CN110949159B - Fill and trade integrative automatic bank electricity supporting device of electricity - Google Patents
Fill and trade integrative automatic bank electricity supporting device of electricity Download PDFInfo
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- CN110949159B CN110949159B CN201911396443.6A CN201911396443A CN110949159B CN 110949159 B CN110949159 B CN 110949159B CN 201911396443 A CN201911396443 A CN 201911396443A CN 110949159 B CN110949159 B CN 110949159B
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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
-
- 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and 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
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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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
- B60L2200/00—Type of vehicles
- B60L2200/32—Waterborne vessels
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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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a charging and replacing integrated automatic shore power matching device which comprises a device chamber and a hoisting mechanism, wherein the hoisting mechanism comprises a base, a horizontal rotary platform, a vertical rotary table, a first mechanical arm fixedly arranged on the vertical rotary table, a second mechanical arm hinged with the top end of the first mechanical arm, a third mechanical arm hinged with the second mechanical arm and a plug-in module hinged with the third mechanical arm, the plug-in module comprises a rotating shaft, a charging plug, a guide sleeve fixedly connected with the rotating shaft, a limiting sleeve rotatably and slidably embedded in the guide sleeve and a positioning sleeve fixedly arranged on the charging plug, the positioning sleeve is rotatably clamped with the limiting sleeve, and an acceleration sensor, an ultrasonic sensor, an angle sensor and an infrared sensor are arranged on the charging plug. The automatic and accurate butt joint of the charging plug and the charging interface is realized, the ship charging efficiency is improved, the charging plug can be replaced by a clamping mechanism for clamping the charging battery, the requirement of automatically replacing the battery of the ship is met, and the overall equipment compatibility is good.
Description
Technical Field
The invention relates to the technical field of ship-to-ship power supply, in particular to an automatic shore power matching device integrating charging and battery replacement.
Background
Most of the existing shore power technology for connecting shore power ships means that generators on the ships are stopped and land power supplies are used for supplying power during the docking of the ships. The shore power provided by the port can meet the power demand of all necessary electric facilities after the ship is parked, and the shore power provided by the port comprises the following steps: production equipment (such as hatch cover driving devices, ballast water pumps and the like) and living facilities, safety equipment and other equipment. The port (providing shore power) and the port-berthing ship (receiving shore power) are respectively provided with a set of shore power systems.
The shore power device of the prior port and pier needs a large amount of manual cooperation because the shore power box is statically arranged on the ground, when a ship needs to be charged, a cable is lifted and pulled onto the ship from the shore power box on the ground through the shore power cable conveying device, then the plug is manually installed and disassembled, each time of the ship charging period, the cable needs to be repeatedly and manually dragged and installed on the shore power cable conveying device, after the cable is conveyed onto the ship, the plug is manually installed, after the charging is finished, the cable needs to be disassembled from the cable conveying device, the manpower and time cost in the installation and disassembly process is overlarge, the shore power device is not friendly to the ship for short-term berthing, the cable is randomly laid on the ground, the potential safety hazard is large, the appearance is not attractive, in addition, the shore power cable has a large diameter ratio, the weight is heavy, the repeated installation and disassembly efficiency is very low, and the cable is easy to damage, when a large number of ships enter the port at the same time and need to be charged, a large amount of manpower is needed, and the efficiency is low, so that the integral automation degree of the port is not high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an automatic shore power matching device integrating charging and battery replacing, a shore charging plug can be automatically and accurately butted with a charging interface on a ship, the ship charging efficiency and charging stability on the shore of a port are improved, the port charging automation is realized, the height of the charging plug can be flexibly adjusted, a clamping mechanism for clamping a charging battery can be replaced, the requirement of automatically replacing the battery of the ship is met, and the compatibility of the overall equipment is good.
