CN112248836A - Telescopic automatic charging gun device and charging method - Google Patents
Telescopic automatic charging gun device and charging method Download PDFInfo
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- CN112248836A CN112248836A CN202011131615.XA CN202011131615A CN112248836A CN 112248836 A CN112248836 A CN 112248836A CN 202011131615 A CN202011131615 A CN 202011131615A CN 112248836 A CN112248836 A CN 112248836A
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- charging
- charging gun
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- gun head
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—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
- B60L53/18—Cables specially adapted for charging electric vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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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 relates to a telescopic automatic charging gun device and a charging method. The device comprises a control box, a driving module, a control box camera, a telescopic rectangular arm module, a charging wire, a mechanical arm self-rotating motor, a self-rotating mechanical arm, a mechanical arm swinging motor, a swinging mechanical arm, a charging gun head self-rotating motor and a charging gun head. The self-rotating mechanical arm drives the swinging mechanical arm and the charging gun head to rotate under the driving of the mechanical arm self-rotating motor, the swinging mechanical arm drives the charging gun head to swing under the driving of the mechanical arm swinging motor, and the charging gun head rotates under the driving of the charging gun head self-rotating motor. The invention improves the high space utilization rate and the automation level of the charging gun.
Description
Technical Field
The invention relates to the field of charging guns, in particular to a telescopic automatic charging gun device and a charging method.
Background
Electric vehicles have become one of the main lines of development of the future automobile industry. Along with the popularization of the country to the novel infrastructure construction, the construction fills electric pile and new energy automobile and becomes the trend. The charging device that electric automobile was equipped with is one of novel city infrastructure, and the rifle that charges is charging device's core part, and its performance is good and bad to electric automobile popularization and produces important influence.
The existing charging gun device has the following core problems: (1) most charging guns are in manual operation mode. If the electric automobile is charged, the charging gun needs to be taken out of the charging pile storage device and manually inserted into a charging port of the electric automobile, and after charging is finished, the charging gun still needs to be manually pulled out and put back into the storage device, so that the defect of low automation level is overcome; (2) the automatic charging device on the market at present is based on a fixed rigid six-axis mechanical arm structure, and has low space utilization rate and insufficient charging flexibility; (3) under the influence of new coronary pneumonia epidemic situation, personal hygiene, epidemic prevention and control face a plurality of challenges, and the manual operation of the charging gun inevitably causes the infection probability to increase, and the safety risk coefficient is lower.
To solve the above problems, it is desirable to provide a retractable automatic charging gun device with high space utilization.
Disclosure of Invention
The invention aims to provide a telescopic automatic charging gun device and a charging method, which improve the high space utilization rate and the automation level of a charging gun.
In order to achieve the purpose, the invention provides the following scheme:
a retractable automatic charging gun apparatus, comprising: the automatic charging device comprises a control box, a driving module, a control box camera, a telescopic rectangular arm module, a charging wire, a mechanical arm self-rotating motor, a self-rotating mechanical arm, a mechanical arm swinging motor, a swinging mechanical arm, a charging gun head self-rotating motor and a charging gun head;
the driving module is arranged in the control box; the driving module is used for outputting electric power torque and driving the telescopic rectangular arm module to stretch and retract;
the control box is respectively connected with the driving module, the control box camera, the mechanical arm self-rotating motor, the mechanical arm swinging motor and the charging gun head self-rotating motor;
the control box camera is arranged on the surface of the control box; the control box camera is used for identifying the position of a vehicle and the position of a charging port;
the telescopic rectangular arm module is connected with the driving module;
the charging wire is connected with a power supply and the charging gun head;
the self-rotating motor of the mechanical arm is arranged in the joint of the self-rotating mechanical arm, and the self-rotating mechanical arm is connected with the telescopic rectangular arm module;
the mechanical arm swinging motor is arranged in the swinging mechanical arm, and the swinging mechanical arm is connected with the self-rotating mechanical arm;
the charging gun head self-rotating motor is connected with the charging gun head;
the self-rotating mechanical arm drives the swinging mechanical arm and the charging gun head to rotate under the driving of the mechanical arm self-rotating motor, the swinging mechanical arm drives the charging gun head to swing under the driving of the mechanical arm swinging motor, and the charging gun head rotates under the driving of the charging gun head self-rotating motor.
