CN109895645A - A kind of new-energy automobile automatic charging system - Google Patents
A kind of new-energy automobile automatic charging system Download PDFInfo
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- CN109895645A CN109895645A CN201910250744.1A CN201910250744A CN109895645A CN 109895645 A CN109895645 A CN 109895645A CN 201910250744 A CN201910250744 A CN 201910250744A CN 109895645 A CN109895645 A CN 109895645A
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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
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a kind of new-energy automobile automatic charging systems, including charging case, controller, are fixed on charging connector, the charge port opening mechanism of mechanical arm tail end, are fixed on charge port identification module, the mechanical arm of charging case upper end；Vehicle and charge port identification module are handled model and the charging interface position that image obtains automobile, are obtained charge port coordinate and unfolding mode with electric automobile image, controller is obtained；After controller obtains the three-dimensional coordinate of automobile mouth outer cover, control mechanical arm tail end moves to the front of charge port, charge port opening mechanism opens vehicle charging mouth outer cover, after vehicle charging mouth outer cover is opened, vehicle and charge port identification module identify charge port inner cover image, identify that the opening button of charge port inner cover, charge port opening mechanism press lower button, open charge port inner cover, charge port opening mechanism return；Charging connector insertion charge port charges, charging complete mechanical arm return.The present invention can identify that charge port unfolding mode carries out automatic charging.
Description
Technical field
The invention belongs to new-energy automobile automatic charging field, especially a kind of new-energy automobile automatic charging system.
Background technique
In recent years, the development of new-energy automobile is very rapid, and shared automobile also steps into the visual field of people, but new energy
The problem of source automobile charges brings inconvenience, and newly the appearance of energy automobile automatic charging machinery arm can greatly improve intelligent journey
Degree, capable of living to people, it is many convenient to bring.
China Patent Publication No. CN107618396A discloses a kind of automatic charging system and method, passes through charging interface position
Appearance identification module obtains the image of vehicle charging mouth, then by the image procossing of controller, gets the three-dimensional of charge port and sits
Mark, controller issue instruction, allow mechanical arm tail end to move to target location, charge, and solve manual mode plug and fill
Electric connection.But the vehicle charging mouth unfolding mode of the automatic charging system is to increase charging lid management module on automobile, is received
Charging port cap is opened after to controller instruction.But the automobile produced on the market at present has to increase on automobile
This device can use.China Patent Publication No. CN207328160U discloses a kind of automatic charging machine people, passes through machine
Tool clamp hand device opens vehicle charging mouth, then charging connector is taken out insertion charge port and is charged, which can
By bottom end slide rail, the automobile for being moved to the other end to multiple and different parking stalls charges.Currently, in being divided into outside vehicle charging mouth
Lid and two kinds of outer cover, and the vehicle charging mouth outer cover unfolding mode of every kind of vehicle is different, mainly has push type to open and dial type
It opens, single clamp hand structure is unable to satisfy the requirement automatically opened.
Summary of the invention
The purpose of the present invention is to provide a kind of new-energy automobile automatic charging system, automatically open with charge closing mouth,
Automatic plug realizes the function of automatic charging.
The technical solution for realizing the aim of the invention is as follows:
A kind of new-energy automobile automatic charging system, including charging case, mechanical arm, vehicle and charge port identification module, control
Device processed is fixed on charging connector, the charge port opening mechanism of mechanical arm tail end；
The vehicle and charge port identification module, mechanical arm are each attached to charging case upper end；The vehicle and charge port are known
Other module is for obtaining electric automobile image, and by automobile and charge port image transmitting to controller, controller handles image and obtains
The model of automobile and charging interface position, obtain the unfolding mode of the vehicle charging mouth coordinate and charge port；Controller obtains vapour
After the three-dimensional coordinate of vehicle mouth outer cover, control mechanical arm tail end moves to the front of charge port, and charge port opening mechanism is according to vehicle
Type charge port is different, opens vehicle charging mouth outer cover, and after vehicle charging mouth outer cover is opened, vehicle and charge port identification module are known
Other charge port inner cover image identifies that the opening button of charge port inner cover, charge port opening mechanism press lower button, opens in charge port
Lid, charge port opening mechanism return；Charging connector insertion charge port charges, charging complete, mechanical arm return.
Compared with prior art, the present invention its remarkable advantage:
(1) present invention is equipped with mechanical arm, charge port identification module and charge port opening mechanism, being capable of automatic identification charge port
Unfolding mode carries out automatic charging to new-energy automobile.