In order to achieve the purpose, the invention adopts the following technical scheme:
a charging and replacing integrated automatic shore power matching device comprises a device chamber and a hoisting mechanism capable of folding and contracting the device chamber, wherein the hoisting mechanism comprises a liftable base, a horizontal rotary platform fixedly arranged on one side of the base, a vertical rotary table rotatably arranged on the horizontal rotary platform and capable of rotating on a vertical surface, a first mechanical arm fixedly arranged on the vertical rotary table, a second mechanical arm mutually hinged with the top end of the first mechanical arm and driven to rotate on the vertical surface through an A amplitude-variable oil cylinder, a third mechanical arm mutually hinged with the outer end of the second mechanical arm and driven to rotate on the vertical surface through a B amplitude-variable oil cylinder, and a plug-in module mutually hinged with the front end of the third mechanical arm and driven to rotate on the vertical surface through a C amplitude-variable oil cylinder, the rotating directions of the vertical rotary table, the second mechanical arm and the third mechanical arm are the same, and the rotating direction of the plug-in module is opposite to that of the third mechanical arm, the plug-in module includes axis of rotation, charging plug, the uide bushing that links firmly with the axis of rotation front end, rotatable and slip inlay establish the position sleeve at the outer wall of charging plug middle part and fixed cover, the position sleeve is connected through rotatory block mode with the uide bushing, install acceleration sensor, ultrasonic sensor, angle sensor and the infrared ray sensor that are the circumference and distribute on the charging plug casing, charging plug overhead cable and the cable of being connected with of inserting receive and restraint the dish control through installing at the base opposite side and receive and release.
The tail end of the A amplitude-variable oil cylinder is hinged with the middle part of the first mechanical arm, the power output end of the A amplitude-variable oil cylinder is hinged with the top end of the first mechanical arm through a first connecting piece, and the end part of the second mechanical arm hinged with the first mechanical arm is further hinged with the first connecting piece through a first push-pull piece.
The tail end of the B amplitude-variable oil cylinder is hinged with the middle of the second mechanical arm, the power output end of the B amplitude-variable oil cylinder is hinged with the outer end of the second mechanical arm through a second connecting piece, the third mechanical arm comprises an A mechanical arm part hinged with the front end of the second mechanical arm and a B mechanical arm part connected to the front end of the A mechanical arm part through an electric telescopic rod, and the end part of the A mechanical arm part hinged to the second mechanical arm is further hinged with the second connecting piece through a second push-pull piece.
The tail end of the variable amplitude oil cylinder C is hinged with the mechanical arm B, the power output end of the variable amplitude oil cylinder C is hinged with the front end of the mechanical arm B through a third connecting piece, the front end of the mechanical arm B is hinged with the rotating shaft, and the rotating shaft is further hinged with the third connecting piece through a third push-pull piece.
The middle part of the charging plug forms a first step part and a second step part, the outer diameter of the first step part is larger than that of the second step part, a convex ring is arranged in the middle of the bottom surface of the limiting sleeve, and the convex ring is connected with the second step part through a hose.
The utility model discloses a spacing structure of bearing, including uide bushing, locating sleeve, spacing cover, motor, cylinder, locating sleeve, limiting sleeve front end outer wall, spacing cover, limiting sleeve middle part, spacing cover, limiting sleeve and motor, the uide bushing is equipped with the dish that pushes away in the sliding embedding, be equipped with motor and cylinder in the both sides space of dish that pushes away respectively, the locating sleeve cover is established on first step portion, the spacing sleeve front end outer wall is equipped with the stopper of circumference equipartition, the locating sleeve middle part is equipped with the annular spacing groove of opening inwards, the locating sleeve is sunken to form the through-hole of circumference equipartition towards the terminal surface of spacing cover, the stopper passes the through-hole through the cylinder drive and makes stopper laminating embedding spacing inslot through motor drive is rotatory.
And gaskets are arranged on the periphery of the front end face of the charging plug.
The invention has the beneficial effects that: the device does not need to utilize a cable lifting and conveying device to pull and lift a cable onto a ship, but realizes automatic and accurate butt joint of an onshore charging plug and a charging interface on the ship by controlling the operation of a lifting mechanism, and can complete the charging operation of the ship only by supervision of a person during working, thereby greatly improving the ship charging efficiency at the shore of a port, reducing the manpower consumption and realizing the port charging automation; the plug-in module of the device can be adjusted in real time along with the dynamic position of a ship on the water surface, the interface stability is high, the charging process is stable, the charging efficiency of the ship is increased, the charging plug and the rotating shaft are in rigid connection through the rotating clamping action of the positioning sleeve and the limiting sleeve, so that the charging plug can be stably plugged into the ship charging interface, the positioning sleeve and the limiting sleeve are separated from each other through the action of a motor and an air cylinder after the charging plug is plugged, the charging plug is connected with the limiting sleeve and the charging plug in a flexible connection mode through a hose, the charging plug and the rotating shaft are prevented from being damaged due to fluctuation of the water surface during charging, and the charging stability is further ensured; the lifting mechanism of the device can automatically adjust the height of the corresponding mechanical arm in a rotating or telescopic mode according to different ship types and sizes to adjust the position of the charging plug, the charging plug can also be replaced by a clamping mechanism for clamping the charging battery, the requirement of automatically replacing the battery of the ship can be met, and the overall equipment compatibility is good; in a standby state, the hoisting mechanism can be folded and retracted into the underground device chamber, so that port personnel and vehicles can normally pass through the underground device chamber, and the utilization rate of the ground space is improved; the device component is made of steel materials with good rigidity and good durability, the surface of the device component is coated with anticorrosive paint with excellent weather resistance and salt spray resistance, the device component has IP 67-level dustproof and waterproof performance, and can well withstand the severe environment of ports and work for a long time.