Optionally, the driving module includes: the driving motor, the coupler, the lead screw and the fixing plate;
an input shaft of the driving motor is connected with the control box, an output shaft of the driving motor is connected with the coupler, and the driving motor is used for transmitting the electric torque to the coupler;
the coupler is connected with the lead screw, the coupler transmits the received electric torque to the lead screw, and the lead screw converts the electric torque into force or moment in a linear direction;
the lead screw is fixed on the fixing plate and connected with the driving rope.
The driving module includes: the electric push rod driving motor, the electric push rod telescopic rod and the electric push rod tail end fixing joint are arranged on the base;
the electric push rod driving motor is respectively connected with the control box and the electric push rod telescopic rod;
the tail end fixing joint of the electric push rod is positioned at the tail end of the electric push rod telescopic rod and connected with the tail end of the telescopic rectangular arm module.
Optionally, the telescopic rectangular arm module comprises a plurality of sections of rectangular arms;
in two adjacent sections of the rectangular arms, the lower rectangular arm is nested on the upper rectangular arm.
Optionally, the rectangular arm includes a shoulder and a limiting block;
the shaft shoulder is arranged at the lower end of the rectangular arm; the shaft shoulder is connected with a limiting block of the lower rectangular arm corresponding to the rectangular arm;
the limiting block is arranged at the upper end of the rectangular arm and is connected with a shaft shoulder of the upper rectangular arm corresponding to the rectangular arm through the limiting block;
the limiting blocks are connected with the corresponding driving modules.
Optionally, the automatic charging gun device further includes: a charging wire outlet joint;
the outlet joint of the charging wire is respectively connected with the telescopic rectangular arm module and the self-rotating mechanical arm;
the charging wire sets up inside scalable rectangular arm module, and pass through charging wire export joint is followed draw forth in the scalable rectangular arm module.
Optionally, the automatic charging gun device further includes: the charging gun carries a camera;
the charging gun carrying camera is arranged on the charging gun head and is connected with the control box; the charging gun carries a camera and is used for acquiring the position of the charging port.
A method of charging a retractable automatic charging gun apparatus, comprising:
acquiring the position of an electric vehicle and the position of a charging port;
driving a telescopic rectangular arm module to extend according to the position of the vehicle and the position of the charging port;
when the telescopic rectangular arm module reaches the maximum length, according to the position of the vehicle and the position of the charging port, a mechanical arm self-rotating motor is driven to drive a self-rotating mechanical arm, a swinging mechanical arm and a charging gun head to rotate, so that the planes of the self-rotating mechanical arm, the swinging mechanical arm and the charging gun head are perpendicular to the plane of the charging port;
and driving a mechanical arm swing motor to drive the swing mechanical arm and the charging gun head to rotate, so that the charging gun head is butted with the charging port.
