The invention discloses a kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method, including the mobile platform in three directions, the motor, Hall sensor, fixed mount, the charging inlet that control each platform movement respectively;Mobile platform includes base, moves up and down platform, movable platform and move left and right platform, and the moving line of three platforms is mutually perpendicular to;Move up and down platform, movable platform and move left and right platform and be connected with each other by base.Charging device can be controlled flexibly to move in three directions, accurately docked with the charging device of automobile.

Description

A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method
Technical field
The present invention relates to automobile automatic charging field, and in particular to a kind of 3-degree-of-freedom electrical automobile automatic charge device and Its control method.
Background technology
With the progress and development of society and science and technology, electric automobile turns into future automobile industry and whole power technology The important development trend in field, at present, the charging electric vehicle facility in China is mainly off-board type charging device, and being completed makes There are charging station and charging pile, occupation mode is hand charging, and intelligence degree is relatively low.Domestic existing electric automobile Automatic charge device has the device that view-based access control model provides charging docking for electric automobile, and image is carried out using image capturing system Collection in real time, the profile and central information of electric automobile socket are obtained by Computerized image processing system, according to image procossing Acquired information is implemented in combination with being calibrated to the heart for plug and charging inlet with docking linked set, and last drive device control is filled Plug straight ahead, complete docking;There is the device that automatic charging is realized by laser positioning, utilize laser range finder sensor Group obtains the positional information of car socket, drives charging device to insert charging plug in charging socket by motor and is charged. Also there are many shortcomings in current recharging technology, as navigation and positioning accuracy is not ideal enough, fault-tolerant and error correcting capability is not strong enough Greatly, the design of charging device can't provide sufficiently large tolerance from structure for automatic charging system, lack pervasive environments Adaptability.
The content of the invention
Goal of the invention:In order to overcome the deficiencies in the prior art, the present invention provides a kind of 3-degree-of-freedom electrical automobile Automatic charge device and its control method, by controlling the motion of charging device in three directions, reach and accurately and fast fill Electricity, solve the deficiencies in the prior art.
Technical scheme:To achieve the above object, the technical solution adopted by the present invention is:A kind of 3-degree-of-freedom electrical automobile is certainly Dynamic charging device, it is characterised in that:Mobile platform including three directions, motor, the Hall for controlling each platform movement respectively Sensor, fixed mount, charging inlet;
The mobile platform includes base, moves up and down platform, movable platform and move left and right platform, three platforms Moving line be mutually perpendicular to;Move up and down platform, movable platform and move left and right platform and be connected with each other by base.
Further, it is characterised in that:Moving up and down platform includes moving up and down support bar and moves up and down leading screw;It is described Movable platform includes movable support frame;The platform that moves left and right includes moving left and right support bar and moves left and right silk Thick stick;
Support bar is moved up and down by movable support frame with being connected below base, forms guide rail slide block mechanism;It is front and rear Movable supporting frame slides back and forth along base;Some through holes are provided with above base, move left and right leading screw through being arranged in center Through hole, the support bar that moves left and right for moving left and right platform passes through other through holes;Move left and right stepper motor is located at base one Side, specifically it is arranged in and moves left and right leading screw one end, control moves left and right leading screw;The opposite side of base is provided with some fixed mounts, The fixed mount is connected with moving left and right support bar and moving left and right leading screw end, and fixed mount includes circular connecting hole and fixation Face, the stationary plane are horizontal;Some support bracket fastened stationary planes are located in approximately the same plane;The table top that moves up and down is set It is equipped with and moves up and down stepper motor, control moves up and down leading screw, moves up and down and the cantilever arm that charges, cantilever arm end are cased with leading screw Charging inlet is provided with, charging inlet is connected with charging cantilever arm by spring;Movable stepper motor is arranged on base one End, movable support frame is controlled to move forward and backward.
Further, moving up and down platform, movable platform and moving left and right platform includes limit switch respectively.
Further, including controller, controller control lifting speed subprogram, move left and right subprogram, move up and down son Program and movable subprogram;This method comprises the following steps:
Under closed mode, charging device is in collapsed state, and controller receives driving charging stretching after automatic charging signal Arm moves up and down;Automobile chassis height to be charged is detected using the moving range for the cantilever arm that charges;Driving moves left and right platform shifting It is dynamic to determine that left and right positions, the movable platform of driving determines front and rear positioning, charging inlet is docked, is started to charge up;Charging complete or When being terminated, charging inlet departs from automobile, and automatic charge device is packed up.
Beneficial effect:The present invention can control charging device flexibly to move in three directions, accurately with automobile Charging device docks, and the rail plate on base both sides can effectively reduce friction when movable platform moves, and base is Huang Copper bush, brass axle sleeve then can effectively reduce automatic charge device and integrally move left and right and charge rubbing when cantilever arm moves up and down Wipe, make motion more steady and smooth.Spring can allow in charging inlet and when being docked by electrical interface to have certain position inclined Difference, reduce docking difficulty.
Brief description of the drawings
Fig. 1 is the closed mode figure of the present invention
Fig. 2 is the schematic diagram of one moment of motion state of the present invention
In figure:Base 1, brass axle sleeve 1-1, guide rail 1-2, move up and down support bar 2, move up and down leading screw 2-1, charging stretch Go out arm 2-4, charging inlet 2-3, spring 2-4, move up and down stepper motor 2-5, movable support frame 3, movable stepping Motor 3-1, support bar 4 is moved left and right, screw mandrel 4-1 is moved left and right, moves left and right motor 4-2, fixed mount 4-3.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.It is a kind of 3-degree-of-freedom electrical as depicted in figs. 1 and 2 Automobile automatic charge device, it is characterised in that:Mobile platform including three directions, the electricity for controlling each platform movement respectively Machine, Hall sensor, fixed mount 4-3, charging inlet 2-3;
