CN112248838A - Line-driven flexible charging gun for electric vehicle and charging method - Google Patents
Line-driven flexible charging gun for electric vehicle and charging method Download PDFInfo
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- CN112248838A CN112248838A CN202011134024.8A CN202011134024A CN112248838A CN 112248838 A CN112248838 A CN 112248838A CN 202011134024 A CN202011134024 A CN 202011134024A CN 112248838 A CN112248838 A CN 112248838A
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- charging gun
- charging
- control box
- flexible
- mechanical arm
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Classifications
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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
-
- 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
-
- 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
- B60L53/31—Charging columns specially adapted for electric vehicles
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention relates to a line-driven flexible charging gun for an electric vehicle and a charging method. This rifle that charges includes: the device comprises a control box, a control box camera, a driving module, a rigid pipe, a flexible mechanical arm, a driving rope, a charging gun head and a charging wire; the control box is connected with the driving module; the control box camera is positioned on the surface of the control box and is connected with the control box; the driving module is arranged in the control box and is connected with the driving rope; the rigid pipe is fixedly connected with the base of the control box; the flexible mechanical arm is communicated with the rigid pipe; the driving rope is connected with the flexible joint of the flexible mechanical arm; the flexible mechanical arm is driven by the driving module to stretch and retract by the driving rope; the charging gun head is positioned at the bottom of the flexible mechanical arm and is connected with a power supply through the charging wire. The invention realizes the light weight and automation of the charging gun.
Description
Technical Field
The invention relates to the field of charging guns, in particular to a line-driven flexible charging gun for an electric vehicle and a charging method.
Background
In 2015, the 'guidance suggestion on accelerating the construction of the charging infrastructure of the electric automobile' is issued, and the charging infrastructure is a novel urban infrastructure and is a charging and replacing facility for providing electric energy supply for the electric automobile. The charging gun of the electric automobile is a core part of charging infrastructure, and the performance of the charging gun directly influences the charging efficiency of the electric automobile.
The existing charging gun faces several key problems: (1) most charging guns are in a manual mode. If the electric automobile is charged, the charging gun needs to be taken out of the fixed charging pile and manually inserted into a charging port of the electric automobile; after charging is finished, the charging gun still needs to be pulled out manually and put back to the fixed charging pile, and the automation level is low; (2) if an automatic charging gun is adopted, the power consumption of the charging execution process is inevitably increased and the charging efficiency of the electric automobile is reduced under the action of the gravity of structures such as a driving mechanical arm and a charging wire; (3) at present, personal hygiene and epidemic prevention and control face a plurality of challenges, and the manual operation of the charging gun can cause the infection probability to increase.
Disclosure of Invention
The invention aims to provide a line-driven flexible charging gun for an electric vehicle and a charging method, which are used for realizing light weight and automation of the charging gun.
In order to achieve the purpose, the invention provides the following scheme:
a line driven flexible charging gun for an electric vehicle, comprising: the device comprises a control box, a control box camera, a driving module, a rigid pipe, a flexible mechanical arm, a driving rope, a charging gun head and a charging wire;
the control box is connected with the driving module and is used for controlling the driving module to drive the flexible mechanical arm and the charging gun head to move;
the control box camera is positioned on the surface of the control box and is connected with the control box; the control box camera is used for acquiring the position of a vehicle to be charged and the position of a charging port;
the driving module is arranged in the control box and is connected with the driving rope;
the rigid pipe is fixedly connected with the base of the control box;
the flexible mechanical arm is communicated with the rigid pipe; the flexible mechanical arm and the rigid pipe adopt a line driving mode;
the driving rope is connected with the flexible joint of the flexible mechanical arm; the flexible mechanical arm is driven by the driving module to stretch and retract by the driving rope;
the charging gun head is positioned at the bottom of the flexible mechanical arm and is connected with a power supply through the charging wire.
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.
Optionally, the flexible mechanical arm includes: a glenoid disc and a spring;
the joint disc is positioned at a flexible joint of the flexible mechanical arm and is connected with the driving rope;
the spring is arranged inside the flexible mechanical arm and used for supporting the flexible mechanical arm.
Optionally, the flexible rifle that charges of line drive for electric automobile still include: 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 for acquiring the position of the charging port.