Drawings
Fig. 1 is a schematic structural diagram of a hoisting mechanism embodying the present invention;
FIG. 2 is an enlarged view taken at A in FIG. 1;
fig. 3 is a partial structural schematic view of the plug-in module of the present invention;
FIG. 4 is a perspective view of a retaining sleeve of the present invention;
FIG. 5 is a perspective view of the stop collar of the present invention;
FIG. 6 is a schematic view of a mating surface of a charging plug embodying the present invention;
FIG. 7 is a schematic view of the lifting mechanism of the present invention retracted into the underground utility chamber;
FIG. 8 is a partially schematic perspective view of the underground unit chamber of the present invention with the cover plate inverted.
In the figure: the device chamber 1, the cover plate 11, the signal warning lamp 12, the device chamber ultrasonic sensor 13, the device chamber infrared sensor 14, the drain tank 15, the control box 16, the working warning lamp 17, the base 2, the buffer gasket 21, the tray 22, the horizontal rotary platform 3, the vertical rotary table 4, the first mechanical arm 5, the amplitude-varying cylinder a 51, the first connecting member 52, the first push-pull member 53, the second mechanical arm 6, the amplitude-varying cylinder B61, the second connecting member 62, the second push-pull member 63, the third mechanical arm 7, the amplitude-varying arm a 71, the amplitude-varying mechanical arm B72, the electric telescopic rod 73, the amplitude-varying cylinder C74, the third connecting member 75, the third push-pull member 76, the plug-in module 8, the rotating shaft 81, the charging plug 82, the acceleration sensor 822, the angle sensor 823, the infrared sensor 824, the gasket 825, the first step portion 826, the second step portion 827, the fixer 83, the second step portion 825, the second step portion, The positioning sleeve 84, the limiting groove 841, the through hole 842, the limiting sleeve 85, the limiting block 851, the convex ring 852, the hose 853, the guide sleeve 86, the push disc 87, the motor 88, the air cylinder 89 and the beam-collecting disc 9.
Detailed Description
The invention is further described with reference to the accompanying drawings and the detailed description below:
as shown in figures 1-8, the charging and replacing integrated automatic shore power matching device comprises a device chamber 1 and a hoisting mechanism capable of being folded and contracted to put in the device chamber 1, wherein the hoisting mechanism comprises a liftable base 2, a horizontal rotary platform 3 fixedly arranged on one side of the base 2, a vertical rotary table 4 rotatably arranged on the horizontal rotary platform 3 and capable of rotating on a vertical plane, a first mechanical arm 5 fixedly arranged on the vertical rotary table 4, a second mechanical arm 6 mutually hinged with the top end of the first mechanical arm 5 and driven to rotate on the vertical plane through an A amplitude-variable oil cylinder 51, a third mechanical arm 7 mutually hinged with the outer end of the second mechanical arm 6 and driven to rotate on the vertical plane through a B amplitude-variable oil cylinder 61, and a splicing module 8 mutually hinged with the front end of the third mechanical arm 7 and driven to rotate on the vertical plane through a C amplitude-variable oil cylinder 74, wherein the vertical rotary table 4, a lifting mechanism and a lifting mechanism capable of lifting the lifting mechanism are arranged in the device chamber 1, and the lifting mechanism is arranged on the horizontal rotary platform 3, and driven to rotate on the vertical rotary table 4 through a vertical rotary table 2, and a lifting mechanism, wherein the lifting mechanism is arranged on the lifting mechanism, and the lifting mechanism are arranged on the lifting mechanism, and arranged on the lifting mechanism, and the lifting mechanism are arranged on the lifting mechanism, and the lifting mechanism are arranged on the lifting mechanism, and the lifting mechanism are arranged, The rotation direction of the equal looks of rotation direction of second arm 6 and third arm 7 and the rotation direction of grafting module 8 is opposite with the rotation direction of third arm 7, grafting module 8 includes axis of rotation 81, charging plug 82, the uide bushing 86 that links firmly with axis of rotation 81 front end, rotatable and slip inlay