(2) two kinds of unfolding modes are arranged for new-energy automobile in the present invention, and versatility is good.
(3) present invention replaces the existing method that charging interface is opened manually, and can be avoided user's limbs and charging equipment
It directly contacts, electric shock hidden danger can be prevented, there is certain safety.
Detailed description of the invention
Fig. 1 is present system general structure schematic diagram.
Fig. 2 is charge port opening mechanism structural schematic diagram.
Fig. 3 (a-b) is respectively that electric car charging interface is preposition, side position view.
Fig. 4 is to open vehicle charging mouth outer cover working state schematic representation.
Fig. 5 is that (a-b) is respectively electric car charging interface inner cover schematic diagram, charge port schematic diagram.
Specific embodiment
With reference to the accompanying drawing and specific embodiment is described further the present invention.
In conjunction with Fig. 1, a kind of new-energy automobile automatic charging system of the invention, including charging case 2, mechanical arm 3, vehicle with
Charge port identification module, controller are fixed on charging connector 9, the charge port opening mechanism 10 of 3 end of mechanical arm；
The vehicle and charge port identification module, mechanical arm 3 are each attached to 2 upper end of charging case；The vehicle and charge port
Identification module is used to obtain the electric automobile image stopped near charging system, by automobile and charge port image transmitting to control
Device, controller handle model and the charging interface position that image obtains automobile, obtain the vehicle charging mouth coordinate and charge port
Unfolding mode；After controller obtains the three-dimensional coordinate of automobile mouth outer cover, control mechanical arm tail end moves to the front of charge port,
Charge port opening mechanism 10 is different according to vehicle charge port, opens vehicle charging mouth outer cover, after vehicle charging mouth outer cover is opened,
Vehicle and charge port identification module identify charge port inner cover image, identify the opening button of charge port inner cover, and charge port opens machine
Structure 1 presses lower button, opens charge port inner cover, 10 return of charge port opening mechanism；Charging connector 9 is inserted into charge port and charges,
Charging complete, mechanical arm return.
Further, in conjunction with Fig. 2, the charge port opening mechanism 10 includes stepper motor 1001, bearing block 1002, ball
Screw rod 1003, screw sliding block 1004, push rod 1005, electric sucking disc 1006, pressure sensor 1007, travel switch 1008, sliding rail
1009；
1003 both ends of ball screw are supported by bearing block 1002；The stepper motor 1001 drives ball wire
Bar 1003 rotates；The screw sliding block 1004 cooperates with ball screw 1003；Sliding rail 1009 is equipped between two bearing blocks 1002,
The rotation of ball screw 1003 drives screw sliding block 1004 to slide along sliding rail 1009；Travel switch is equipped on two bearing blocks 1002
1008, screw sliding block 1004 touches travel switch 1008, and stepper motor 1001 stops；The push rod 1005 is fixed on screw sliding block
On 1004；1005 end of push rod is fixed with electric sucking disc 1006；Electric sucking disc 1006 is equipped with pressure sensor 1007.
Further, the vehicle and charge port identification module, including monocular cam 1, binocular camera 8；The list
Mesh camera 1 is used to obtain the image for stopping automobile, automobile image is transferred to controller, controller is big by being previously obtained
The database for measuring different automobiles obtains the model of the automobile by database matching, to identify the vehicle charging mouth present position
With the unfolding mode of charge port；The binocular camera 8 gives control for obtaining vehicle charging mouth outer cover image, and by image transmitting
Device processed, controller obtain the vehicle charging mouth coordinate.After vehicle charging mouth outer cover is opened, the identification of 8 module of binocular camera is filled
Power port inner cover image identifies the opening button of charge port inner cover.
It is all that Hough circle and hough transform, controller filter are passed through by rectangle, circle composition in view of most of charge port outer cover
Fall undesirable circle and rectangle, and calculate separately out the center of vehicle charging mouth outer cover left images, passes through binocular
Principle of parallax finds out charge port outer cover central point relative to the three-dimensional coordinate under camera coordinates system, then passes through principle of coordinate transformation
Calculate three-dimensional coordinate of the charge port outer cover under world coordinate system.
The controller includes image processing module, coordinate transferring, control module, parameter setting module；
Described image processing module is used to carry out gray processing processing to automobile image, binarization threshold is divided, and carries out circle
Fitting, finds the centre coordinate of charge port；
The coordinate transferring is used to convert world's seat for three-dimensional sit of the central point of charge port under camera coordinates system
Mark is the three-dimensional coordinate of lower central point；
The parameter setting module, for setting the detection threshold value of pressure sensor 1007, when pressure sensor 1007
When detected value reaches given threshold, stepper motor 1001 is rotated backward；
The control module is used to control the work of mechanical arm 3, charging connector 9, charge port opening mechanism 10.
