CN113928146A - Moving double-arm robot for automatic charging of electric automobile - Google Patents

Moving double-arm robot for automatic charging of electric automobile Download PDF

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Publication number
CN113928146A
CN113928146A CN202111322883.4A CN202111322883A CN113928146A CN 113928146 A CN113928146 A CN 113928146A CN 202111322883 A CN202111322883 A CN 202111322883A CN 113928146 A CN113928146 A CN 113928146A
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CN
China
Prior art keywords
charging
fixed
control box
arm
robot
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Granted
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CN202111322883.4A
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Chinese (zh)
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CN113928146B (en
Inventor
闵华松
刘明新
林云汉
刘彬
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Wuhan University of Science and Engineering WUSE
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Wuhan University of Science and Engineering WUSE
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Priority to CN202111322883.4A priority Critical patent/CN113928146B/en
Publication of CN113928146A publication Critical patent/CN113928146A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • 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
    • B60L53/30—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
    • 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
    • B60L53/62—Monitoring or controlling charging stations in response to charging parameters, e.g. current, voltage or electrical charge
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Manipulator (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention discloses a mobile double-arm robot for automatic charging of an electric automobile, which comprises: control box, moving platform, robot fuselage, left arm, right arm, five fingers, first shooting module, connection firmware, second shooting module, power/torque sensor and the rifle that charges. The control box is fixed on the mobile platform, and the control box can control the mobile platform to move. The robot body is fixed on the mobile platform. One end of the left mechanical arm is fixed on the left side of the robot body, and the control box can control the left mechanical arm to actuate. One end of the right mechanical arm is fixed on the right side of the robot body, and the control box can control the right mechanical arm to actuate. The five-finger hand is fixed on the other end of the left mechanical arm, and the control box can control the five-finger hand to actuate. Therefore, the movable double-arm robot for automatic charging of the electric automobile is simple to assemble and easy to disassemble, can freely move in an outdoor complex environment, and can automatically charge the electric automobile.

Description

Moving double-arm robot for automatic charging of electric automobile
Technical Field
The invention relates to the technical field of electric vehicle charging, in particular to a mobile double-arm robot for automatic charging of an electric vehicle.
Background
With the commercial land-based and unmanned taxi exemplary operation of the automatic parking technology, the full-range unmanned parking operation system has become mature. Meanwhile, in relatively closed scenes, such as harbors, mines and other scenes, unmanned transportation is compared with manual transportation, the working efficiency is greatly improved, and the life safety of workers caused by manual operation errors can be avoided. The premise of realizing no human participation in the whole scene is that automatic charging is required.
And designing a full-automatic mobile charging robot device needs to solve a plurality of technical problems. Such as compliance insertion problems when the charging gun is inserted into the charging receptacle; the path planning problem when the mobile chassis moves; a camera recognizes a problem of accurate recognition when the charging socket is recognized, and the like.
Most of the electric vehicle charger robots in the existing design can not freely move and can only be fixed on the charging pile, or some of the electric vehicle charger robots can only solve a few problems, and complete system design can not be achieved.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to provide a mobile double-arm robot for automatically charging an electric automobile, which is simple to assemble and easy to disassemble, can freely move in an outdoor complex environment, and can automatically charge the electric automobile.
In order to achieve the above object, the present invention provides a mobile two-arm robot for automatic charging of an electric vehicle, comprising: control box, moving platform, robot fuselage, left arm, right arm, five fingers, first shooting module, connection firmware, second shooting module, power/torque sensor and the rifle that charges. The control box is fixed on the mobile platform, and the control box can control the mobile platform to move. The robot body is fixed on the mobile platform. One end of the left mechanical arm is fixed on the left side of the robot body, and the control box can control the left mechanical arm to actuate. One end of the right mechanical arm is fixed on the right side of the robot body, and the control box can control the right mechanical arm to actuate. The five-finger hand is fixed on the other end of the left mechanical arm, and the control box can control the five-finger hand to actuate. The first shooting module is fixed on the mobile platform and used for remotely obtaining 6D pose information of the electric automobile charging cover. The lower end part of one end of the connecting fixing piece is fixedly connected with the other end of the right mechanical arm. The second shooting module is fixed on the upper end part of the other end of the connecting firmware and used for scanning the socket of the electric automobile charging socket in a short distance and obtaining 6D pose information of the socket. One end of the force/moment sensor is fixed to the lower end of the other end of the connecting fixture. One end of the charging gun is fixed at the other end of the force/torque sensor, the charging gun is electrically connected with a power supply module, and the charging gun is used for being inserted into a socket of a charging socket of the electric automobile and charging a battery of the electric automobile. Wherein, the control box respectively with moving platform, left arm, right arm, five fingers hand, first shooting module, second shooting module, power/torque sensor and the rifle electric connection that charges.