The mobile platform includes base 1, moves up and down platform, movable platform and move left and right platform, and three flat The moving line of platform is mutually perpendicular to;Move up and down platform, movable platform and move left and right platform and interconnected by the phase of base 1 Connect.
Further, it is characterised in that:Moving up and down platform includes moving up and down support bar 2 and moves up and down leading screw 2-1; The movable platform includes movable support frame 3;The platform that moves left and right includes moving left and right support bar 4 and left and right Mobile leading screw 4-1;
Move up and down support bar 2 to be connected with the lower section of base 1 by movable support frame 3, form guide rail slide block mechanism;Before Movable supporting frame 3 slides back and forth along base 1 afterwards;The top of base 1 is provided with some through holes, moves left and right leading screw 4-1 through row The through hole in center is listed in, the support bar 4 that moves left and right for moving left and right platform passes through other through holes;Stepper motor is moved left and right to be located at The side of base 1, specifically it is arranged in and moves left and right leading screw 4-1 one end, control moves left and right leading screw 4-1;The opposite side of base 1 is set Some fixed mount 4-3 are equipped with, the fixed mount 4-3 is connected with moving left and right support bar 4 and moving left and right leading screw 4-1 ends, Gu Determining frame 4-3 includes circular connecting hole and stationary plane, and the stationary plane is horizontal;Some support bracket fastened stationary planes are positioned at same flat On face;It is described move up and down table top and be provided with move up and down stepper motor, control moves up and down leading screw, moves up and down leading screw On be cased with the cantilever arm 2-2 that charges, cantilever arm end is provided with charging inlet 2-3, and charging inlet 2-3 leads to the cantilever arm 2-2 that charges Cross spring connection;Movable stepper motor is arranged on the one end of base 1, controls movable support frame 3 to move forward and backward.
Further, moving up and down platform, movable platform and moving left and right platform includes limit switch respectively.
A kind of control method of 3-degree-of-freedom electrical automobile automatic charge device:It is characterised in that it includes controller, control Device control lifting speed subprogram, move left and right subprogram, move up and down subprogram and movable subprogram;This method is specifically wrapped Include following steps:
1) under closed mode, charging device is in collapsed state, and charging cantilever arm, which is located at, moves up and down the top of support bar 2; Movable support frame 3 is located at the right-hand member of base 1;Base 1 is central positioned at support bar 4 is moved left and right;Filled automatically when controller receives After electric signal, driving moves up and down stepper motor, and charging cantilever arm drops to bottom by moving up and down the top of support bar 2;
2) after the cantilever arm that charges declines in place, the movable stepper motor of controller driving, charging cantilever arm is reached and treated Below the chassis of Rechargeable vehicle, the cantilever arm that now charges stretches out, and moves forward and backward platform motion, touches the limit on charging cantilever arm Stop motion after bit switch;
3) chassis height is detected:After detection charging cantilever arm stretches out, charging cantilever arm begins to ramp up and calls lifting speed sub Program, after the limit switch on the arm that charges touches automobile chassis, charging cantilever arm stops rising, lower mobile stepping electricity Machine inverts, and charging cantilever arm is moved downward 2mm;
4) after completing step 3), controller, which is transferred, moves left and right subprogram, and driving moves left and right platform movement;The band of base 1 Dynamic charging cantilever arm moves right, and linear hall sensor both end voltage is detected while motion, when automatic charging fills Put when moving near Hall sensor, start low speed and uniform motion, when charging inlet 2-3 is close to sink interface, detection Rise to linear hall sensor both end voltage;When charging inlet 2-3 move to move left and right on direction closest to being connect by electricity The position of mouth, controller detect that Hall sensor both end voltage declines, now motor stalls, it is determined that left and right positions;
5) after completing step 4), controller calls movable subprogram, controls movable platform motion, when motor just Turn, movable platform travels forward;Now, if detecting, voltage is declined by rising to, and motor stalls, controller calls Move up and down subprogram;If detecting, voltage declines, and motor shuts down and starts to invert, and movable platform starts backward It is mobile;Now continue to detect, if detecting, voltage is declined by rising to, stop motion, otherwise continues to move to movable platform;
6) when front and back position adjustment of the charging inlet 2-3 Jing Guo step 5), move on vehicle by the underface of electrical interface Afterwards, controller calls charging cantilever arm to move up and down subprogram, and charging arm drives charging inlet 2-3 to rise, and by electrical interface pair Connect;When automobile ECU detects that electric automobile has begun to charge, automatic charge device controller, controller control are sent a signal to System moves up and down motor stalls, now starts to charge to electric automobile, and charging inlet 2-3 positioning docking operation is complete Into starting to charge up;
7) when automobile ECU detect charging electric vehicle complete or car owner need with car press automatic charge device pack up by After button control, controller control moves up and down motor reversal, makes charging inlet 2-3 and is departed from by electrical interface, and charging arm, which drops to, to be leaned on Place near the ground;
8) controller receive charging complete or remote control pack up signal make charging cantilever arm decline in place after, move forward and backward electricity Machine starts, and control charging cantilever arm is retracted, and movable platform moves backward, after touching limit switch, moves forward and backward motor Stop motion;
9) after moving forward and backward platform retrogressing in place, automatic charge device integral right is moved back into initial position, works as automatic charging Device touches stepper motor stop motion after limit switch;Automatic charge device is packed up.
Together with charging cantilever arm is bolted with movable platform, therefore also correspond to control charging cantilever arm Stretching with retracting.Move left and right step motor control is moving left and right for automatic charge device entirety.Leading screw is electric by stepping The axial rotation of machine switchs to automatic charge device and movable platform, the linear motion for the cantilever arm that charges, linear Hall sensing The positional information of automatic charge device and the cantilever arm that charges can be provided.The rail plate on base both sides can effectively reduce front and rear Friction when mobile platform moves, base are brass axle sleeve, and brass axle sleeve then can effectively reduce the overall left and right of automatic charge device Friction when mobile and charging cantilever arm moves up and down, makes motion more steady and smooth.Spring can be in charging inlet and by electricity Interface allows certain position deviation be present when docking, and reduces docking difficulty.
Described above is only the preferred embodiment of the present invention, it should be pointed out that:For the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (3)