establish the position sleeve 84 at the outer wall in the middle part of charging plug 82 at uide bushing 85 and fixed cover of establishing in uide bushing 86, position sleeve 84 is connected through rotatory block mode with position sleeve 85, install acceleration sensor 821, ultrasonic sensor 822, angle sensor 823 and the infrared ray sensor 824 that are the circumference and distribute on the charging plug 82 casing, be connected with the cable on the charging plug 82 and the cable is through the control of the dish 9 of restrainting of receipts that installs at the base 2 opposite side receive and release. In the invention, the base 2 is controlled to lift through a lifting device (not shown in the figure) arranged in the device chamber 1, and the buffer gasket 21 is paved on the upper surface of the base 2, so that the rigid damage to the base 2 and the ground when the hoisting mechanism acts can be effectively avoided; the horizontal rotary platform 3 is used for controlling the hoisting mechanism to rotate back and forth on the horizontal plane, and is matched with the vertical rotary table 4 to realize the horizontal movement after the structures of the first mechanical arm 5, the second mechanical arm 6, the third mechanical arm 7, the plug-in module 8 and the like are contracted or the opening movement during working; the three mechanical arms and the three variable amplitude oil cylinders are matched to complete the extension and the up-down position adjustment of the plug-in module 8, and the acceleration sensor 821, the ultrasonic sensor 822, the angle sensor 823, the infrared sensor 824 and the rotating shaft 81 are matched to enable the charging plug 82 to follow the dynamic position of the ship on the water surface to perform follow adjustment in real time, so that the automatic accurate butt joint of the charging plug 82 on the shore and a charging interface on the ship and the accurate fine adjustment of the position and the angle between the charging plug and the charging interface on the ship are realized, the charging process is stable, the charging efficiency of the ship is increased, and the charging stability is improved, wherein the third mechanical arm 7 is of a telescopic structure, and the influence of the height of the water surface on the butt joint of the charging position can be well eliminated; the rotating shaft 81 is provided with a fixer 83 which is matched with the bundling plate 9 to fix and collect the cable.
The tail end of the A luffing oil cylinder 51 is hinged with the middle part of the first mechanical arm 5, the power output end of the A luffing oil cylinder 51 is hinged with the top end of the first mechanical arm 5 through a first connecting piece 52, and the end part of the second mechanical arm 6 hinged with the first mechanical arm 5 is also hinged with the first connecting piece 52 through a first push-pull piece 53.
The tail end of the B luffing oil cylinder 61 is hinged with the middle part of the second mechanical arm 6, the power output end of the B luffing oil cylinder 61 is hinged with the outer end of the second mechanical arm 6 through a second connecting piece 62, the third mechanical arm 7 comprises an A mechanical arm part 71 hinged with the front end of the second mechanical arm 6 and a B mechanical arm part 72 connected to the front end of the A mechanical arm part 71 through an electric telescopic rod 73, and the end part of the A mechanical arm part 71 hinged with the second mechanical arm 6 is also hinged with the second connecting piece 62 through a second push-pull piece 63.
The tail end of the C luffing cylinder 74 is hinged with the B mechanical arm part 72, the power output end of the C luffing cylinder 74 is hinged with the front end of the B mechanical arm part 72 through a third connecting piece 75, the front end of the B mechanical arm part 72 is hinged with a rotating shaft 81, and the rotating shaft 81 is further hinged with the third connecting piece 75 through a third push-pull piece 76.
A first step portion 826 and a second step portion 827 are formed in the middle of the charging plug 82, the outer diameter of the first step portion 826 is larger than that of the second step portion 827, a convex ring 852 is arranged in the middle of the bottom surface of the limiting sleeve 85, and the convex ring 852 is connected with the second step portion 827 through a hose 853.
The specific way of the rotary clamping connection of the positioning sleeve 84 and the limiting sleeve 85 is as follows: the guide sleeve 86 is internally and slidably embedded with a push disc 87, the spaces on two sides of the push disc 87 are respectively provided with a motor 88 and a cylinder 89, the positioning sleeve 84 is sleeved on the first step portion 826, the outer wall of the front end of the limiting sleeve 85 is provided with limiting blocks 851 uniformly distributed on the circumference, the middle part of the positioning sleeve 84 is provided with an annular limiting groove 841 with an inward opening, the end surface of the positioning sleeve 84 facing the limiting sleeve 85 is recessed to form through holes 842 uniformly distributed on the circumference, and the limiting blocks 851 penetrate through the through holes 842 by the driving of the cylinder 89 and are driven to rotate by the motor 88 so that the limiting blocks 851 are embedded into the limiting groove 841 in an attaching manner.
Because the waves are larger at the shore of the port sometimes, the ship is greatly fluctuated under the influence of the waves, the fluctuation direction is indefinite, when charging is carried out, if the charging plug 82 and the rotating shaft 81 are in rigid connection, the charging plug 82 can not completely fluctuate along with the fluctuation of the ship under the action of the rotating shaft 81, the third mechanical arm 7 and the like under the telescopic adjustment of the third mechanical arm 7, so that the charging plug 82 and the ship charging interface are easily damaged, the contact is poor, the charging cannot be carried out, and the maintenance cost is improved, the invention realizes the conversion from the rigid connection (namely, when the charging plug 82 is in butt joint, the positioning sleeve 84 and the limiting sleeve 85 are in a rotating clamping state) to the soft connection (namely, after the butt joint of the charging plug 82 is completed, the positioning sleeve 84 and the limiting sleeve 85 are in a separation state) between the charging plug 82 and the rotating shaft 81 through the arrangement of the positioning sleeve 84, the limiting sleeve 85 and the like, the charging plug 82 can rise and fall along with the fluctuation of the ship during charging, the charging stability is further improved, and the maintenance cost is reduced.
The preceding terminal surface of charging plug 82 is equipped with packing ring 825 all around, and packing ring 825 adopts rubber materials to make, can prevent that charging plug 82 from causing mar and damage to the hull finish, can effectively alleviate the impact that charging plug 82 produced when with the boats and ships interface butt joint simultaneously.
The device room 1 comprises a cover plate 11 capable of automatically turning over, a signal warning lamp 12 is installed on the cover plate 11, a device room ultrasonic sensor 13 and a device room infrared sensor 14 are respectively arranged on two side walls of the device room 1, a water drainage groove 15 is arranged on the bottom surface of the device room 1, a control box 16 and a work warning lamp 17 are respectively arranged on the ground on two sides of the device room 1, the hoisting mechanism is folded and folded after work is completed or in standby and is integrally folded back into the device room 1 along with the base 2, the hoisting mechanism is hidden under the ground through closing of the cover plate 11, port personnel and vehicles can still normally pass above the cover plate 11, and the utilization rate of ground space is improved; when the device works, the safety of personnel and equipment is ensured through the arrangement of the signal warning lamp 12 and the working warning lamp 17; in the rainy environment, the drainage channel 15 can directly discharge the rainwater filled into the device chamber 1, thereby avoiding water accumulation.
The device of the invention is divided into three states when used for charging: the standby state, the working state and the stop (emergency) state are as follows:
(1) standby state: when there is no ship requiring charging in the port, the whole apparatus is in the folded state, i.e. the lifting mechanism is folded back in the apparatus room 1, and is ready at all times. The method specifically comprises the following steps: the horizontal rotary platform 3 is at a 0-degree position, no steering action is performed, the vertical rotary table 4 rotates the first mechanical arm 5 to be parallel to the horizon, the amplitude-variable cylinder A51 retracts the second mechanical arm 6 to be parallel to the retracted first mechanical arm 5, the amplitude-variable cylinder B61 retracts the third mechanical arm 7, the amplitude-variable cylinder C74 retracts the rotating shaft 81, the electric telescopic rod 73 retracts to the shortest position, all variable structures in the mechanism are at initial motion positions and in a locking state, the base 2 is provided with the tray 22, the tray 22 supports the retracted whole body, acting force of the retracted whole device is shared, the whole device is protected, the cover plate 11 retracts to cover the device chamber 1 and keep the whole body with the ground, meanwhile, the working warning lamp 17 and the signal warning lamp 12 cannot be turned on, and the device is in a standby state.
(2) The device is in a working state, when a ship ready to enter a port sends a command of charging, the device enters the working state, and the specific conditions are as follows: after receiving a charging command, before a ship completely enters a port and is stably parked, the device enters a pre-starting mode, the signal warning lamp 12 and the working warning lamp 17 flicker and light, a warning sound is emitted, the cover plate 11 is automatically and slowly opened, meanwhile, the device room ultrasonic sensor 13 and the device room infrared sensor 14 can monitor whether the position of the cover plate 11 and the position nearby have obstacles in real time when the cover plate 11 acts, and the device room ultrasonic sensor stops acting when the cover plate 11 moves to keep a vertical angle with the horizontal line; the horizontal rotary platform 3 keeps the original position not to act, the vertical rotary table 4 moves to be vertical to the horizontal line of the ground, the whole hoisting mechanism is lifted vertically, after the vertical action is in place, the amplitude variation oil cylinder A51, the amplitude variation oil cylinder B61 and the amplitude variation oil cylinder C74 sequentially push the second mechanical arm 6, the third mechanical arm 7 and the rotating shaft 81 to be unfolded, and the working state pre-starting mode is finished; when a ship arrives at a port and is fixedly berthed, the horizontal rotary platform 3 drives the hoisting mechanism to steer, the acceleration sensor 821, the ultrasonic sensor 822, the angle sensor 823 and the infrared sensor 824 track and position the charging interface position of the ship to be charged, meanwhile, each mechanical arm and the rotating shaft 81 are finely adjusted in real time, and after the positioning is finished, the hoisting device drives the charging plug 82 to be in butt joint with the ship charging interface for charging. When the water surface has small waves and the water level has influence on the height of the ship, the electric telescopic rod 73 can be adjusted in a telescopic mode, and the butt joint state of the charging plug 82 and the charging interface is ensured. When the wind wave is large, in order to avoid the influence of the large wind wave on the charging, the motor 88 operates to drive the position limiting sleeve 85 to rotate until the position limiting block 851 is aligned with the through hole 842, the motor 88 stops operating, the cylinder 89 starts, the motor 88, the push disc 87 and the position limiting sleeve 85 retreat to make the position limiting block 851 deviate from the position limiting sleeve 84, at this moment, the charging plug 82 is in soft connection with the rotating shaft 81, when the position limiting sleeve 85 rotates, the hose 853 is twisted to a certain extent due to the characteristic of the hose 853, after the charging is finished, the cylinder 89 starts to drive the motor 88, the push disc 87 and the position limiting sleeve 85 to advance to make the position limiting block 851 enter the position limiting sleeve 84, when the position limiting block 851 is abutted against the position limiting groove 841, the motor 88 starts to drive the position limiting sleeve 85 to rotate reversely to make the position limiting block 851 be re-engaged with the position limiting groove 841, the hard connection between the charging plug 82 and the rotating shaft 81 is recovered, and the pulling-out of the charging plug 82 is convenient.
When the ship finishes the charging operation and prepares to leave a port or the ship charging battery is fully charged, the working state is finished, the ship enters a retracting program, a hoisting mechanism drives a charging plug 82 to be separated from the charging interface, an electric telescopic rod 73 is contracted to the shortest position, an A amplitude cylinder 51, a B amplitude cylinder 61 and a C amplitude cylinder 74 sequentially drive a second mechanical arm 6, a third mechanical arm 7 and a rotating shaft 81 to retract, a horizontal rotary platform 3 is rotated to the initial position, then a vertical rotary table 4 slowly falls the retracted lifting arm mechanism to be parallel to the horizontal line, a tray 22 supports the fallen mechanism, a cover plate 11 is automatically retracted to cover a device chamber 1 after an ultrasonic sensor 13 and an infrared sensor 14 of the device chamber detect no obstacle, a signal warning lamp 12 and a working warning lamp 17 have alarm warning flicker to stop after the action is in place, and the warning sound is finished, and finishing the working state.
(3) A stopped (emergency) state, comprising in particular: firstly, in any link of a standby mode and a working mode, when the cover plate 11 is opened or retracted, the device chamber ultrasonic sensor 13 and the device chamber infrared sensor 14 send signals to the control box 16 when monitoring that an obstacle exists, so that the cover plate 11 is stopped emergently, the current pose is kept, and meanwhile, the working warning lamp 17 gives out a warning sound with an alarm; when the lifting mechanism is in a working state, an acceleration sensor 821, an ultrasonic sensor 822, an angle sensor 823 and an infrared sensor 824 on the charging plug 82 monitor an instantaneous angle, when displacement occurs, the lifting mechanism is immediately disconnected from charging, the charging plug 82 is withdrawn in a small range so as not to be contacted with a ship, and meanwhile, a working warning lamp 17 gives out a warning sound with an alarm; and when other emergency situations occur, the guardian can perform emergency stop on the device through the control box 16, so that the safety of personnel and equipment is ensured.
The charging plug 82 can be replaced by a clamping mechanism for grabbing a charging battery on a ship (the charging battery is electrically connected with a ship charging interface), so that the requirement of automatically replacing the charging battery is met. The connection mode of the clamping mechanism is the same as that of the charging plug 82, other structures are not changed, and after the clamping mechanism is replaced, the working mode of the clamping mechanism is the same as that of the charging plug 82 in installation.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides a fill and trade integrative automatic bank electricity supporting device of electricity, includes device room (1) and collapsible shrink puts into the hoisting mechanism of device room (1), its characterized in that: the hoisting mechanism comprises a liftable base (2), a horizontal rotary platform (3) fixedly arranged on one side of the base (2), a vertical rotary table (4) rotatably arranged on the horizontal rotary platform (3) and capable of rotating on a vertical surface, a first mechanical arm (5) fixedly arranged on the vertical rotary table (4), a second mechanical arm (6) mutually hinged with the top end of the first mechanical arm (5) and driven to rotate on the vertical surface through an A amplitude-variable oil cylinder (51), a third mechanical arm (7) mutually hinged with the outer end of the second mechanical arm (6) and driven to rotate on the vertical surface through a B amplitude-variable oil cylinder (61), and an insertion module (8) mutually hinged with the front end of the third mechanical arm (7) and driven to rotate on the vertical surface through a C amplitude-variable oil cylinder (74), wherein the rotation directions of the vertical rotary table (4), the second mechanical arm (6) and the third mechanical arm (7) are the same, and the rotation direction of the insertion module (8) is the same as that of the third mechanical arm (8) 7) The rotation opposite direction, grafting module (8) include axis of rotation (81), charging plug (82), uide bushing (86) that link firmly with axis of rotation (81) front end, rotatable and slip inlay establish position sleeve (85) in uide bushing (86) and fixed cover establish position sleeve (84) at charging plug (82) middle part outer wall, position sleeve (84) are connected through rotatory block mode with uide bushing (85), install acceleration sensor (821), ultrasonic sensor (822), angle sensor (823) and infrared ray sensor (824) that are the circumference and distribute on charging plug (82) the casing, be connected with the cable on charging plug (82) and the cable is through installing and restraint dish (9) control of closing at base (2) opposite side and receive and release.
2. The charging and replacing integrated automatic shore power matching device as claimed in claim 1, wherein: the tail end of the A variable amplitude oil cylinder (51) is hinged with the middle of the first mechanical arm (5), the power output end of the A variable amplitude oil cylinder (51) is hinged with the top end of the first mechanical arm (5) through a first connecting piece (52), and the end part of the second mechanical arm (6) hinged with the first mechanical arm (5) is hinged with the first connecting piece (52) through a first push-pull piece (53).
3. The charging and replacing integrated automatic shore power matching device as claimed in claim 1, wherein: the tail end of the B variable amplitude oil cylinder (61) is hinged to the middle of the second mechanical arm (6), the power output end of the B variable amplitude oil cylinder (61) is hinged to the outer end of the second mechanical arm (6) through a second connecting piece (62), the third mechanical arm (7) comprises an A mechanical arm portion (71) hinged to the front end of the second mechanical arm (6) and a B mechanical arm portion (72) connected to the front end of the A mechanical arm portion (71) through an electric telescopic rod (73), and the end portion of the A mechanical arm portion (71) hinged to the second mechanical arm (6) is hinged to the second connecting piece (62) through a second push-pull piece (63).
4. The charging and replacing integrated automatic shore power matching device as claimed in claim 3, wherein: the tail end of the variable amplitude oil cylinder (74) is hinged to the mechanical arm part (72) B, the power output end of the variable amplitude oil cylinder (74) C is hinged to the front end of the mechanical arm part (72) B through a third connecting piece (75), the front end of the mechanical arm part (72) B is hinged to a rotating shaft (81), and the rotating shaft (81) is further hinged to the third connecting piece (75) through a third push-pull piece (76).
5. The charging and replacing integrated automatic shore power matching device as claimed in claim 1, wherein: first step portion (826) and second step portion (827) are formed in charging plug (82) middle part, the external diameter size of first step portion (826) is greater than the external diameter size of second step portion (827), stop collar (85) bottom surface middle part is equipped with bulge loop (852), connect through hose (853) between bulge loop (852) and second step portion (827).
6. The charging and replacing integrated automatic shore power matching device as claimed in claim 5, wherein: sliding fit is equipped with in uide bushing (86) and pushes away dish (87), be equipped with motor (88) and cylinder (89) respectively in the both sides space of pushing away dish (87), position sleeve (84) cover is established on first step portion (826), stop collar (85) front end outer wall is equipped with stopper (851) of circumference equipartition, position sleeve (84) middle part is equipped with annular spacing groove (841) that the opening is inside, position sleeve (84) are towards terminal surface recess formation through-hole (842) of circumference equipartition of stop collar (85), stopper (851) pass through-hole (842) and make stopper (851) laminating embedding spacing groove (841) in through motor (88) drive rotation through cylinder (89).
7. The charging and replacing integrated automatic shore power matching device as claimed in claim 1, wherein: and a gasket (825) is arranged on the periphery of the front end face of the charging plug (82).
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| CN111618835B (en) * | 2020-06-12 | 2021-11-26 | 山东科曼智能科技有限公司 | Intelligent charging robot system for port shore power and operation method |
| CN113665779B (en) * | 2021-08-25 | 2022-06-10 | 深圳稳石氢能科技有限公司 | Portable fuel cell bank electricity power supply system |
| CN113772025A (en) * | 2021-09-24 | 2021-12-10 | 汇能智联(深圳)科技有限公司 | Electric ship capable of being intelligently charged and parking charging system thereof |
| CN113895261B (en) * | 2021-11-03 | 2023-10-27 | 大连海事大学 | Marine shift type liftable wireless charging platform |
| CN116788070B (en) * | 2023-08-29 | 2023-12-22 | 江苏健龙电器有限公司 | Automatic plugging and unplugging charging device for shipborne battery compartment, charging method and ship |
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| US8884773B2 (en) * | 2010-09-10 | 2014-11-11 | Power Products, Llc | Shore power cord set |
| CN204281119U (en) * | 2014-08-26 | 2015-04-22 | 中国船舶重工集团公司第七0四研究所 | Versatile walk type manipulator |
| EP4223206A1 (en) * | 2016-09-16 | 2023-08-09 | Verb Surgical Inc. | Robotic arms |
| CN108155700A (en) * | 2018-02-09 | 2018-06-12 | 遨博（北京）智能科技有限公司 | A kind of charging robot and its charging mechanical arm |
| CN108327573A (en) * | 2018-04-25 | 2018-07-27 | 广州市君望机器人自动化有限公司 | Mobile self charger |
| CN209159448U (en) * | 2018-12-06 | 2019-07-26 | 广州发展瑞华新能源电动船有限公司 | A kind of centralized alternating current-direct current shore connection box in open air for the above electric ship charging of kiloton |
| CN109649197A (en) * | 2018-12-24 | 2019-04-19 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of the charging bank electricity system and charging method of large capacity electric ship |
| CN111231711A (en) * | 2020-02-16 | 2020-06-05 | 南京林业大学 | Automatic charging robot |
| CN111618835B (en) * | 2020-06-12 | 2021-11-26 | 山东科曼智能科技有限公司 | Intelligent charging robot system for port shore power and operation method |
| CN214728244U (en) * | 2020-12-14 | 2021-11-16 | 浙大宁波理工学院 | Mechanical arm type intelligent charging pile |
| CN113665779B (en) * | 2021-08-25 | 2022-06-10 | 深圳稳石氢能科技有限公司 | Portable fuel cell bank electricity power supply system |
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