Optionally, the flexible rifle that charges of line drive for electric automobile still include: a storage module;
the storage module is located on the side face of the control box, and the control box is used for providing a placement space for the charging gun head when the charging gun head is not in operation.
Optionally, the flexible rifle that charges of line drive for electric automobile still include: a baffle plate;
the baffle is arranged on the charging gun head and used for fixing the charging gun head on the storage module.
A charging method of a line-driven flexible charging gun for an electric vehicle comprises the following steps:
acquiring the position of a vehicle to be charged and the position of a charging port;
when the position of the vehicle to be charged is within a set range, controlling a driving module to start working, and separating the charging gun head from a receiving module;
controlling the driving module to drive the flexible mechanical arm to swing according to the position of the vehicle to be charged and the position of the charging port, so that the charging gun head moves to the position of the charging port;
when the position of the charging gun head from the charging port is smaller than a distance threshold value, the driving module is used for enabling the charging gun head to be in a static state;
acquiring a position image of a charging port by utilizing a camera carried by a charging gun;
adjusting the relative position of the charging gun head and the charging port according to the position image of the charging port;
and butting the charging gun head with the charging port according to the relative position.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the line-driven flexible charging gun and the charging method for the electric automobile, the flexible mechanical arm is driven in a rope line driving mode, the multi-degree-of-freedom movement of the mechanical arm can be realized, and the flexible movement in a space range can be realized. The flexible mechanical arm realizes the integration and the lightweight design of the structural material, so that the requirement on the driving force provided by the driving motor is smaller, and the bending motion of the mechanical arm is more flexible and portable. The problem of traditional charging device, need personnel to take off the rifle that charges from filling electric pile, charge for electric automobile is solved. 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 required 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 that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a schematic structural view of a line-driven flexible charging gun for an electric vehicle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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 line-driven flexible charging gun for an electric vehicle and a charging method, which are used for realizing light weight and automation of the 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 line-driven flexible charging gun for an electric vehicle according to the present invention, and as shown in fig. 1, the line-driven flexible charging gun for an electric vehicle according to the present invention includes: the device comprises a control box 1, a control box camera 16, a driving module, a rigid pipe 6, a flexible mechanical arm 7, a driving rope 8, a charging gun head 11 and a charging wire 14.
The control box 1 is connected with the driving module, and the control box 1 is used for controlling the driving module to drive the flexible mechanical arm 7 and the charging gun head 11 to move. The driving module outputs electric torque which is a power source for the movement of the flexible mechanical arm 7.
The control box camera 16 is positioned on the surface of the control box 1 and is connected with the control box 1; the control box camera 16 is used to acquire the position of the vehicle to be charged and the position of the charging port.
The driving module is arranged in the control box 1 and is connected with the driving rope 8.
The rigid pipe 6 is fixedly connected with the base of the control box 1. The rigid tube 6 reduces the moving distance of a part of the flexible mechanical arm 7, and reduces the control difficulty, and the inner part of the rigid tube 6 is hollow for the charging wire 14 to pass through.
The flexible mechanical arm 7 is communicated with the rigid pipe 6; the flexible mechanical arm 7 and the rigid tube 6 adopt a line driving mode. The flexible mechanical arm 7 can perform telescopic bending motion at various angles in space, and drives the charging wire 14 and the charging gun head 11 to reach the position of a charging port of the vehicle.
The driving rope 8 is connected with the flexible joint of the flexible mechanical arm 7; the driving rope 8 is driven by the driving module to control the flexible mechanical arm 7 to stretch and retract.
The charging gun head 11 is positioned at the bottom of the flexible mechanical arm 7 and is connected with a power supply through the charging wire 14.
As a specific embodiment, the driving module includes: driving motor 2, shaft coupling 3, lead screw 4 and fixed plate 5.
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 coupler 3 is connected with the lead screw 4, the coupler 3 transmits the received electric torque to the lead screw 4, and the lead screw 4 converts the electric torque into force or moment in a linear direction.
The lead screw 4 is fixed on the fixing plate 5, and the lead screw 4 is connected with the driving rope 8.
As a specific example, the flexible mechanical arm 7 includes: a joint disc 9 and a spring 10.
The joint disc 9 is located at the flexible joint of the flexible mechanical arm 7 and is connected with the driving rope 8.
The spring 10 is disposed inside the flexible mechanical arm 7, and the spring 10 is used for supporting the flexible mechanical arm 7.