  1. A kind of 1. 3-degree-of-freedom electrical automobile automatic charge device, it is characterised in that:Mobile platform including three directions, difference Control motor, Hall sensor, the fixed mount of each platform movement(4-3), charging inlet(2-3);
    The mobile platform includes base(1), move up and down platform, movable platform and move left and right platform, three platforms Moving line be mutually perpendicular to;Move up and down platform, movable platform and move left and right platform and pass through base(1)Mutually interconnect Connect;
    Moving up and down platform includes moving up and down support bar(2)With move up and down leading screw(2-1);The movable platform includes Movable support frame(3);The platform that moves left and right includes moving left and right support bar(4)With move left and right leading screw(4-1);
    Move up and down support bar(2)By moving forward and backward support frame(3)With base(1)Lower section connects, and forms guide rail(1-2)Sliding block Mechanism;Movable support frame(3)Along base(1)Slide back and forth;Base(1)Top is provided with some through holes, moves left and right Leading screw(4-1)Through the through hole for being arranged in center, move left and right platform moves left and right support bar(4)Through other through holes;It is left Move right stepper motor and be located at base(1)Side, be specifically arranged in and move left and right leading screw(4-1)One end, control move left and right Leading screw(4-1);Base(1)Opposite side be provided with some fixed mounts(4-3), the fixed mount(4-3)With moving left and right support Bar(4)With move left and right leading screw(4-1)End connects, fixed mount(4-3)Including circular connecting hole and stationary plane, the stationary plane It is horizontal;Some support bracket fastened stationary planes are located in approximately the same plane;It is described move up and down table top and be provided with move up and down Stepper motor, control move up and down leading screw, move up and down and the cantilever arm that charges is cased with leading screw(2-2), cantilever arm end is provided with Charging inlet(2-3), charging inlet(2-3)With the cantilever arm that charges(2-2)Connected by spring;Movable stepper motor is set In base(1)One end, control movable support frame(3)Move forward and backward.
  2. A kind of 2. 3-degree-of-freedom electrical automobile automatic charge device as claimed in claim 1, it is characterised in that:Move up and down flat Platform, movable platform and move left and right platform and include limit switch respectively.
  3. A kind of 3. control method of 3-degree-of-freedom electrical automobile automatic charge device as described in claim 1-2 is any:It is special Sign is, including controller, controller control lifting speed subprogram, moves left and right subprogram, moves up and down subprogram and front and rear Mobile subprogram;This method comprises the following steps:
    Under closed mode, charging device is in collapsed state, and controller receives driving charging cantilever arm after automatic charging signal(2- 2)Move up and down;Automobile chassis height to be charged is detected using the moving range for the cantilever arm that charges;Driving moves left and right platform shifting It is dynamic to determine that left and right positions, the movable platform of driving determines front and rear positioning, charging inlet is docked, is started to charge up;Charging complete or When being terminated, charging inlet departs from automobile, and automatic charge device is packed up.
CN201610067522.2A 2016-01-29 2016-01-29 A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method Active CN105539190B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610067522.2A CN105539190B (en) 2016-01-29 2016-01-29 A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610067522.2A CN105539190B (en) 2016-01-29 2016-01-29 A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method