In an embodiment of the invention, the mobile double-arm robot facing the electric vehicle for automatic charging further comprises a supporting metal frame vertically fixed on the mobile platform and located behind the robot body, and the first photographing module is fixed on the top of the supporting metal frame.
In an embodiment of the invention, the control box controls the mobile platform to move to the electric vehicle charging socket according to the 6D pose information of the electric vehicle charging cover obtained by the first shooting module.
In an embodiment of the invention, the control box controls the left mechanical arm to move according to the 6D pose information of the electric automobile charging cover obtained by the first shooting module, and further controls the five-finger hand to open or close the electric automobile charging cover.
In one embodiment of the invention, the control box controls the charging gun to be guided to be inserted into the socket according to the 6D position information of the socket obtained by the second shooting module, so that the battery of the electric automobile is charged.
In one embodiment of the invention, the force/torque sensor is used for obtaining force and torque information when the charging gun is in contact with the charging socket of the electric automobile.
In one embodiment of the invention, the five-finger hand is a multi-degree-of-freedom dexterous five-finger hand, and the five-finger hand can simulate the flexible motion of a human hand.
In one embodiment of the present invention, the mobile two-arm robot for automatic charging of an electric vehicle further includes: five-finger hand connecting piece, power/moment sensor connecting piece and the rifle connecting piece that charges. One end of the five-finger hand connecting piece is fixedly connected with the other end of the left mechanical arm, and the other end of the five-finger hand connecting piece is fixedly connected with the five-finger hand. One end of the force/torque sensor connecting piece is fixedly connected with the lower end part of the other end of the connecting fixing piece, and the other end of the force/torque sensor connecting piece is fixedly connected with the force/torque sensor. One end of the charging gun connecting piece is fixedly connected with the other end of the force/torque sensor, and the other end of the charging gun connecting piece is fixedly connected with the charging gun.
In an embodiment of the present invention, a current detection module is integrated in the charging gun, and the control box can determine whether the battery of the electric vehicle is fully charged by detecting the current of the charging gun through the current detection module.
In an embodiment of the present invention, the mobile two-arm robot for automatic charging of an electric vehicle further includes a robot head fixed on a top of a robot body.
Compared with the prior art, the mobile double-arm robot for automatic charging of the electric automobile has the following beneficial effects:
1. the robot is formed by modularization, all modules are in communication connection through the middle control box, and compared with a traditional fixed charging device, the robot is easier to assemble and disassemble;
2. the robot has a strong hardware foundation, each module has a space for redevelopment, and the robot can be quickly adjusted when dealing with complex working conditions;
3. compared with the traditional fixed electric vehicle charging device, the robot disclosed by the invention can move freely and charge the electric vehicle automatically in the whole process, so that the working range is wider and the charging efficiency is higher;
4. the robot provided by the invention has a complete system architecture, is innovative in the aspects of a charging insertion algorithm and a force control classification algorithm, and is improved in the aspects of charging accuracy and stability compared with the conventional charging device.
Drawings
Fig. 1 is a schematic side view of a mobile two-arm robot facing automatic charging of an electric vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of charging an electric vehicle by a mobile two-arm robot facing automatic charging of the electric vehicle according to an embodiment of the invention.
Description of the main reference numerals:
1-moving platform, 2-control box, 3-supporting metal frame, 4-first shooting module, 5-robot head, 6-robot body, 7-right mechanical arm, 8-connecting fastener, 9-second shooting module, 10-force/torque sensor, 11-charging gun connector, 12-charging gun, 13-force/torque sensor connector, 14-five-finger hand, 15-five-finger hand connector, and 16-left mechanical arm.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.
Fig. 1 is a schematic side view of a mobile two-arm robot for automatic charging of an electric vehicle according to an embodiment of the present invention. As shown in fig. 1, a mobile two-arm robot for automatic charging of an electric vehicle according to a preferred embodiment of the present invention includes: the robot comprises a control box 2, a mobile platform 1, a robot body 6, a left mechanical arm 16, a right mechanical arm 7, a five-finger hand 14, a first shooting module 4, a connecting firmware 8, a second shooting module 9, a force/torque sensor 10 and a charging gun 12. The control box 2 is fixed on the mobile platform 1, and the control box 2 can control the mobile platform 1 to move. The robot body 6 is fixed on the mobile platform 1. One end of the left arm 16 is fixed to the left side of the robot body 6, and the control box 2 can control the left arm 16 to operate. One end of the right arm 7 is fixed to the right side of the robot body 6, and the control box 2 can control the right arm 7 to operate. The five-finger hand 14 is fixed to the other end of the left robot arm 16, and the control box 2 can control the five-finger hand 14 to operate. The first shooting module 4 is fixed on the mobile platform 1, and the first shooting module 4 is used for remotely obtaining 6D pose information of the electric vehicle charging cover. The lower end of one end of the connecting fastener 8 is fixedly connected to the other end of the right arm 7. The second shooting module 9 is fixed on the upper end of the other end of the connecting firmware 8, and the second shooting module 9 is used for scanning the socket of the charging socket of the electric vehicle in a short distance and obtaining the 6D pose information of the socket. One end of the force/moment sensor 10 is fixed to the lower end portion of the other end of the connection fixture 8. One end of the charging gun 12 is fixed to the other end of the force/torque sensor 10, the charging gun 12 is electrically connected to a power supply module, and the charging gun 12 is used to be inserted into a socket of a charging socket of an electric vehicle and charge a battery of the electric vehicle. The control box 2 is electrically connected with the mobile platform 1, the left mechanical arm 16, the right mechanical arm 7, the five-finger hand 14, the first shooting module 4, the second shooting module 9, the force/torque sensor 10 and the charging gun 12 respectively.
In an embodiment of the present invention, the mobile two-arm robot facing the electric vehicle for automatic charging further includes a supporting metal frame 3 vertically fixed on the mobile platform 1 and located behind the robot body 6, and the first photographing module 4 is fixed on the top of the supporting metal frame 3.
In an embodiment of the invention, the control box 2 controls the mobile platform 1 to move to the electric vehicle charging socket according to the 6D pose information of the electric vehicle charging cover obtained by the first shooting module 4. The control box 2 controls the left mechanical arm 16 to move according to the 6D pose information of the electric vehicle charging cover obtained by the first shooting module 4, and further controls the five-finger hand 14 to open or close the electric vehicle charging cover.
In one embodiment of the present invention, the control box 2 controls the insertion of the pilot charging gun 12 into the socket according to the 6D posture information of the socket obtained by the second photographing module 9, thereby charging the battery of the electric vehicle. The force/moment sensor 10 is used to obtain force and moment information when the charging gun 12 is in contact with the charging socket of the electric vehicle. The five-finger hand 14 is a dexterous five-finger hand 14 with multiple degrees of freedom, and the five-finger hand 14 can simulate a human hand to perform flexible actions.
In one embodiment of the present invention, the mobile two-arm robot for automatic charging of an electric vehicle further includes: a five-finger hand connection 15, a force/torque sensor connection 13, and a charging gun connection 11. One end of the five-finger hand connecting piece 15 is fixedly connected with the other end of the left mechanical arm 16, and the other end of the five-finger hand connecting piece 15 is fixedly connected with the five-finger hand 14. One end of the force/torque sensor connecting piece 13 is fixedly connected with the lower end part of the other end of the connecting fixing piece 8, and the other end of the force/torque sensor connecting piece 13 is fixedly connected with the force/torque sensor 10. One end of the charging gun connector 11 is fixedly connected with the other end of the force/torque sensor 10, and the other end of the charging gun connector 11 is fixedly connected with the charging gun 12.
In an embodiment of the present invention, a current detection module is integrated in the charging gun 12, and the control box 2 can determine whether the battery of the electric vehicle is fully charged by detecting the current of the charging gun 12 through the current detection module. Towards the automatic mobile double-arm robot that charges of electric automobile still includes robot head 5, is fixed in on the top of robot fuselage 6.
In practical application, the mobile double-arm robot facing automatic charging of the electric automobile comprises: the robot comprises a control box 2, a moving platform 1, a robot body 6, a robot head 5, a left mechanical arm 16, a right mechanical arm 7, a five-finger hand 14, a rectangular connecting fastener 8, a second shooting module 9 (camera), a force/torque sensor 10, a charging gun 12, a supporting metal frame 3 and a first shooting module 4 (camera). The mobile platform 1 is electrically connected with the control box 2. The robot body 6 is fixed on the mobile platform 1, and the robot head 5 is fixed on the upper part of the robot body 6. The left mechanical arm 16 is fixed on the left side of the robot body 6, and the left mechanical arm 16 is electrically connected with the control box 2. The right mechanical arm 7 is fixed on the right side of the robot body 6, and the right mechanical arm 7 is electrically connected with the control box 2. The five-finger hand 14 is fixed at the end of the left mechanical arm 16, and the five-finger hand 14 is electrically connected with the control box 2. The lower end of the connecting fastener 8 is fixed to the end of the right arm 7, the upper end is connected to the second shooting module 9, and the second shooting module 9 is electrically connected to the control box 2. One end of the force/moment sensor 10 is fixed to the other side of the lower end of the connection fixture 8, and the force/moment sensor 10 is electrically connected to the control box 2. The charging gun 12 is fixed to the other end of the force/torque sensor 10, and the charging gun 12 is electrically connected to the control box 2. The support metal frame 3 is vertically fixed on the mobile platform 1 at the rear of the robot body 6, the other end of the support metal frame 3 is connected with the first shooting module 4, and the first shooting module 4 is electrically connected with the control box 2. The second shooting module 9 is used for scanning the automobile charging socket in a short distance and obtaining 6D pose information of the charging socket; the first shooting module 4 is used for remotely obtaining 6D pose information of the charging cover of the electric automobile; the force/moment sensor 10 is used to obtain the force and moment information of the charging gun 12 contacting the charging socket and convert the force and moment information into accurate electric signals.
Fig. 2 is a schematic flow chart of charging an electric vehicle by a mobile two-arm robot facing automatic charging of the electric vehicle according to an embodiment of the invention. As shown in fig. 2, the mobile two-arm robot for automatic charging of an electric vehicle of the present invention specifically includes the following steps when charging the electric vehicle:
and after the electric automobile owner stops the electric automobile to the parking position, a charging instruction is sent to the mobile double-arm robot. Then, the movable double-arm robot facing the automatic charging of the electric automobile recognizes and acquires the 6D position information of the charging cover of the electric automobile at a distance through the first shooting module 4, transmits an electric signal of the 6D position information to the control box 2, calculates a route required to be driven by the device according to the 6D position information through the control box 2, and transmits a control signal of the route to the movable platform 1. And finally, moving the moving platform 1 to enable the moving double-arm robot to move to the front of the charging socket of the electric automobile. In the process, the first shooting module 4 transmits the 6D pose information to the control box 2 in real time, and the control box 2 can adjust the relative position in real time, so that the charging device can be accurately moved to the front of the charging socket of the electric automobile.
The mobile platform 1 stops moving after the device has been moved to the target position. Next, the control box 2 converts the final position signal transmitted by the first shooting module 4 into a control signal, and transmits the control signal to the left mechanical arm 16, and then the left mechanical arm 16 moves according to the control signal, and the charging cover is opened by using the dexterous five-finger hand 14 with multiple degrees of freedom at the tail end of the left mechanical arm 16. After the opening action is completed, the left mechanical arm 16 is restored to the initial pose.
After the left mechanical arm 16 completes the uncapping action and returns to the initial pose, the control box 2 sends a control signal to the right mechanical arm 7, and the right mechanical arm 7 starts to move according to the control signal. The end of the right mechanical arm 7 is moved to about 30 cm in front of the electric vehicle charging socket. After the electric vehicle arrives at the position, the second shooting module 9 starts to actively polish and scan the charging socket of the electric vehicle, obtains accurate point cloud information (6D pose information) of the charging socket, and then transmits the accurate point cloud information of the charging socket to the control box 2. The control box 2 calculates the motion track of the right mechanical arm 7 according to the point cloud information, and transmits the motion track signal to the right mechanical arm 7. After the right mechanical arm 7 obtains the motion trail control signal transmitted by the control box 2, the right mechanical arm moves according to the control signal, and the charging gun 12 at the tail end of the right mechanical arm 7 is gradually inserted into a charging socket of the electric automobile.
When the charging gun 12 is inserted into the charging socket of the electric automobile, the force/torque sensor 10 obtains the force and torque information of the contact between the charging gun 12 and the charging socket in real time and transmits the force and torque information to the control box 2. The control box 2 calculates from this information whether the charging gun 12 is accurately aligned with the charging socket. If the charging gun 12 is accurately aligned with the charging jack by calculation, the insertion operation is continuously completed. If the charging gun 12 is not accurately aligned with the charging socket through calculation, the right mechanical arm 7 retreats, the charging gun 12 is pulled out, the second shooting module 9 performs polishing scanning again, and the previous step is carried out.
After the charging gun 12 is successfully inserted into the automobile charging socket, the mobile double-arm robot which automatically charges towards the electric automobile starts to charge the electric automobile. When full charge is detected, the right mechanical arm 7 starts to retreat, the charging gun 12 is gradually pulled out, and the initial pose is recovered.
Specifically, the charge amount detection device may be implemented by a current detector or a voltage detector. A current or voltage detector is installed inside the charging gun 12, and the magnitude of the current or voltage of the charging gun 12 is detected to determine whether the charging gun is fully charged. When the electric quantity is full, the value detected by the current detector or the voltage detector is 0, at the moment, a full electric signal is sent to the control box 2, and the control box 2 controls the right mechanical arm 7 to restore to the initial pose.
After the right mechanical arm 7 returns to the initial pose, the control box 2 sends a control signal to the left mechanical arm 16, and the left mechanical arm 16 starts to move according to the control signal to complete the action of closing the charging cover. After the action of closing the charging cover is completed, the left mechanical arm 16 is restored to the initial pose, and the mobile double-arm robot facing the automatic charging of the electric automobile automatically returns to the initial position, so that the whole automatic charging process is completed.
It should be noted that, the whole mobile double-arm robot for automatic charging of the electric vehicle can be powered by a power supply carried by the robot, and can also be powered by an external power line.
In summary, the mobile double-arm robot for automatic charging of the electric vehicle has the following beneficial effects:
1. the robot is formed by modularization, all modules are in communication connection through the middle control box 2, and compared with a traditional fixed charging device, the robot is easier to assemble and disassemble;
2. the robot has a strong hardware foundation, each module has a space for redevelopment, and the robot can be quickly adjusted when dealing with complex working conditions;
3. compared with the traditional fixed electric vehicle charging device, the robot disclosed by the invention can move freely and charge the electric vehicle automatically in the whole process, so that the working range is wider and the charging efficiency is higher;
4. the robot provided by the invention has a complete system architecture, is innovative in the aspects of a charging insertion algorithm and a force control classification algorithm, and is improved in the aspects of charging accuracy and stability compared with the conventional charging device.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.

Claims (10)

1. The utility model provides a towards automatic mobile double-arm robot that charges of electric automobile which characterized in that includes:
a control box;
the control box is fixed on the mobile platform and can control the mobile platform to move;
the robot body is fixed on the mobile platform;
one end of the left mechanical arm is fixed on the left side of the robot body, and the control box can control the left mechanical arm to actuate;
one end of the right mechanical arm is fixed on the right side of the robot body, and the control box can control the right mechanical arm to actuate;
the five-finger hand is fixed at the other end of the left mechanical arm, and the control box can control the five-finger hand to actuate;
the first shooting module is fixed on the mobile platform and used for remotely obtaining 6D pose information of the electric automobile charging cover;
the lower end part of one end of the connecting firmware is fixedly connected with the other end of the right mechanical arm;
the second shooting module is fixed on the upper end part of the other end of the connecting firmware and used for scanning a socket of the charging socket of the electric automobile in a short distance and acquiring 6D pose information of the socket;
one end of the force/torque sensor is fixed on the lower end part of the other end of the connecting and fixing piece; and
one end of the charging gun is fixed to the other end of the force/torque sensor, the charging gun is electrically connected with a power supply module and is used for being inserted into the socket of the electric automobile charging socket and charging a battery of an electric automobile;
wherein, the control box respectively with moving platform, left arm right arm, five fingers, first shooting module, the second shooting module, power/torque sensor with the rifle electric connection that charges.
2. The mobile double-arm robot facing automatic charging of electric vehicles according to claim 1, further comprising a supporting metal frame vertically fixed on the mobile platform and located behind the robot body, and the first photographing module is fixed on the top of the supporting metal frame.
3. The moving dual-arm robot for automatic electric vehicle charging according to claim 1, wherein the control box controls the moving platform to move to the electric vehicle charging socket according to the 6D pose information of the electric vehicle charging cover obtained by the first photographing module.
4. The moving double-arm robot for automatic charging of electric vehicles according to claim 3, wherein the control box controls the left mechanical arm to move according to the 6D pose information of the electric vehicle charging cover obtained by the first shooting module, and further controls the five-finger hand to open or close the electric vehicle charging cover.
5. The mobile two-arm robot for electric vehicle automatic charging according to claim 1, wherein the control box guides the charging gun to be inserted into the socket according to the 6D pose information of the socket obtained by the second photographing module, thereby charging the battery of the electric vehicle.
6. The mobile two-arm robot oriented to automatic charging of electric vehicles according to claim 1, wherein the force/moment sensor is used to obtain force and moment information when the charging gun is in contact with the charging socket of the electric vehicle.
7. The moving two-arm robot for automatic charging of electric vehicles according to claim 1, wherein the five-finger hand is a multi-degree-of-freedom dexterous five-finger hand, and the five-finger hand can simulate a human hand to perform flexible actions.
8. The mobile two-arm robot oriented to automatic charging of electric vehicles according to claim 7, further comprising:
one end of the five-finger hand connecting piece is fixedly connected with the other end of the left mechanical arm, and the other end of the five-finger hand connecting piece is fixedly connected with the five-finger hand;
one end of the force/torque sensor connecting piece is fixedly connected with the lower end part of the other end of the connecting and fixing piece, and the other end of the force/torque sensor connecting piece is fixedly connected with the force/torque sensor; and
the rifle connecting piece charges, the one end of the rifle connecting piece that charges with power/torque sensor's other end fixed connection, just the other end of the rifle connecting piece that charges with rifle fixed connection charges.
9. The mobile double-arm robot for automatic charging of electric vehicles according to claim 1, wherein a current detection module is integrated in the charging gun, and the control box can determine whether the battery of the electric vehicle is fully charged by detecting the current of the charging gun through the current detection module.
10. The mobile dual-arm robot oriented to automatic charging of electric vehicles according to claim 1, further comprising a robot head fixed on top of the robot body.
CN202111322883.4A 2021-11-09 2021-11-09 Mobile double-arm robot for automatic charging of electric automobile Active CN113928146B (en)

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CN210554253U (en) * 2019-06-04 2020-05-19 诺莱德(上海)汽车科技有限公司 Novel charging seat insertion force detection protection device
CN111619388A (en) * 2020-07-02 2020-09-04 孙旭阳 Intelligent charging device for electric automobile
CN113276090A (en) * 2020-12-08 2021-08-20 北京联合大学 Large-bearing humanoid double-arm service robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014215026A1 (en) * 2014-07-31 2016-02-04 Volkswagen Aktiengesellschaft Holding device, device and method for automated production of a plug connection of a charging plug with a charging socket
CN208930235U (en) * 2018-03-27 2019-06-04 上海咔酷咔新能源科技有限公司 A kind of movable self formula charging robot
CN109484214A (en) * 2018-10-10 2019-03-19 广州信邦智能装备股份有限公司 A kind of new energy vehicle charging robot
CN209737595U (en) * 2019-03-14 2019-12-06 深圳诗航智能科技有限公司 Mobile mechanical arm trolley capable of being charged wirelessly
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