As a specific embodiment, the line-driven flexible charging gun for an electric vehicle further includes: the charging gun carries a camera 13.
The charging gun carrying camera 13 is arranged on the charging gun head 11 and is connected with the control box 1; the charging gun carries a camera 13 for acquiring the position of the charging port.
As a specific embodiment, the line-driven flexible charging gun for an electric vehicle further includes: a housing module 15.
The storage module 15 is located on a side surface of the control box 1, and the control box 1 is used for providing a placement space for the charging gun head 11 when the charging gun head 11 is not in operation.
As a specific embodiment, the line-driven flexible charging gun for an electric vehicle further includes: a baffle 12.
The baffle 12 is arranged on the charging gun head 11, and the baffle 12 is used for fixing the charging gun head 11 on the storage module 15.
The invention provides a charging method of a line-driven flexible charging gun for an electric vehicle, which comprises the following steps:
s1, the position of the vehicle to be charged and the position of the charging port are acquired.
And S2, when the position of the vehicle to be charged is within the set range, controlling the driving module to start working, and separating the charging gun head 11 from the storage module 15.
And S3, controlling the driving module to drive the flexible mechanical arm 7 to swing according to the position of the vehicle to be charged and the position of the charging port, so that the charging gun head 11 moves towards the position of the charging port.
And S4, when the distance between the charging gun head 11 and the charging port is smaller than a distance threshold value, the driving module is used for enabling the charging gun head 11 to be in a static state.
S5, the charging gun mounted camera 13 acquires a position image of the charging port.
And S6, adjusting the relative position of the charging gun head 11 and the charging port according to the position image of the charging port.
And S7, butting the charging gun head 11 with the charging port according to the relative position.
As a specific embodiment, a charging method of a line-driven flexible charging gun for an electric vehicle specifically includes the following steps:
1. when the vehicle to be charged stops at the parking space, the control box camera 16 detects the vehicle to be charged and the position of the charging port of the vehicle to be charged, the second row of the controlled second flexible joint section drives the motor 2 to start rotating, and the charging gun head 11 starts to automatically disengage from the storage module 15.
2. According to the detected position information of the charging port, the flexible mechanical arm 7 starts to swing, each flexible joint section is connected by four driving ropes 8, each rope is controlled by one driving motor 2, and therefore the two flexible joint sections are controlled by 8 driving motors 2 to move. Each flexible joint section has two degrees of freedom, and a driving motor 2 for controlling the flexible joint section alternately rotates to control the movement direction of the flexible joint section. Through the matching of the driving motor 2, the two flexible joint sections are in motion matching to realize 4-degree-of-freedom motion in space, so that the charging gun head 11 is close to the charging port.
3. When the charging gun is close to the charging port, the driving motor 2 controls the flexible joint section to be in a static state, the flexible mechanical arm 7 stops moving, and the camera positioned on the charging gun detects the position of the charging port, so that the rotating speed of the driving motor 2 is controlled, the flexible mechanical arm 7 slowly moves, and the relative position of the charging gun head 11 and the charging port of the vehicle is adjusted to be accurately aligned.
4. After accurate alignment, the driving motor 2 controls the flexible mechanical arm 7 to continue to move, so that butt joint is completed, and charging is performed;
5. after charging, the charging gun is controlled to exit from the charging port, then the driving motor 2 controls the flexible mechanical arm 7 to move, the charging gun head 11 returns to the storage module 15, and one working process of the flexible mechanical arm 7 is completed.
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. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
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 (7)
1. The utility model provides a flexible rifle that charges of line drive for electric automobile which characterized in that includes: the device comprises a control box, a control box camera, a driving module, a rigid pipe, a flexible mechanical arm, a driving rope, a charging gun head and a charging wire;
the control box is connected with the driving module and is used for controlling the driving module to drive the flexible mechanical arm and the charging gun head to move;
the control box camera is positioned on the surface of the control box and is connected with the control box; the control box camera is used for acquiring the position of a vehicle to be charged and the position of a charging port;
the driving module is arranged in the control box and is connected with the driving rope;
the rigid pipe is fixedly connected with the base of the control box;
the flexible mechanical arm is communicated with the rigid pipe; the flexible mechanical arm and the rigid pipe adopt a line driving mode;
the driving rope is connected with the flexible joint of the flexible mechanical arm; the flexible mechanical arm is driven by the driving module to stretch and retract by the driving rope;
the charging gun head is positioned at the bottom of the flexible mechanical arm and is connected with a power supply through the charging wire.