Publications (2)

Publication Number Publication Date
CN105539190A CN105539190A (en) 2016-05-04
CN105539190B true CN105539190B (en) 2017-12-15

Family

ID=55818908

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610067522.2A Active CN105539190B (en) 2016-01-29 2016-01-29 A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method

Country Status (1)

Country Link
CN (1) CN105539190B (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106427633A (en) * 2016-10-26 2017-02-22 深圳市新沧海机械有限公司 Automobile charging robot
CN106515485B (en) * 2016-11-14 2018-11-06 南京恒天领锐汽车有限公司 A kind of automatic charging system of electric vehicle
CN108146268A (en) * 2017-12-21 2018-06-12 浙江帝恒实业有限公司 A kind of new-energy automobile roof charging connecting device and its method of work
CN108162786A (en) * 2017-12-29 2018-06-15 安徽罗伯特科技股份有限公司 Be self-regulated charging pile
CN108237938A (en) * 2017-12-29 2018-07-03 安徽罗伯特科技股份有限公司 The charging method of self-regulation charging pile
CN108177542A (en) * 2017-12-29 2018-06-19 安徽罗伯特科技股份有限公司 The charging method of self-regulation charging pile
CN108749593B (en) * 2018-03-29 2019-12-03 杭州电子科技大学 A kind of wireless charging system for electric automobile
CN108528250B (en) * 2018-04-18 2019-12-27 上海豪骋智能科技有限公司 New forms of energy charging device
DE102018207681A1 (en) 2018-05-16 2019-11-21 Volkswagen Aktiengesellschaft Charging robot for a motor vehicle, method, apparatus and computer-readable storage medium with instructions for controlling a charging robot
DE102018207680A1 (en) 2018-05-16 2019-11-21 Volkswagen Aktiengesellschaft Charging robot for a motor vehicle, method, apparatus and computer-readable storage medium with instructions for controlling a charging robot
CN111775754B (en) * 2020-07-21 2021-01-26 江西驴充充充电技术有限公司 Automatic insert electric automobile of rifle and fill electric pile