Optionally, the drive swing arm drives the rifle head that charges and rotates, makes the rifle head that charges with the mouth butt joint that charges, later still includes:
acquiring an image of the charging port by using a camera carried by a charging gun;
judging whether the charging gun head is aligned with the charging port or not according to the image of the charging port;
if the charging gun head is aligned with the charging port, the butt joint of the charging gun head and the charging port is completed;
and if the charging gun head is not aligned with the charging port, the charging gun head is driven to rotate from the rotating motor, so that the charging gun head rotates to a set position to complete butt joint.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the telescopic automatic charging gun device and the charging method, the telescopic control of the rectangular arm is performed by using the telescopic rectangular arm module, when the charging device does not work, the mechanical arm is in a telescopic state, and the space occupied by the charging device is small. The distance between the charging gun head and a charging port of a vehicle to be charged is shortened through the telescopic rectangular arm module. The method comprises the steps that the position of an electric vehicle and the position of a charging port are obtained through a camera of a control box, the self-rotating mechanical arm drives the swinging mechanical arm and the charging gun head to rotate under the driving of a self-rotating motor of the mechanical arm, the swinging mechanical arm drives the charging gun head to swing under the driving of a swinging motor of the mechanical arm, and the charging gun head rotates under the driving of the self-rotating motor of the charging gun head. Arrange three degrees of freedom promptly, not only realize the rifle head that charges and the vehicle mouth butt joint that charges of waiting to charge, can also accomplish the rifle head autogyration that charges, make the different model current interface in the rifle head that charges and the vehicle mouth interface position one-to-one that charges of waiting to charge, the butt joint is more accurate. The automation level of electric automobile charging is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural view of a retractable automatic charging gun device provided by the present invention in an extended mode;
fig. 2 is a schematic structural view of a retractable automatic charging gun device according to the present invention in a retracted mode;
FIG. 3 is a schematic view of the connection of adjacent rectangular arms provided by the present invention;
fig. 4 is a schematic structural diagram of the driving module including an electric push rod driving motor, an electric push rod telescopic rod and an electric push rod end fixing joint.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a telescopic automatic charging gun device and a charging method, which improve the high space utilization rate and the automation level of a charging gun.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural view of a retractable automatic charging gun device provided by the present invention in an extended mode, fig. 2 is a schematic structural view of the retractable automatic charging gun device provided by the present invention in a retracted mode, as shown in fig. 1 and fig. 2, the retractable automatic charging gun device provided by the present invention comprises: the automatic charging device comprises a control box 1, a driving module, a control box camera 5, a telescopic rectangular arm module, a charging wire 13, a mechanical arm self-rotating motor 15, a self-rotating mechanical arm 16, a mechanical arm swinging motor 17, a swinging mechanical arm 18, a charging gun head self-rotating motor 19 and a charging gun head 20.
The driving module is arranged inside the control box 1; the driving module is used for outputting electric power torque and driving the telescopic rectangular arm module to stretch and retract. The driving module is a power source for driving the telescopic rectangular arm module to move.
The control box 1 is respectively connected with the driving module, the control box camera 5, the mechanical arm self-rotating motor 15, the mechanical arm swinging motor 17 and the charging gun head self-rotating motor 19.
The control box camera 5 is arranged on the surface of the control box 1; the control box camera 5 is used for recognizing the position of the vehicle and the position of the charging port.
The telescopic rectangular arm module is connected with the driving module.
The charging wire 13 is connected with a power supply and the charging gun head 20.
The mechanical arm self-rotating motor 15 is arranged inside a joint of the self-rotating mechanical arm 16, and the self-rotating mechanical arm 16 is connected with the telescopic rectangular arm module.
The mechanical arm swinging motor 17 is arranged inside the swinging mechanical arm 18, and the swinging mechanical arm 18 is connected with the self-rotating mechanical arm 16.
The charging gun head self-rotating motor 19 is connected with the charging gun head 20.
The self-rotating mechanical arm 16 drives the swinging mechanical arm 18 and the charging gun head 20 to rotate under the driving of the mechanical arm self-rotating motor 15, the swinging mechanical arm 18 drives the charging gun head 20 to swing under the driving of the mechanical arm swinging motor 17, and the charging gun head 20 rotates under the driving of the charging gun head self-rotating motor 19.
The charging gun head self-rotating motor 19 can drive the charging gun head 20 to self-rotate, so that current interfaces of different types in the charging gun head 20 correspond to the interface positions of the charging port of the vehicle to be charged one by one, and micro-adjustment is realized.
As a specific example, the charging gun head 20 is in the form of dc charging.
As a specific embodiment, the driving module includes: driving motor 2, shaft coupling 3, lead screw 4 and fixed plate 6.
The input shaft of the driving motor 2 is connected with the control box 1, the output shaft of the driving motor 2 is connected with the coupler 3, and the driving motor 2 is used for transmitting the electric torque to the coupler 3. The coupling 3 plays a role in buffering, damping and improving the dynamic performance of the shaft.
The shaft coupling 3 with lead screw 4 is connected, shaft coupling 3 will receive electric power moment of torsion transmits to lead screw 4, lead screw 4 will electric power moment of torsion converts the power or moment of torsion of straight line direction.
The lead screw 4 is fixed on the fixing plate 6, and the lead screw 4 is connected with the driving rope 12.
