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 PDFInfo
- 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
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- Prior art keywords
- platform
- move
- charging
- base
- movable
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- 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.)
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Classifications
-
- 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
-
- 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
-
- 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
-
- 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
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
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)
- 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.
- 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.
- 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.
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 |
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| CN201610067522.2A Expired - Fee Related CN105539190B (en) | 2016-01-29 | 2016-01-29 | A kind of 3-degree-of-freedom electrical automobile automatic charge device and its control method |
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| 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 |
| CN107627885A (en) * | 2017-09-27 | 2018-01-26 | 北京瑞德明电控技术有限公司 | A kind of electric automobile automatic charging device and its charging method |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN110171309A (en) * | 2019-06-06 | 2019-08-27 | 上海机器人产业技术研究院有限公司 | A kind of automatic charge device |
| 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 |
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