Specifically includes the following steps:
(1) the left and right image obtained to binocular camera 8 does gray processing processing respectively, is converted into gray level image, then right
Image does binarization threshold segmentation；
(2) to carrying out morphological operation in the binary image after segmentation；
(3) previous step image outline is filtered, removal length-width ratio is greater than 1.2 appearance profile less than 0.8；
(4) fitting for carrying out circle, finds the centre coordinate of charge port；
(5) Feature Points Matching is carried out to two width figures of left and right, to calculate binocular parallax；
(6) according to binocular camera camera parameters obtained by calibrating, the automobile gone out using parallel binocular vision theory deduction
Three-dimensional coordinate X, Y, the Z at charge port center, and then the three-dimensional coordinate under camera coordinates system can be obtained.Then video camera is being carried out
Coordinate transform between coordinate system and world coordinate system can find out three-dimensional coordinate of the charging jacks under world coordinate system.
In conjunction with Fig. 3 (a-b), Fig. 4, Fig. 5 (a-b), new-energy automobile automatic charging system of the invention, charge port opens machine
The structure course of work is as follows:
When controller obtains the three-dimensional coordinate of vehicle charging mouth outer cover, 3 end charge port opening mechanism of mechanical arm is controlled
Push rod 1005 on 10 moves to immediately ahead of charge port；
If automobile charging unfolding mode is push type, electric sucking disc 1006 is powered off, at this time the silk on ball screw 1003
Female sliding block 1004 is in initial position, and mechanical arm is motionless, and controller control stepper motor 1001 starts turning, and is connected to ball wire
Screw sliding block 1004 starts to move on bar 1003, when electric sucking disc 1006 touches charge port outer cover mouth 11, and is fixed on electronic
When 1007 detected value of pressure sensor of 1006 end of sucker reaches the threshold value of the pressure setting needed for push type charge port is opened,
Stepper motor 1001 starts to rotate backward, and screw sliding block 1004 is retracted into initial position, and touches travel switch 1008, makes stepping
Motor 1001 stops operating, and charge port outer cover 11 flicks, and so far, charge port outer cover is opened, and charge port opening mechanism 10 resets.It fills
Lid arrangement 13 has an opening button in power port, be located at inner cover marginal position, stepper motor 1001 drive electric sucking disc 1006 to
Preceding movement when electric sucking disc 1006 touches opening button, and is fixed on the pressure sensor 1007 of 1006 end of electric sucking disc
When detected value reaches the pressure set points needed for button is opened, stepper motor 1001 starts to rotate backward, and screw sliding block 1004 contracts
Initial position is returned to, and touches travel switch 1008, so that stepper motor 1001 is stopped operating and opens button opening, mechanical arm 3 is multiple
Position.
If the vehicle charging mouth unfolding mode is dial type, electric sucking disc 1006 is powered, and controller controls stepper motor
1001 start turning, the electronic suction when 1006 end of electric sucking disc touches charge port outer cover 11, positioned at 1005 end of push rod
Disk 1007 is started to work, and charge port outer cover 11 is sucked, and controller control mechanical arm 3 is rotated to around the articulated shaft of charge port outer cover 11
Certain angle opens vehicle charging mouth outer cover 11.Electric sucking disc 1006 stops working, and charge port opening mechanism 10 resets；It fills
Power port inner cover unfolding mode and exterior and interior cover unfolding mode described in above-mentioned push type are just the same, are no longer described in detail.
The method for closing of charge port inner cover 13 and outer cover 11: because after vehicle charging mouth exterior and interior cover is opened, opposite automobile fills
The position of power port lid is determining, is all to have turned round certain angle around a fixing axle, therefore in closing automobile charge port
The process of outer cover, the similar process closed the door.First controller mechanical arm 3 and the sliding finger 1004 being connected with ball-screw 1003 fortune
Move the maximum travel position on ball-screw 1003, then controller driving mechanical arm 3 stir change in charge port after stir again
Outer cover, until shutting charge port exterior and interior cover.Then, screw sliding block 1004 returns to initial position, puts motor 1001 into and stops operating.
When charging, which opens the exterior and interior cover of vehicle charging mouth according to the above method, and mechanical arm 3 drives charging connector 9 certainly
The charge port of dynamic insertion automobile；After charging, mechanical arm 3 drives charging connector 9 to extract vehicle charging mouth, according still further to above-mentioned side
The exterior and interior cover of method closing automobile charge port.