2. The line driven flexible charging gun for electric vehicle as claimed in claim 1, wherein the driving module comprises: 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.
3. The line driven flexible charging gun for electric vehicle as claimed in claim 1, wherein the flexible robot arm comprises: a glenoid disc and a spring;
the joint disc is positioned at a flexible joint of the flexible mechanical arm and is connected with the driving rope;
the spring is arranged inside the flexible mechanical arm and used for supporting the flexible mechanical arm.
4. The line driven flexible charging gun for electric vehicle as claimed 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.
5. The line driven flexible charging gun for electric vehicle as claimed in claim 1, further comprising: a storage module;
the storage module is located on the side face of the control box, and the control box is used for providing a placement space for the charging gun head when the charging gun head is not in operation.
6. The line driven flexible charging gun for electric vehicle as claimed in claim 5, further comprising: a baffle plate;
the baffle is arranged on the charging gun head and used for fixing the charging gun head on the storage module.
7. A charging method of a line-driven flexible charging gun for an electric vehicle is characterized by comprising the following steps:
acquiring the position of a vehicle to be charged and the position of a charging port;
when the position of the vehicle to be charged is within a set range, controlling a driving module to start working, and separating the charging gun head from a receiving module;
controlling the driving module to drive the flexible mechanical arm to swing according to the position of the vehicle to be charged and the position of the charging port, so that the charging gun head moves to the position of the charging port;
when the distance between the charging gun head and the charging port is smaller than a distance threshold value, the driving module is used for enabling the charging gun head to be in a static state;
acquiring a position image of a charging port by utilizing a camera carried by a charging gun;
adjusting the relative position of the charging gun head and the charging port according to the position image of the charging port;
and butting the charging gun head with the charging port according to the relative position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011134024.8A CN112248838A (en) | 2020-10-21 | 2020-10-21 | Line-driven flexible charging gun for electric vehicle and charging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011134024.8A CN112248838A (en) | 2020-10-21 | 2020-10-21 | Line-driven flexible charging gun for electric vehicle and charging method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112248838A true CN112248838A (en) | 2021-01-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011134024.8A Pending CN112248838A (en) | 2020-10-21 | 2020-10-21 | Line-driven flexible charging gun for electric vehicle and charging method |
Country Status (1)
| Country | Link |
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| CN (1) | CN112248838A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4900218A (en) * | 1983-04-07 | 1990-02-13 | Sutherland Ivan E | Robot arm structure |
| CN102729240A (en) * | 2012-06-28 | 2012-10-17 | 中国民航大学 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
| CN104552286A (en) * | 2014-12-26 | 2015-04-29 | 上海大学 | Continuous multi-joint mechanical arm device |
| CN106514703A (en) * | 2016-12-08 | 2017-03-22 | 燕山大学 | Spoke type flexible mechanical arm based on rope driving |
| CN106737628A (en) * | 2017-02-14 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible charging robot driven based on rope |
| CN109249407A (en) * | 2018-11-01 | 2019-01-22 | 合肥工业大学 | A kind of hard and soft combination drive spray robot with non-individual body wrist joint |
-
2020
- 2020-10-21 CN CN202011134024.8A patent/CN112248838A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4900218A (en) * | 1983-04-07 | 1990-02-13 | Sutherland Ivan E | Robot arm structure |
| CN102729240A (en) * | 2012-06-28 | 2012-10-17 | 中国民航大学 | Plane fuel tank inspecting robot based on connector structure and control method thereof |
| CN104552286A (en) * | 2014-12-26 | 2015-04-29 | 上海大学 | Continuous multi-joint mechanical arm device |
| CN106514703A (en) * | 2016-12-08 | 2017-03-22 | 燕山大学 | Spoke type flexible mechanical arm based on rope driving |
| CN106737628A (en) * | 2017-02-14 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible charging robot driven based on rope |
| CN109249407A (en) * | 2018-11-01 | 2019-01-22 | 合肥工业大学 | A kind of hard and soft combination drive spray robot with non-individual body wrist joint |
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Application publication date: 20210122 |