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102000970B (en) * 2010-09-10 2012-05-23 中国科学院合肥物质科学研究院 Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom
CN103394907A (en) * 2013-08-20 2013-11-20 哈尔滨工业大学 High-tolerance automatic bolt mounting device
CN103475069A (en) * 2013-10-09 2013-12-25 武汉大学 Charging docking device of inspection robot
CN104227398A (en) * 2014-09-24 2014-12-24 苏州石丸英合精密机械有限公司 Horizontal lock screw mechanism of full-automatic lock screw machine
CN205544401U (en) * 2016-01-29 2016-08-31 南京航空航天大学 Automatic charging device of three degree of freedom electric automobile

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3214801B2 (en) * 1995-04-06 2001-10-02 東芝アイティー・コントロールシステム株式会社 Guide rail fixing device and fixing method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102000970B (en) * 2010-09-10 2012-05-23 中国科学院合肥物质科学研究院 Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom
CN103394907A (en) * 2013-08-20 2013-11-20 哈尔滨工业大学 High-tolerance automatic bolt mounting device
CN103475069A (en) * 2013-10-09 2013-12-25 武汉大学 Charging docking device of inspection robot
CN104227398A (en) * 2014-09-24 2014-12-24 苏州石丸英合精密机械有限公司 Horizontal lock screw mechanism of full-automatic lock screw machine
CN205544401U (en) * 2016-01-29 2016-08-31 南京航空航天大学 Automatic charging device of three degree of freedom electric automobile

Also Published As

Publication number Publication date
CN105539190A (en) 2016-05-04

Similar Documents

Publication Publication Date Title
CN105539190B (en) A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method
CN106515681B (en) Battery replacement moving device and quick replacement system
CN105607666B (en) A kind of 3-degree-of-freedom electrical automobile charging interface Scan orientation method
CN205544401U (en) Automatic charging device of three degree of freedom electric automobile
CN108973724B (en) Full-automatic charging system suitable for various electric vehicles and implementation method thereof
CN106114268B (en) Parking lot electric car automatic charging attachment device
CN203392488U (en) Automatic glass-feeding device
CN206059830U (en) A kind of AGV dollies automatic charging brush interface
CN103676643B (en) A kind of power supply automatic butt jointing device for wheeled robot recharging
CN205890582U (en) Automatic electrical connector that fills of parking area electric automobile
CN105141013B (en) A kind of adaptive charging pile
CN106712144A (en) Auto-docking charging system
CN103465815B (en) Motorcar electric same table
CN205489632U (en) Electric motor car protects all -in -one that charges
CN110774915A (en) Three-dimensional parking equipment, garage system and automatic parking charging method
CN105553027A (en) Protective charging integrated machine of electromobile and control method of protective charging integrated machine
CN209051307U (en) A kind of charging equipment
CN210063389U (en) Unmanned aerial vehicle's fixed strorage device
CN204992715U (en) Self -adaptation stake of charging
CN112572215B (en) Unmanned aerial vehicle charging device
CN110371088A (en) Electric shifting apparatus is changed with what no lateral force was floated
CN110254736A (en) A kind of sea is tethered at unmanned plane automatic accomodation device and its control system
CN206426866U (en) Automatic telescopic charging device and AGV automatic charging systems
CN209175208U (en) Axis mounting device is turned in one kind
CN203903384U (en) Hemming die and workpiece stopper thereof

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant