CN113525139A - New energy automobile self-identification non-intrusive charging pile and automatic charging method - Google Patents
New energy automobile self-identification non-intrusive charging pile and automatic charging method Download PDFInfo
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- CN113525139A CN113525139A CN202110816327.6A CN202110816327A CN113525139A CN 113525139 A CN113525139 A CN 113525139A CN 202110816327 A CN202110816327 A CN 202110816327A CN 113525139 A CN113525139 A CN 113525139A
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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
- B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
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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
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
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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
Abstract
The invention relates to the field of charging piles, in particular to a new energy automobile self-identification non-intrusive charging pile, which comprises a power supply and at least one charging gun assembly; also comprises a robot; and a linear driver provided at an output end of the robot; the non-working part of the floating guide mechanism is arranged at the output end of the robot, and one end of the working part of the floating guide mechanism is connected with the output end of the linear driver; the charging gun clamping jaw is arranged at the other end of the working part of the floating guide mechanism; and a visual guidance system. The invention further relates to an automatic charging method of the new energy automobile. The method comprises the following steps: s1, automatically identifying the new energy automobile; and S2, automatically inserting the charging gun assembly. The invention realizes the function of self-identification non-intrusive charging of the new energy automobile.
Description
Technical Field
The invention relates to the field of charging piles, in particular to a self-identification non-intrusive charging pile for a new energy automobile. The invention further relates to an automatic charging method of the new energy automobile.
Background
Because new energy automobile charge time is longer, so need frequently charge, current new energy automobile's car owner usually with the car stop in have fill electric pile the parking stall after, can initiatively will fill the interface that charges that inserts on the automobile body with the handle that charges on the electric pile, then charge the car.
However, parking spaces in cities are increasingly tense, so that the number of stereo garages is increased, and for owners of new energy automobiles, the stereo garages are places which cannot be charged. Although the prior patent application No. CN201210032349.4 discloses "a mechanical stereo garage with an electric vehicle automatic charging facility" provides the technical solution for charging in the stereo garage for the car owners of new energy vehicles, the technical solution has a defect that it is difficult to implement, that is: the bedplate power supply system is required to be installed on each vehicle carrying plate, but the number of new energy vehicles is small, and the bedplate power supply systems on most vehicle carrying plates are vacant for a long time, so that the investment recovery period is very long, and even the cost can be lost.
If the number of the power supply systems is reduced, the number of the power supply systems is consistent with the number of new energy vehicles which are possibly parked as far as possible, and therefore the problem that certain vehicle carrying plates only serve the new energy vehicles can be achieved, but a vehicle owner of a fuel vehicle cannot be aware of which vehicle carrying plates are special for the new energy vehicles, the fuel vehicles are usually directly used in a mixed mode, the fuel vehicles are parked on the vehicle carrying plates with the power supply systems, and the new energy vehicles are not used correspondingly.
If carry the sweep intelligently with the automatic parking stall that has power supply system of sending into of new energy automobile, just need someone to insert the handle that charges for new energy automobile on the parking stall, and the eminence in stereo garage does not have the staff, also does not have the space that can supply the car owner to walk, consequently, needs one kind can insert the electric pile that fills in the new energy automobile mouth that charges with the handle that charges automatically.
Currently, patent application No. cn201910506364.x discloses a method of image-based robotic visual guidance of a fuel dispenser, which means that a fuel gun can be inserted into a fuel filler opening automatically by a robot. But insert the rifle that charges through the robot automatically and not so easily in the mouth that charges, because the people who crosses nozzle and the rifle that charges of plug all know, the nozzle does not need accurate alignment in inserting the nozzle, can also change the angle about can, and the rifle that charges then needs accurate alignment in inserting the mouth that charges, still need exert certain strength and just can plug, because the rifle that charges need with charge mouthful sealing connection, make it have rain-proof, the effect of protection against insects. Therefore, the existing robot plugging charging gun is not accurate and reliable.
Disclosure of Invention
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the application provides a new energy automobile self-identification non-intrusive charging pile which comprises a power supply, a charging module and a control module, wherein the power supply is used for providing electric power for charging the new energy automobile; the charging gun assembly is electrically connected with the power supply and is used for being plugged in a charging port of the new energy automobile; the self-recognition non-intrusive charging pile further comprises a robot, wherein the output end of the robot can move around the whole body of the new energy automobile; and a linear driver provided at an output end of the robot; the non-working part of the floating guide mechanism is arranged at the output end of the robot, the working part of the floating guide mechanism is provided with two ends which are flexibly connected with each other, and one end of the working part of the floating guide mechanism is connected with the output end of the linear driver; the charging gun clamping jaw is arranged at the other end of the working part of the floating guide mechanism and used for clamping the charging gun assembly; and the vision guide system is used for guiding the output end of the robot to move so as to drive the charging gun assembly clamped by the charging gun clamping jaws to be aligned with the charging port.
Preferably, the floating guide mechanism comprises a guide cylinder, the guide cylinder is arranged at the output end of the robot, a round hole penetrating through the guide cylinder is formed in the guide cylinder, a protrusion extending inwards from the inner wall of the round hole in the radial direction is further formed in the guide cylinder, the axial cross section of the protrusion is in a circular ring shape, and the radial cross section of the protrusion is in a hill shape; and the guide rod is coaxially arranged inside the guide cylinder, the guide rod is in a round rod shape, the guide rod is in sliding fit with a round hole formed by the protrusion, one end of the guide rod is flexibly connected with the output end of the linear driver, and the other end of the guide rod is fixedly connected with the clamping jaw of the charging gun.
Preferably, the floating guide mechanism further comprises a sliding block, the sliding block is slidably arranged inside the round hole and located between the output end of the linear driver and the guide rod, a bowl-shaped groove is formed in one surface, facing the guide rod, of the sliding block, a ball head is arranged at one end, facing the sliding block, of the guide rod, and the ball head is magnetically connected with the sliding block.
Preferably, the middle end of the guide rod is provided with a ball body, the ball body is positioned on one side of the protrusion, which is far away from the output end of the linear driver, and when the output end of the linear driver is positioned at the initial position, the outer spherical surface of the ball body is abutted against the outer peripheral surface of the protrusion.
Preferably, the guide rod comprises a first rod, the ball head is arranged at one end of the first rod, the other end of the first rod is in threaded connection with the ball body, and the first rod is in sliding fit with a circular hole formed by the protrusion; and a second rod coaxial with the first rod, wherein the ball body is arranged at one end of the second rod, and the other end of the second rod is fixedly connected with the charging gun clamping jaw.
Preferably, the floating guide mechanism further comprises a weight member, the center of gravity of the charging gun clamping jaw is located on the axis of the guide cylinder, and the weight member is fixedly connected with the charging gun clamping jaw and deviates from the axis of the guide cylinder.
Preferably, the floating guide mechanism further comprises a pull pressure sensor, and the output end of the linear driver is connected with the sliding block through the pull pressure sensor.
Preferably, the self-recognition non-intrusive charging pile further comprises at least one camera which is arranged beside the whole body of the new energy automobile; and the industrial computer is in communication connection with each camera, and the industrial computer processes the image signals transmitted by the cameras during operation so as to identify the type of the charging port and the license plate number of the new energy automobile.
Preferably, the power includes power body and the rifle support that charges, and the rifle subassembly that charges includes rifle head and power cord, and the rifle head passes through the power cord and is connected with power body electricity, and the rifle support that charges is pegged graft with the rifle head.
The application also provides an automatic charging method of the self-identification non-intrusive charging pile of the new energy automobile, wherein the self-identification non-intrusive charging pile comprises a power supply, a charging control unit and a charging control unit, wherein the power supply is used for providing electric power for charging the new energy automobile; the charging gun assembly is electrically connected with the power supply and is used for being plugged in a charging port of the new energy automobile; the output end of the robot can move around the whole body of the new energy automobile; and a linear driver provided at an output end of the robot; the floating guide mechanism is arranged at the output end of the robot and provided with two flexibly connected ends, and one end of the floating guide mechanism is connected with the output end of the linear driver; the charging gun clamping jaw is arranged at the other end of the floating guide mechanism and used for clamping the charging gun assembly; the vision guide system is used for guiding the output end of the robot to move so that the output end of the robot drives the charging gun component clamped by the charging gun clamping jaws to align with the charging port; the camera is arranged on the side of the whole body of the new energy automobile; the industrial computer is in communication connection with each camera, and when the industrial computer runs, the image signals transmitted by the cameras are processed to identify the type of the charging port and the license plate number of the new energy automobile; the automatic charging method comprises the following steps: s1, automatically identifying the new energy automobile; s1a, recognizing the type of a charging port by the pictures transmitted by the camera by the industrial computer; s1b, recognizing the license plate number of the new energy automobile through the picture transmitted by the camera by the industrial computer; s2, automatically inserting a charging gun assembly; s2a, the industrial computer selects a proper charging gun component according to the type of the charging port and sends the position of the charging gun component to the robot; s2b, the robot drives the charging gun clamping jaw to move to the side of a proper charging gun assembly, and the charging gun clamping jaw clamps the charging gun assembly; s2c, the robot drives the charging gun clamping jaw to move, so that the charging gun clamping jaw drives the charging gun assembly to move to the side of the charging port, and the charging gun assembly is aligned to the charging port; and S2d, the linear driver drives the charging gun clamping jaw to move towards the charging port through the floating guide mechanism, and the charging gun assembly is adaptively inserted into the charging port through the floating guide mechanism.
This application connects the rifle clamping jaw that charges and the sharp driver that is used for driving rifle clamping jaw rectilinear movement that charges through unsteady guiding mechanism for this application can use current robot vision bootstrap system to aim at the mouth that charges automatically with the rifle subassembly that charges, then the sharp driver drive is charged the rifle subassembly and is made its angle of self-adaptation ground adjustment and insert to charging mouthful inside smoothly, through the power after that, charge the rifle subassembly, the mouth charges to new energy automobile, thereby realized new energy automobile self-identification does not have the function of intervention formula charging.
Drawings
Fig. 1 is a side view of a self-identifying non-intrusive charging pile embodying the present invention, as applied to a vertically ascending/descending stereo parking garage;
fig. 2 is a front view of a self-identifying non-intrusive charging pile embodying the present invention applied to a vertical elevating type stereo parking garage;
fig. 3 is a top view of a self-identifying non-intrusive charging pile embodying the present invention applied to a vertical elevating type stereo parking garage;
fig. 4 is a perspective view of a self-identifying non-intrusive charging pile embodying the present invention applied to a vertical elevating type stereo parking garage;
fig. 5 is a perspective view of a self-identifying non-intrusive charging pile embodying the present invention with the robot concealed;
FIG. 6 is an enlarged view of a portion of FIG. 5 at A;
FIG. 7 is a perspective view of a flexible insertion and extraction device and a charging gun assembly embodying the present invention;
FIG. 8 is a perspective view of a flexible insertion and extraction device embodying the present invention holding a charging gun assembly to be aligned with a charging port;
FIG. 9 is a perspective view of a flexible plugging device clamping a charging gun assembly to align with a charging port embodying the present invention;
fig. 10 is a perspective view of a flexible plugging device clamping a charging gun assembly to be inserted into a charging port, according to the present invention;
FIG. 11 is a cross-sectional view of a flexible insertion and extraction device embodying the present invention clamping a charging gun assembly in alignment with a charging port;
FIG. 12 is a cross-sectional view of a flexible insertion and extraction device embodying the present invention gripping a charging gun assembly for insertion into a charging port;
fig. 13 is a partial enlarged view of fig. 12 at B;
the reference numbers in the figures are:
1-new energy automobile; 1 a-a charging port;
2-a power supply; 2 a-a power supply body; 2 b-a charging gun support; 2b 1-upright; 2b 2-carrier plate; 2b 3-card bar;
3-a charging gun assembly; 3 a-gun head; 3a 1-card slot; 3 b-power line; 3 c-a positioning section; 3c 1-locating holes;
4-a robot; 4 a-overhead traveling crane; 4 b-a rail car; 4 c-an electric push rod; 4 d-motor;
5-a flexible plugging device; 5 a-linear drive; 5 b-charging gun jaws; 5b 1-motorized rotating jaws; 5b 2-clamp; 5b 3-locating pins; 5 c-a guide cylinder; 5c 1-round hole; 5c 2-protrusions; 5 d-a guide bar; 5d 1-bulb; 5d 2-sphere; 5d3 — first bar; 5d4 — second bar; 5 e-a slide block; 5e 1-bowl-shaped groove; 5 g-a counterweight; 5 f-pull pressure sensor;
6-camera.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
In order to solve the technical problem of how to automatically charge a new energy automobile, as shown in fig. 1 to 13, a self-identification non-intrusive charging pile for a new energy automobile is provided, which is suitable for a vertical lifting type three-dimensional parking garage as shown in fig. 1 to 4, and a self-identification non-intrusive charging pile is arranged beside each new energy automobile parking space and comprises a power supply 2 for providing electric power for charging the new energy automobile 1; the charging gun assembly 3 is electrically connected with the power supply 2 and is used for being plugged in a charging port 1a of the new energy automobile 1; the self-recognition non-intrusive charging pile further comprises a robot 4, wherein the output end of the robot can move around the whole body of the new energy automobile 1; and a linear actuator 5a provided at an output end of the robot 4; and a floating guide mechanism, the non-working part of which is arranged at the output end of the robot 4, the working part of which has two ends flexibly connected with each other, and one end of the working part of the floating guide mechanism is connected with the output end of the linear actuator 5 a; the charging gun clamping jaw 5b is arranged at the other end of the working part of the floating guide mechanism, and the charging gun clamping jaw 5b is used for clamping the charging gun assembly 3; and a visual guide system for guiding the output end of the robot 4 to move so as to drive the charging gun assembly 3 clamped by the charging gun clamping jaws 5b to align with the charging port 1 a.
The charging gun assembly 3 has a plurality of charging guns, and the charging port 1a for each shape has a charging gun assembly 3 corresponding to the shape, and the plurality of charging gun assemblies 3 are supplied with power through a power supply 2, so that the charging pile can charge various new energy vehicles 1.
The linear driver 5a adopts servo electric push rod, the linear driver 5a, the floating guide mechanism and the charging gun clamping jaw 5b form a flexible plugging device 5, the robot 4 is used for driving the flexible plugging device 5 to move around the whole body of the new energy automobile 1, so that the charging gun assembly 3 is aligned to the charging port 1a, the robot 4 identifies the charging port 1a through a vision guide system, and the charging gun assembly 3 is guided to be basically aligned to the charging port 1 a.
The flexible plugging device 5 is used for driving the charging gun component 3 clamped by the charging gun clamping jaw 5b to be inserted into the charging port 1a, and the charging gun component 3 can slide along the shape of the charging port 1a in a self-adaptive manner in the plugging process, so that the damage of the charging gun component 3 or the charging port 1a in the mechanical plugging process is avoided.
It should be noted that the structure and the working principle thereof are also applicable to a common new energy vehicle charging station, but the current use and maintenance costs are higher than those of manual service or self-service.
The working principle of the visual guidance system has been explained in the background art, and will not be described herein.
In order to solve the technical problem of how to construct the floating guide mechanism, as shown in fig. 11 to 13, the following preferred technical solutions are provided:
the floating guide mechanism comprises a guide cylinder 5c, the guide cylinder 5c is arranged at the output end of the robot 4, a round hole 5c1 penetrating through the guide cylinder 5c is arranged on the guide cylinder 5c, a protrusion 5c2 extending inwards from the inner wall of the round hole 5c1 in the radial direction is further arranged on the guide cylinder 5c, the axial section of the protrusion 5c2 is in a circular ring shape, and the radial section of the protrusion 5c2 is in a hill shape; and a guide rod 5d coaxially disposed inside the guide cylinder 5c, the guide rod 5d being in the shape of a circular rod, the guide rod 5d being in sliding fit with a circular hole formed by the protrusion 5c2, one end of the guide rod 5d being flexibly connected to an output end of the linear actuator 5a, and the other end of the guide rod 5d being fixedly connected to the charging gun jaw 5 b.
Specifically, the guide rod 5d may slide along the axis of the guide cylinder 5c in the circular hole formed by the protrusion 5c2, and may also have a certain angle with the axis of the guide cylinder 5c, so as to slide obliquely in the guide cylinder 5c, so that when the linear driver 5a drives the charging gun jaw 5b to move linearly through the guide rod 5d, the moving track of the charging gun jaw 5b may change a certain angle adaptively, so that the charging gun assembly 3 may be inserted into the charging port 1a more easily.
In order to solve the technical problem of how to flexibly connect one end of the guide rod 5d with the output end of the linear actuator 5a, as shown in fig. 11 and 12, the following preferred technical solutions are provided:
the floating guide mechanism further comprises a sliding block 5e which is slidably arranged in the round hole 5c1, the sliding block 5e is located between the output end of the linear actuator 5a and the guide rod 5d, one surface, facing the guide rod 5d, of the sliding block 5e is provided with a bowl-shaped groove 5e1, one end, facing the sliding block 5e, of the guide rod 5d is provided with a ball head 5d1, and the ball head 5d1 is magnetically connected with the sliding block 5 e.
Specifically, the slider 5e is a permanent magnet, the ball 5d1 is a ferromagnetic material, the output end of the linear actuator 5a is flexibly connected with the ball 5d1 through the slider 5e, the linear actuator 5a works to drive the slider 5e to axially slide in the round hole 5c1, the slider 5e pushes and pulls the ball 5d1 to enable the guide rod 5d to slide in the round hole formed by the protrusion 5c2, and when the guide rod 5d is adaptively inclined, the ball 5d1 slides in the bowl- shaped groove 5e 1.
Alternatively, the guide bar 5d may be a whole flexible round bar hinged to the slider 5e, and the same function and effect as those of the above-described structure can be achieved.
Since both ends of the guide rod 5d are floating, the position of the end of the guide rod 5d where the charging gun clamping jaw 5b is installed is uncertain, so that it is difficult for the robot 4 to align the charging gun assembly 3 clamped by the charging gun clamping jaw 5b to the charging port 1a through a visual guidance system, and in order to solve the technical problem, the following preferred technical solutions are provided:
the middle end of the guide rod 5d is provided with a ball 5d2, the ball 5d2 is positioned at one side of the protrusion 5c2 far away from the output end of the linear actuator 5a, and when the output end of the linear actuator 5a is positioned at the initial position, the outer spherical surface of the ball 5d2 abuts against the outer peripheral surface of the protrusion 5c 2.
Specifically, as shown in fig. 11, the circular hole 5c1 and the protrusion 5c2 form two conical holes, the output end of the linear actuator 5a is at the initial position, the spherical surface of the sphere 5d2 abuts against the hole wall of one of the conical holes, so that the spherical center of the sphere 5d2 is located on the axis of the circular hole 5c1, and meanwhile, the distance between the slide block 5e and the protrusion 5c2 is the largest, so that the spherical center of the ball head 5d1 is also located on the axis of the circular hole 5c1, and the guide rod 5d is positioned, so that the position of the charging gun clamping jaw 5b is determined.
Since the guide rod 5d has two portions, i.e., the ball 5d1 and the ball 5d2, which are larger than the diameter of the circular hole formed by the protrusion 5c2, and the ball 5d1 and the ball 5d2 are respectively located at two sides of the protrusion 5c2, in order to solve the technical problem of how to install the guide rod 5d inside the guide cylinder 5c, as shown in fig. 11 and 12, the following preferred technical solutions are provided:
the guide rod 5d comprises a first rod 5d3, a ball head 5d1 is arranged at one end of the first rod 5d3, the other end of the first rod 5d3 is in threaded connection with a ball body 5d2, and the first rod 5d3 is in sliding fit with a round hole formed by a protrusion 5c 2; and a second lever 5d4 coaxial with the first lever 5d3, the sphere 5d2 being provided at one end of the second lever 5d4, the other end of the second lever 5d4 being fixedly connected to the charging gun jaw 5 b.
Specifically, the guide bar 5d is divided into a part composed of the ball 5d1 and the first bar 5d3, and another part composed of the ball 5d2 and the second bar 5d4, so that the guide bar 5d is mounted inside the guide cylinder 5c, and the projection 5c2 is located between the ball 5d1 and the ball 5d 2.
Since the ball 5d1 is magnetically connected to the slide block 5e, the guide rod 5d can rotate freely, which results in an uncertain angle of the charging gun holding jaw 5b, and thus makes it difficult for the charging gun holding jaw 5b to hold the charging gun assembly 3, in order to solve this technical problem, as shown in fig. 11 and 12, the following preferred technical solutions are provided:
the floating guide mechanism further comprises a weight piece 5g, the gravity center of the charging gun clamping jaw 5b is located on the axis of the guide cylinder 5c, and the weight piece 5g is fixedly connected with the charging gun clamping jaw 5b and deviates from the axis of the guide cylinder 5 c.
Specifically, the weight member 5g pulls the charging gun holding jaw 5b to rotate by its own gravity, so that the charging gun holding jaw 5b always maintains a prescribed angle in a non-operating state.
Alternatively, the center of gravity of the charging gun holding jaw 5b is deviated from the axis of the guide cylinder 5c, so that the charging gun holding jaw 5b always maintains a predetermined angle under the influence of its own weight in the non-operating state.
The floating guide mechanism further comprises a pulling pressure sensor 5f, and the output end of the linear driver 5a is connected with the sliding block 5e through the pulling pressure sensor 5 f.
The output end of the charging gun clamping jaw 5b is connected with the sliding block 5e through the connecting rod and the pulling pressure sensor 5f, the pulling pressure sensor 5f is in communication connection with the linear driver 5a through the controller, the pulling pressure sensor 5f is used for sensing the output force of the linear driver 5a, and when the charging gun assembly 3 is completely inserted into the charging port 1a, the linear driver 5a stops working.
In order to solve the technical problem of how to automatically identify the new energy automobile 1 so that the robot 4 can select the charging gun assembly 3 matched with the shape of the charging port 1a, as shown in fig. 5 and 6, the following preferred technical solutions are provided:
the self-recognition non-intrusive charging pile further comprises at least one camera 6, and the camera 6 is arranged beside the whole body of the new energy automobile 1; and the industrial computer is in communication connection with each camera 6, and when the industrial computer runs, the image signals transmitted by the cameras 6 are processed to identify the type of the charging port 1a and the license plate number of the new energy automobile 1.
Specifically, the industrial computer comprises a processor and a storage medium, wherein the storage medium stores a license plate recognition program, a charging port recognition program and shape characteristics of charging ports of all types.
When the charging port recognition program is executed by the processor, the shape characteristics of all kinds of charging ports stored in the storage medium are compared with the charging port pictures transmitted by the camera 6, the kind of the charging port 1a is judged, and then the recognition result is transmitted to the robot 4, so that the robot 4 can select the proper charging gun assembly 3.
The power supply 2 is internally provided with a charging system, when the license plate recognition program is executed by the processor, the license plate number is sent to the charging system, and the charging system pairs the electric charge with the license plate number, so that the vehicle owner can pay the charging charge together when paying the parking charge.
In order to solve the technical problem of how to place other charging gun assemblies 3 when the charging gun assemblies 3 have more than three, one charging gun assembly 3 is held by the robot 4 through the charging gun holding jaws 5b, as shown in fig. 6, the following preferred technical solutions are provided:
the power supply 2 comprises a power supply body 2a and a charging gun support 2b, the charging gun assembly 3 comprises a gun head 3a and a power line 3b, the gun head 3a is electrically connected with the power supply body 2a through the power line 3b, and the charging gun support 2b is connected with the gun head 3a in an inserting mode.
Specifically, power body 2a adopts current new energy automobile to fill electric pile.
The charging gun support 2b includes a pillar 2b 1; and a carrier plate 2b2 horizontally disposed on the top end of the upright 2b 1; and two clip strips 2b3 vertically disposed at both sides of the carrier plate 2b 2; two side surfaces of the gun head 3a are provided with clamping grooves 3a1 which are in sliding fit with the clamping strips 2b 3.
Or, the charging gun support 2b may also be a slot matched with the shape of the insertion part of the gun head 3a, and the robot 4 may insert the gun head 3a into the slot obliquely or vertically downward, and may also achieve the purpose of positioning the charging gun assembly 3.
In order to solve the technical problem of how to clamp the charging gun assembly 3 by the charging gun clamping jaw 5b, as shown in fig. 6 and 7, the following preferred technical solutions are provided:
the charging gun assembly 3 further comprises a positioning part 3c which is arranged on one side of the gun head 3a far away from the charging port 1a, and a plurality of positioning holes 3c1 are arranged on the positioning part 3 c; the charging gun jaw 5b includes an electric rotary jaw 5b1 provided at an end of the floating guide mechanism remote from the linear actuator 5 a; and two clamps 5b2 provided at the output end of the electric rotary jaw 5b1, the electric rotary jaw 5b1 driving the clamps 5b2 to clamp at both sides of the positioning part 3 c; and a positioning pin 5b3, which is arranged on each clamp 5b2, wherein the positioning pin 5b3 is in inserted fit with the positioning hole 3c 1; a gyroscope provided on the electric rotating jaw 5b 1.
Specifically, the existing charging gun assemblies 3 are designed to be held by hands, which is inconvenient for a manipulator to grasp, so it is necessary to design the charging gun assemblies 3 to be grasped by the manipulator, and design corresponding clamps and positioning structures for the charging gun assemblies. The electric rotating jaw 5b1 employs a servo rotating electric jaw having both clamping and rotating functions, which can clamp the positioning part 3c by the clamp 5b2 and the positioning pin 5b3 while driving the charging gun assembly 3 to adjust the angle.
Since the power cord 3b has a weight and the gravity center of the power cord 3b is not consistent with that of the gun head 3a, when the robot 4 moves the gun head 3a to the side of the charging port 1a through the flexible plugging device 5, the gun head 3a may be deflected by the power cord 3b, and the deflection is not necessarily automatically reset by the counterweight 5g, so that the gyroscope is required to transmit the deflection angle of the electric rotating jaw 5b1 to the controller, and the controller feeds back the deflection angle of the electric rotating jaw 5b1 to the electric rotating jaw 5b1, so that the electric rotating jaw 5b1 drives the clamp 5b2 to rotate by a certain angle to compensate for the error caused by the deflection.
In order to solve the technical problem of how to drive the flexible plugging device 5 to move so that the charging gun assembly 3 is aligned with the charging port 1a, as shown in fig. 1 to 4, the following preferred technical solutions are provided:
the robot 4 includes, a crown block 4a having a horizontally movable beam for providing X-axis linear movement; the rail car 4b is movably arranged on a beam of the overhead travelling crane 4a and is used for providing Y-axis linear movement; the electric push rod 4c is vertically arranged at the output end of the rail car 4b and is used for providing Z-axis linear movement; and a motor 4d fixedly installed at an output end of the electric push rod 4c, and an output shaft of the motor 4d is vertically arranged and used for providing Z-axis rotation.
In particular, the above described structure is only an embodiment of the robot 4, which may also include more axes, thereby allowing more degrees of freedom for the charging gun jaws.
The self-recognition non-intrusive charging pile realizes automatic charging through the following steps:
s1, automatically identifying the new energy automobile 1;
s1a, the industrial computer identifies the type of the charging port 1a through the pictures transmitted by the camera 6;
s1b, recognizing the license plate number of the new energy automobile 1 by the pictures transmitted by the camera 6 through the industrial computer;
s2, automatically inserting the charging gun assembly 3;
s2a, the industrial computer selects a proper charging gun component 3 according to the type of the charging port 1a and sends the position of the charging gun component to the robot 4;
s2b, the robot 4 drives the charging gun clamping jaw 5b to move to the side of the proper charging gun assembly 3, and the charging gun clamping jaw 5b clamps the charging gun assembly 3;
s2c, the robot 4 drives the charging gun clamping jaw 5b to move, so that the charging gun clamping jaw 5b drives the charging gun assembly 3 to move to the side of the charging port 1a, and the charging gun assembly 3 is aligned to the charging port 1 a;
s2d, the linear driver 5a drives the charging gun clamping jaw 5b to move towards the charging port 1a through the floating guide mechanism, and the charging gun assembly 3 is adaptively inserted into the charging port 1a through the floating guide mechanism;
s3, automatic charging;
s3a, recording the charging electric charge corresponding to the license plate number;
s3b, informing the owner of paying the fee when taking the car, or
And S3c, informing the vehicle owner to pay the fee together with the parking fee when the vehicle owner drives out of the parking lot.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A new energy automobile self-identification non-intrusive charging pile comprises,
a power supply (2) for supplying electric power for charging the new energy automobile (1); and
at least one charging gun assembly (3) which is electrically connected with the power supply (2) and is used for being plugged in a charging port (1a) of the new energy automobile (1);
it is characterized in that the self-recognition non-intrusive charging pile also comprises,
the output end of the robot (4) can move around the whole body of the new energy automobile (1); and
a linear actuator (5a) provided at the output end of the robot (4); and
a floating guide mechanism, the non-working part of which is arranged at the output end of the robot (4), the working part of which has two ends flexibly connected with each other, and one end of the working part of the floating guide mechanism is connected with the output end of the linear driver (5 a); and
a charging gun clamping jaw (5b) which is arranged at the other end of the working part of the floating guide mechanism, wherein the charging gun clamping jaw (5b) is used for clamping the charging gun assembly (3); and
and the visual guide system is used for guiding the output end of the robot (4) to move so as to drive the charging gun assembly (3) clamped by the charging gun clamping jaws (5b) to be aligned with the charging port (1 a).
2. The self-identification non-intrusive charging pile for new energy vehicles as recited in claim 1, wherein the floating guiding mechanism comprises,
the robot comprises a guide cylinder (5c) arranged at the output end of a robot (4), wherein a round hole (5c1) penetrating through the guide cylinder (5c) is formed in the guide cylinder (5c), a protrusion (5c2) extending inwards from the inner wall of the round hole (5c1) in the radial direction is further formed in the guide cylinder (5c), the axial cross section of the protrusion (5c2) is annular, and the radial cross section of the protrusion (5c2) is hill-shaped; and
the guide rod (5d) is coaxially arranged inside the guide cylinder (5c), the guide rod (5d) is in a round rod shape, the guide rod (5d) is in sliding fit with a round hole formed by the protrusion (5c2), one end of the guide rod (5d) is flexibly connected with the output end of the linear driver (5a), and the other end of the guide rod (5d) is fixedly connected with the charging gun clamping jaw (5 b).
3. The self-identification non-intrusive charging pile for the new energy automobile as claimed in claim 2, wherein the floating guide mechanism further comprises a slider (5e) which is slidably disposed inside the circular hole (5c1), the slider (5e) is located between the output end of the linear actuator (5a) and the guide rod (5d), a bowl-shaped groove (5e1) is formed in one surface of the slider (5e) facing the guide rod (5d), a ball head (5d1) is formed in one end of the guide rod (5d) facing the slider (5e), and the ball head (5d1) is magnetically connected with the slider (5 e).