Claims (6)
1. a kind of new-energy automobile automatic charging system, which is characterized in that including charging case (2), mechanical arm (3), vehicle with fill
Power port identification module, controller are fixed on the charging connector (9), charge port opening mechanism (10) of mechanical arm (3) end；
The vehicle and charge port identification module, mechanical arm (3) are each attached to charging case (2) upper end；The vehicle and charge port
Identification module is for obtaining electric automobile image, and by automobile and charge port image transmitting to controller, controller processing image is obtained
Model and the charge port position for obtaining automobile, obtain the unfolding mode of the vehicle charging mouth coordinate and charge port；Controller obtains vapour
After the three-dimensional coordinate of vehicle mouth outer cover, control mechanical arm tail end moves to the front of charge port, charge port opening mechanism (10) root
It is different according to vehicle charge port, vehicle charging mouth outer cover is opened, after vehicle charging mouth outer cover is opened, vehicle and charge port identify mould
Block identifies charge port inner cover image, identifies that the opening button of charge port inner cover, charge port opening mechanism (10) press lower button, opens
Charge port inner cover, charge port opening mechanism (10) return；Charging connector (9) insertion charge port charges, and charging complete is mechanical
Arm return.
2. new-energy automobile automatic charging system according to claim 1, which is characterized in that the charge port opening mechanism
10 include stepper motor (1001), bearing block (1002), ball screw (1003), screw sliding block (1004), push rod (1005), electricity
Dynamic sucker (1006), pressure sensor (1007), travel switch (1008), sliding rail (1009)；
Ball screw (1003) both ends are supported by bearing block (1002)；The stepper motor (1001) drives ball
Screw rod (1003) rotation；The screw sliding block (1004) and ball screw (1003) cooperate；It is set between two bearing blocks (1002)
Have sliding rail (1009), ball screw (1003) rotation drives screw sliding block (1004) to slide along sliding rail (1009)；Two bearing blocks
(1002) it is equipped on travel switch (1008), screw sliding block (1004) touches travel switch (1008), stepper motor (1001)
Stop；The push rod (1005) is fixed on screw sliding block (1004)；Push rod (1005) end is fixed with electric sucking disc
(1006)；Electric sucking disc (1006) is equipped with pressure sensor (1007).
3. new-energy automobile automatic charging system according to claim 1, which is characterized in that the vehicle and charge port are known
Other module, including monocular cam (1), binocular camera (8)；The monocular cam (1) is used to obtain the figure for stopping automobile
Automobile image is transferred to controller by picture, and controller passes through the database for a large amount of different automobiles being previously obtained, passes through database
Matching, obtains the model of the automobile, to identify the unfolding mode of the vehicle charging mouth present position and charge port；The binocular is taken the photograph
Vehicle charging mouth outer cover image is obtained as head (8) are used for, and by image transmitting to controller, controller obtains the vehicle charging mouth
Coordinate；After vehicle charging mouth outer cover is opened, binocular camera (8) module identifies charge port inner cover image, identifies in charge port
The opening button of lid.
4. new-energy automobile automatic charging system according to claim 1, which is characterized in that the controller includes image
Processing module, coordinate transferring, control module, parameter setting module；
Described image processing module is used to carry out gray processing processing to automobile image, binarization threshold is divided, and carries out the fitting of circle,
Find the centre coordinate of charge port；
The coordinate transferring is used to convert world coordinate system for the central point three-dimensional coordinate of charge port under camera coordinates system
The three-dimensional coordinate of lower central point；
The parameter setting module, for set pressure sensor (1007) detection threshold value and, when pressure sensor (1007)
Detected value when reaching given threshold, stepper motor (1001) rotates backward；
The control module is used to control the work of mechanical arm (3), charging connector (9) charge port opening mechanism (10).
5. the working method of new-energy automobile automatic charging system according to claim 1-4, which is characterized in that
It is push type unfolding mode for charge port, electric sucking disc (1006) powers off, the screw sliding block on ball screw (1003)
(1004) it is in initial position, controller controls stepper motor (1001) rotation, and it is sliding to be connected to screw on ball screw (1003)
Block (1004) starts to move, and when electric sucking disc (1006) touches charge port outer cover mouth, and is fixed on electric sucking disc (1006) end
When pressure sensor (1007) detected value at end reaches the threshold value of the pressure setting needed for push type charge port is opened, stepper motor
(1001) start to rotate backward, screw sliding block (1004) is retracted into initial position, and touches travel switch (1008), keeps stepping electric
Machine (1001) stops operating, and charge port outer cover flicks；Stepper motor (1001) driving electric sucking disc (1006) travels forward, and works as electricity
Dynamic sucker (1006) touch opening button, and are fixed on pressure sensor (1007) detected value of electric sucking disc (1006) end
When reaching the pressure set points needed for button is opened, stepper motor (1001) starts to rotate backward, and screw sliding block (1004) retracts
To initial position, and travel switch (1008) are touched, so that stepper motor (1001) is stopped operating and open button opening, mechanical arm
(3) it resets.
6. the working method of new-energy automobile automatic charging system according to claim 1-4, which is characterized in that
It is dial type unfolding mode for charge port, electric sucking disc (1006) is powered, and controller control stepper motor (1001) starts to turn
It is dynamic, when electric sucking disc (1006) end touches charge port outer cover, it is located at the electric sucking disc (1007) of push rod (1005) end
It starts to work, charge port outer cover is sucked, controller control mechanical arm (3) is filled around the articulated shaft Unscrew automobile of charge port outer cover
Power port outer cover, electric sucking disc (1007) stop working, and charge port opening mechanism (10) resets；Stepper motor (1001) driving is electronic
Sucker (1006) travels forward, and when electric sucking disc (1006) touches opening button, and is fixed on electric sucking disc (1006) end
Pressure sensor (1007) detected value when reaching the pressure set points needed for button is opened, stepper motor (1001) starts reversed
Rotation, screw sliding block (1004) is retracted into initial position, and touches travel switch (1008), and stepper motor (1001) is made to stop turning
Dynamic button of opening is opened, and mechanical arm (3) resets.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588421A (en) * | 2019-08-20 | 2019-12-20 | 南京理工大学 | Automatic charging robot of slide rail formula new energy automobile |
| CN111688526A (en) * | 2020-06-18 | 2020-09-22 | 福建百城新能源科技有限公司 | User side new energy automobile energy storage charging station |
| CN111746313A (en) * | 2020-06-02 | 2020-10-09 | 上海理工大学 | Unmanned charging method and system based on mechanical arm guidance |
| CN111890973A (en) * | 2020-08-12 | 2020-11-06 | 福州勃楠电子科技有限公司 | Cantilever type new forms of energy fill electric pile |
| CN112097663A (en) * | 2020-09-01 | 2020-12-18 | 国网天津市电力公司 | Charging socket combined positioning device for charging robot and using method |
| CN112440273A (en) * | 2019-08-27 | 2021-03-05 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | Three-mechanical-arm motion control system and method |
| CN112550014A (en) * | 2020-11-20 | 2021-03-26 | 开迈斯新能源科技有限公司 | Automatic charging method, device and system |
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| CN111890973B (en) * | 2020-08-12 | 2021-10-26 | 厦门市晶锐永兴塑胶有限公司 | Cantilever type new forms of energy fill electric pile |
| CN112097663A (en) * | 2020-09-01 | 2020-12-18 | 国网天津市电力公司 | Charging socket combined positioning device for charging robot and using method |
| CN112550014A (en) * | 2020-11-20 | 2021-03-26 | 开迈斯新能源科技有限公司 | Automatic charging method, device and system |
| CN113022358A (en) * | 2021-04-13 | 2021-06-25 | 北京理工大学 | Automatic charging control method and system and charging device |
| CN113022358B (en) * | 2021-04-13 | 2024-02-20 | 北京理工大学 | Automatic charging control method, system and charging device |
| CN114441807A (en) * | 2021-07-22 | 2022-05-06 | 荣耀终端有限公司 | Wiring method and system |
| CN114441807B (en) * | 2021-07-22 | 2023-07-07 | 荣耀终端有限公司 | Wiring method and system |
| CN113428826A (en) * | 2021-07-27 | 2021-09-24 | 深圳市康道智能股份有限公司 | Refueling robot, control method, system and storage medium |
| CN113628275A (en) * | 2021-08-18 | 2021-11-09 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Charging port pose estimation method and system, charger robot and storage medium |
| CN113628275B (en) * | 2021-08-18 | 2022-12-02 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Charging port pose estimation method and system, charger robot and storage medium |
| CN114193502A (en) * | 2022-01-26 | 2022-03-18 | 江苏贺颖智能科技有限公司 | Special end effector for charging gun grabbing robot |
| CN114193502B (en) * | 2022-01-26 | 2022-11-11 | 江苏贺颖智能科技有限公司 | Special end effector for charging gun grabbing robot |
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