As a specific example, the telescopic rectangular arm module comprises a plurality of sections of rectangular arms.
In two adjacent sections of the rectangular arms, the lower rectangular arm is nested on the upper rectangular arm.
Fig. 3 is a connection diagram of adjacent rectangular arm structures, as shown in fig. 3, the diameters of the rectangular arms 8, 9, 10 and 11 are sequentially decreased, the lower end of each rectangular arm is provided with a shaft shoulder, the upper end of the rectangular arm below connected with the shaft shoulder is provided with a limiting block 22, and then the rectangular arms are matched, so that the rectangular arm below is nested on the rectangular arm above and cannot fall off.
As a specific example, the rectangular arm includes a shoulder and a stop 22.
The shaft shoulder is arranged at the lower end of the rectangular arm; the shaft shoulder is connected with the limiting block 22 of the lower rectangular arm corresponding to the rectangular arm.
The limiting block 22 is arranged at the upper end of the rectangular arm, and the limiting block 22 is connected with a shaft shoulder of the upper rectangular arm corresponding to the rectangular arm.
The limiting blocks 22 are connected with the corresponding driving ropes 12.
The driving motor 2 rotates to pull the driving rope 12 to enable the rectangular arm to move up and down, so that the rectangular arm can be retracted into the rectangular arm 6, the occupied space of the device is reduced, and the overall layout is optimized.
The tail end of the driving rope 12 is connected with a limiting block 22 in the rectangular arm, when the motor rotates forwards, the wire take-up and pay-off device starts to pay off, the driving rope 12 pulls the rectangular telescopic arm to extend, the motor rotates backwards, the wire take-up and pay-off device takes up wires, and the rectangular telescopic arm is pulled to contract. Every second drive rope 12 drives a section of the rectangular arm.
As a specific embodiment, the automatic charging gun device further includes: charging wire exit joint 14.
The charging line outlet joint 14 is respectively connected with the telescopic rectangular arm module and the self-rotating mechanical arm 16.
The charging wire 13 is arranged inside the telescopic rectangular arm module and is led out of the telescopic rectangular arm module through the charging wire outlet joint 14.
As a specific embodiment, the automatic charging gun device further includes: the charging gun carries a camera 21.
The charging gun carrying camera 21 is arranged on the charging gun head 20 and is connected with the control box 1; the charging gun-mounted camera 21 is used to acquire the position of the charging port.
Fig. 4 is a schematic structural diagram of the driving module including the electric push rod driving motor 22, the electric push rod telescopic rod 23 and the electric push rod end fixing joint 24, as a specific embodiment;
the driving module includes: the electric push rod driving motor 22, the electric push rod telescopic rod 23 and the electric push rod tail end fixing joint 24;
the electric push rod driving motor 22 is respectively connected with the control box and the electric push rod telescopic rod 23;
the electric push rod end fixing joint 24 is located at the end of the electric push rod telescopic rod 23 and connected with the end of the telescopic rectangular arm module.
Based on foretell drive module, the length that the charging wire was drawn forth at the arm joint is fixed, and its length can let swing joint and autogyration joint motion can not take place to interfere, and the charging wire of arranging in flexible arm can receive and release along with flexible rectangle arm's flexible, and the charging wire is realized receiving and releasing through the spiral structure.
Based on the driving module, the charging principle of the telescopic automatic charging gun device provided by the invention is as follows:
1. when the automobile to be charged is parked at the parking space, the camera positioned on the control box body detects the automobile to be charged and the position of a charging port of the automobile to be charged, and the mechanical arm is ready to move.
2. According to the detected position information of the charging port, the electric push rod driving motor 22 located in the control box starts to rotate when the charging mechanical arm moves, the electric push rod telescopic rod 23 starts to extend, the electric push rod tail end fixing connector 24 is connected with the rectangular arm 11 and drives the rectangular arm 11 to move, the rectangular arm 7 is fixedly connected to the control box body, due to the gravity action of the rectangular arm, the rectangular arms 10, 9 and 8 actually move downwards along with the rectangular arm 11, and when the rectangular arm 8 moves to the shaft shoulder of the rectangular arm 7, the rectangular arm 8 stops moving. The rectangular arms 9, 10, 11 continue to move downwards and the rectangular arm 9 stops moving downwards until the rectangular arm 9 moves to the shoulder of the rectangular arm 8. The rectangular arms 10, 11 repeat the above movements so that the telescopic robot arms are at the right length.