4. The self-identification non-intrusive charging pile for the new energy automobile as recited in claim 3, wherein a ball body (5d2) is arranged at the middle end of the guide rod (5d), the ball body (5d2) is positioned at one side of the protrusion (5c2) far away from the output end of the linear actuator (5a), and when the output end of the linear actuator (5a) is positioned at the initial position, the outer spherical surface of the ball body (5d2) abuts against the outer peripheral surface of the protrusion (5c 2).
5. The self-identification non-intrusive charging pile for new energy vehicles as recited in claim 4, wherein the guiding rod (5d) comprises,
the first rod (5d3), the ball head (5d1) is arranged at one end of the first rod (5d3), the other end of the first rod (5d3) is in threaded connection with the ball body (5d2), and the first rod (5d3) is in sliding fit with a round hole formed by the protrusion (5c 2); and
and a second rod (5d4) coaxial with the first rod (5d3), wherein the ball (5d2) is arranged at one end of the second rod (5d4), and the other end of the second rod (5d4) is fixedly connected with the charging gun clamping jaw (5 b).
6. The self-identification non-intrusive charging pile for new energy vehicles as claimed in claim 3, wherein the floating guide mechanism further comprises a weight member (5g), the center of gravity of the charging gun clamping jaw (5b) is located on the axis of the guide cylinder (5c), and the weight member (5g) is fixedly connected with the charging gun clamping jaw (5b) and is offset from the axis of the guide cylinder (5 c).
7. The self-identification non-intrusive charging pile for the new energy automobile as claimed in claim 3, wherein the floating guide mechanism further comprises a pulling pressure sensor (5f), and the output end of the linear actuator (5a) is connected with the sliding block (5e) through the pulling pressure sensor (5 f).
8. The self-identification non-intrusive charging post of a new energy automobile as recited in any one of claims 1 to 7, further comprising,
the camera (6) is arranged beside the whole body of the new energy automobile (1); and
and the industrial computer is in communication connection with each camera (6), and when the industrial computer runs, the image signals transmitted by the cameras (6) are processed to identify the type of the charging port (1a) and the license plate number of the new energy automobile (1).
9. The self-identification non-intrusive charging pile for the new energy automobile according to claim 8, wherein the power supply (2) comprises a power supply body (2a) and a charging gun support (2b), the charging gun assembly (3) comprises a gun head (3a) and a power line (3b), the gun head (3a) is electrically connected with the power supply body (2a) through the power line (3b), and the charging gun support (2b) is plugged with the gun head (3 a).
10. The automatic charging method of the self-identification non-intrusive charging pile of the new energy automobile is characterized in that the self-identification non-intrusive charging pile comprises a power supply (2) and a charging control unit, wherein the power supply is used for providing electric power for charging the new energy automobile (1); the charging gun assembly (3) is electrically connected with the power supply (2) and is used for being plugged in a charging port (1a) of the new energy automobile (1); the output end of the robot (4) can move around the whole body of the new energy automobile (1); and a linear drive (5a) provided at the output of the robot (4); the floating guide mechanism is arranged at the output end of the robot (4), the floating guide mechanism is provided with two flexibly connected ends, and one end of the floating guide mechanism is connected with the output end of the linear driver (5 a); the charging gun clamping jaw (5b) is arranged at the other end of the floating guide mechanism, and the charging gun clamping jaw (5b) is used for clamping the charging gun assembly (3); and a vision guiding system for guiding the output end of the robot (4) to move so that the charging gun assembly (3) clamped by the charging gun clamping jaws (5b) is driven to align with the charging port (1 a); the camera (6) is arranged on the side of the whole body of the new energy automobile (1); the industrial computer is in communication connection with each camera (6), and when the industrial computer runs, the image signals transmitted by the cameras (6) are processed to identify the type of the charging port (1a) and the license plate number of the new energy automobile (1); the automatic charging method comprises the following steps:
s1, automatically identifying the new energy automobile (1);
s1a, the industrial computer identifies the type of the charging port (1a) through the pictures transmitted by the camera (6);
s1b, recognizing the license plate number of the new energy automobile (1) by the pictures transmitted by the camera (6) through the industrial computer;
s2, automatically inserting the charging gun assembly (3);
s2a, the industrial computer selects a proper charging gun component (3) according to the type of the charging port (1a) and sends the position of the charging gun component to the robot (4);
s2b, the robot (4) grabs the proper charging gun assembly (3) through the charging gun clamping jaw (5 b);
s2c, moving the charging gun assembly (3) of the robot (4) and aligning the charging gun assembly with the charging port (1 a);
s2d, the linear driver (5a) drives the charging gun clamping jaw (5b) to move towards the charging port (1a) through the floating guide mechanism, and the charging gun assembly (3) is inserted into the charging port (1a) in a self-adaptive mode.
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