The camera installed on the control box body shoots image information of the vehicle to obtain three-dimensional coordinates (U, V, W) of the charging port relative to the vehicle (the center of a rear axle of the vehicle is taken as the origin of a coordinate system of the vehicle, the direction pointing to the head of the vehicle is taken as the positive direction of a U axle, the direction pointing to a left rear wheel is taken as the positive direction of a V axle, and the direction pointing to the vertical ground is taken as the positive direction of a W axle). And then three-pole coordinates (x1, y1, z1) of the center of the rear axle of the vehicle relative to the end part (fixed as a space coordinate origin) of the charging mechanical arm are calculated, and the space position coordinates (x, y, z) of the charging port relative to the end part of the charging mechanical arm are obtained through coordinate conversion by combining the position coordinates (u, v, w) of the known charging port relative to a vehicle coordinate system and the vehicle pose. Then the mechanical arm self-rotating motor starts to rotate to drive the charging gun head device to rotate automatically, so that the plane where the self-rotating mechanical arm, the swinging mechanical arm and the charging gun head are located is perpendicular to the plane of a charging port of the vehicle to be charged. And then the mechanical arm swinging motor starts to rotate to drive the charging gun head connected with the swinging mechanical arm to rotate, so that the charging gun head is butted with a charging port of the vehicle to be charged.
The camera carried by the charging gun head can shoot a group of pictures, whether the collected pictures are consistent with the pictures in accurate butt joint is judged through image recognition, and if the collected pictures are inconsistent with the pictures, the deflection angle is obtained and used as the rotation angle of the rotating motor of the input control gun head. The control box controls the charging gun head to rotate from the rotating motor, so that the charging gun head rotates to a proper position, and the butt joint is convenient to complete.
3. After accurate alignment, the driving motor controls the mechanical arm to continue moving, the charging gun head is butted with the charging port, and the charging gun head is fixed with the charging port through threads to perform charging;
4. after charging is finished, the motor located in the joint controls the charging gun to exit from the charging port in a cooperative mode, then the driving motor in the control box controls the telescopic mechanical arm to move, the rectangular arm is contracted, and one working process of the mechanical charging arm is finished.
The invention also provides a charging method of the telescopic automatic charging gun device, which comprises the following steps:
and S1, acquiring the electric vehicle position and the position of the charging port.
And S2, driving the telescopic rectangular arm module to extend according to the position of the vehicle and the position of the charging port.
And S3, when the telescopic rectangular arm module reaches the maximum length, according to the position of the vehicle and the position of the charging port, driving the mechanical arm self-rotating motor 15 to drive the self-rotating mechanical arm 16, the swinging mechanical arm 18 and the charging gun head 20 to rotate, so that the plane where the self-rotating mechanical arm 16, the swinging mechanical arm 18 and the charging gun head 20 are located is perpendicular to the plane of the charging port.
And S4, driving the mechanical arm swing motor 17 to drive the swing mechanical arm 18 and the charging gun head 20 to rotate, so that the charging gun head 20 is in butt joint with the charging port.
S4 is followed by:
the charging gun-mounted camera 21 is used to acquire an image of the charging port.
And judging whether the charging gun head 20 is aligned with the charging port or not according to the image of the charging port.
And if the charging gun head 20 is aligned with the charging port, the butt joint of the charging gun head 20 and the charging port is completed.
And if the charging gun head 20 is not aligned with the charging port, driving the charging gun head to rotate from the rotating motor 19, so that the charging gun head 20 rotates to a set position to complete butt joint.
As a specific embodiment, the charging method of the retractable automatic charging gun device provided by the present invention specifically includes the following steps:
1. when the automobile to be charged is parked at the parking space, the camera positioned on the control box 1 detects the automobile to be charged and the position of a charging port of the automobile to be charged, and the mechanical arm is ready to move.
2. Movement of charging rectangular arm
2.1. According to the detected position information of the charging port, the driving motor 2 positioned in the control box starts to rotate, the driving motors 2 of the two driving ropes 12 connected with the rectangular arm 11 start to rotate forwards, the take-up and pay-off device starts to pay off, the driving ropes 12 connected with the rectangular arm 11 pull the rectangular arm 11 to move downwards, when the rectangular arm is at the maximum telescopic length, the driving motor 2 for controlling the rectangular arm 10 to move starts to rotate, and the rectangular arm 10 finishes the moving process of the rectangular arm 11. Repeating the above movement to sequentially extend the rectangular arms 11, 10, 9, 8, 7, and to make the telescopic mechanical arm in a proper length.
2.2. The camera mounted on the control box 1 shoots image information of the vehicle to obtain three-dimensional coordinates (U, V, W) of the charging port relative to the vehicle (the center of the rear axle of the vehicle is taken as the origin of a coordinate system of the vehicle, the direction pointing to the head of the vehicle is taken as the forward direction of the U axle, the direction pointing to the left rear wheel is taken as the forward direction of the V axle, and the direction pointing to the vertical ground is taken as the forward direction of the W axle). And then three-pole coordinates (x1, y1, z1) of the center of the rear axle of the vehicle relative to the end part (fixed as a space coordinate origin) of the charging mechanical arm are calculated, and the space position coordinates (x, y, z) of the charging port relative to the end part of the charging mechanical arm are obtained through coordinate conversion by combining the position coordinates (u, v, w) of the known charging port relative to a vehicle coordinate system and the vehicle pose. Then the mechanical arm self-rotating motor 15 starts to rotate to drive the charging gun head 20 to rotate in a self-rotating mode, and the plane where the self-rotating mechanical arm 16, the swinging mechanical arm 18 and the charging gun head 20 are located is perpendicular to the plane of a charging port of the vehicle to be charged. Then the mechanical arm swinging motor 17 starts to rotate to drive the charging gun head 20 connected with the swinging mechanical arm 18 to rotate, so that the charging gun head 20 is butted with a charging port of a vehicle to be charged.
2.3. The charging gun head 20 is provided with a camera to shoot a group of pictures, whether the collected pictures are consistent with the pictures in accurate butt joint is judged through image recognition, and if the collected pictures are not consistent with the pictures in accurate butt joint, a deflection angle is obtained and used as a rotation angle for inputting and controlling a gun head rotating motor. The control box controls the charging gun head to rotate from the rotating motor 19, so that the charging gun head 20 rotates to a proper position, and the butt joint is convenient to complete.
3. After accurate alignment, the driving motor 2 controls the mechanical arm to continue moving, the charging gun head 20 is in butt joint with the charging port, and the charging gun head 20 is fixed with the charging port through threads to perform charging;
4. after charging is finished, the motor located in the joint controls the charging gun to exit from the charging port in a cooperative mode, then the driving motor 2 in the control box controls the telescopic mechanical arm to move, the rectangular arm is contracted, and one working process of the mechanical charging arm is finished.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A telescopic automatic charging gun device, comprising: the automatic charging device comprises a control box, a driving module, a control box camera, a telescopic rectangular arm module, a charging wire, a mechanical arm self-rotating motor, a self-rotating mechanical arm, a mechanical arm swinging motor, a swinging mechanical arm, a charging gun head self-rotating motor and a charging gun head;
the driving module is arranged in the control box; the driving module is used for outputting electric power torque and driving the telescopic rectangular arm module to stretch and retract;
the control box is respectively connected with the driving module, the control box camera, the mechanical arm self-rotating motor, the mechanical arm swinging motor and the charging gun head self-rotating motor;
the control box camera is arranged on the surface of the control box; the control box camera is used for identifying the position of a vehicle and the position of a charging port;
the telescopic rectangular arm module is connected with the driving module;
the charging wire is connected with a power supply and the charging gun head;
the self-rotating motor of the mechanical arm is arranged in the joint of the self-rotating mechanical arm, and the self-rotating mechanical arm is connected with the telescopic rectangular arm module;
the mechanical arm swinging motor is arranged in the swinging mechanical arm, and the swinging mechanical arm is connected with the self-rotating mechanical arm;
the charging gun head self-rotating motor is connected with the charging gun head;
the self-rotating mechanical arm drives the swinging mechanical arm and the charging gun head to rotate under the driving of the mechanical arm self-rotating motor, the swinging mechanical arm drives the charging gun head to swing under the driving of the mechanical arm swinging motor, and the charging gun head rotates under the driving of the charging gun head self-rotating motor.
2. The retractable automatic recharging gun device of claim 1, wherein said drive module comprises: the device comprises a driving motor, a coupler, a lead screw, a driving rope and a fixing plate;
an input shaft of the driving motor is connected with the control box, an output shaft of the driving motor is connected with the coupler, and the driving motor is used for transmitting the electric torque to the coupler;
the coupler is connected with the lead screw, the coupler transmits the received electric torque to the lead screw, and the lead screw converts the electric torque into force or moment in a linear direction;
the lead screw is fixed on the fixing plate and connected with the driving rope.
3. The retractable automatic recharging gun device of claim 1, wherein said drive module comprises: the electric push rod driving motor, the electric push rod telescopic rod and the electric push rod tail end fixing joint are arranged on the base;
the electric push rod driving motor is respectively connected with the control box and the electric push rod telescopic rod;
the tail end fixing joint of the electric push rod is positioned at the tail end of the electric push rod telescopic rod and connected with the tail end of the telescopic rectangular arm module.
4. The retractable automatic charging gun apparatus as recited in claim 1 wherein the retractable rectangular arm module comprises a plurality of sections of rectangular arms;
in two adjacent sections of the rectangular arms, the lower rectangular arm is nested on the upper rectangular arm.
5. The retractable automatic charging gun device according to claim 4, wherein the rectangular arm comprises a shoulder and a stop;
the shaft shoulder is arranged at the lower end of the rectangular arm; the shaft shoulder is connected with a limiting block of the lower rectangular arm corresponding to the rectangular arm;
the limiting block is arranged at the upper end of the rectangular arm and is connected with a shaft shoulder of the upper rectangular arm corresponding to the rectangular arm through the limiting block;
the limiting blocks are connected with the corresponding driving modules.
6. The retractable automatic recharging gun device as recited in claim 1, further comprising: a charging wire outlet joint;
the outlet joint of the charging wire is respectively connected with the telescopic rectangular arm module and the self-rotating mechanical arm;
the charging wire sets up inside scalable rectangular arm module, and pass through charging wire export joint is followed draw forth in the scalable rectangular arm module.
7. The retractable automatic recharging gun device as recited in claim 1, further comprising: the charging gun carries a camera;
the charging gun carrying camera is arranged on the charging gun head and is connected with the control box; the charging gun carries a camera and is used for acquiring the position of the charging port.
8. A charging method of a retractable automatic charging gun device is characterized by comprising the following steps:
acquiring the position of an electric vehicle and the position of a charging port;
driving a telescopic rectangular arm module to extend according to the position of the vehicle and the position of the charging port;
when the telescopic rectangular arm module reaches the maximum length, according to the position of the vehicle and the position of the charging port, a mechanical arm self-rotating motor is driven to drive a self-rotating mechanical arm, a swinging mechanical arm and a charging gun head to rotate, so that the planes of the self-rotating mechanical arm, the swinging mechanical arm and the charging gun head are perpendicular to the plane of the charging port;
and driving a mechanical arm swing motor to drive the swing mechanical arm and the charging gun head to rotate, so that the charging gun head is butted with the charging port.
9. The charging method of an automatic retractable charging gun device according to claim 8, wherein the driving of the swing arm drives the charging gun head to rotate so that the charging gun head is in butt joint with the charging port, and then further comprising:
acquiring an image of the charging port by using a camera carried by a charging gun;
judging whether the charging gun head is aligned with the charging port or not according to the image of the charging port;
if the charging gun head is aligned with the charging port, the butt joint of the charging gun head and the charging port is completed;
and if the charging gun head is not aligned with the charging port, the charging gun head is driven to rotate from the rotating motor, so that the charging gun head rotates to a set position to complete butt joint.
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Application publication date: 20210122 |