CN116914507A - Connecting plug for automobile charging - Google Patents
Connecting plug for automobile charging Download PDFInfo
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- CN116914507A CN116914507A CN202310945806.7A CN202310945806A CN116914507A CN 116914507 A CN116914507 A CN 116914507A CN 202310945806 A CN202310945806 A CN 202310945806A CN 116914507 A CN116914507 A CN 116914507A
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- data processor
- mechanical arm
- socket
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- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 9
- 210000001503 joint Anatomy 0.000 claims abstract description 5
- 238000007789 sealing Methods 0.000 claims description 42
- 210000000078 claw Anatomy 0.000 claims description 21
- 239000012212 insulator Substances 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 5
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- 238000012937 correction Methods 0.000 claims description 3
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- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- RNFJDJUURJAICM-UHFFFAOYSA-N 2,2,4,4,6,6-hexaphenoxy-1,3,5-triaza-2$l^{5},4$l^{5},6$l^{5}-triphosphacyclohexa-1,3,5-triene Chemical compound N=1P(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP=1(OC=1C=CC=CC=1)OC1=CC=CC=C1 RNFJDJUURJAICM-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/66—Structural association with built-in electrical component
- H01R13/665—Structural association with built-in electrical component with built-in electronic circuit
- H01R13/6683—Structural association with built-in electrical component with built-in electronic circuit with built-in sensor
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/66—Structural association with built-in electrical component
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R24/00—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure
- H01R24/28—Coupling parts carrying pins, blades or analogous contacts and secured only to wire or cable
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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
-
- 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
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a connecting plug for automobile charging, which belongs to the technical field of new energy charging devices and solves the problems that: how to reduce the potential safety hazard of the connecting plug for automobile charging in the charging process; the technical scheme is characterized by comprising a plug component, a power adapter and a charging gun, wherein the plug component, the power adapter and the charging gun are connected through a power line, and a first temperature sensor is arranged in an aluminum shell; the charging gun is fixed by a mechanical arm, and a moment sensor and a visual sensor are arranged on the mechanical arm and are respectively connected with a data processor; the vision sensor is arranged at the front end of the mechanical arm and used for collecting image information, and the data processor is used for identifying and positioning the charging socket through the image information; the torque sensor is fixed on the clamping jaw of the mechanical arm and used for collecting torque information, and the data processor performs charging socket butt joint operation through the torque information, so that the effect is achieved: the safety and reliability degree of charging are improved.
Description
Technical Field
The invention relates to the technical field of new energy charging devices, in particular to a connecting plug for automobile charging.
Background
The automatic charging system of the electric automobile mainly comprises three components, namely an electric automobile charging plug, a charging mechanical arm and a sensing system. The electric automobile charging interface is an operation object of the whole charging system, and comprises a charging socket and a charging plug (a charging gun), wherein the charging plug is an active part, an electric clamping jaw is used for being fixed at the tail end of the mechanical arm, the charging socket is a passive part, and the charging socket position of a reference real automobile is fixed in the working space of the mechanical arm. The mechanical arm can carry out flexible mechanical action within a certain range of 360 degrees, and the charging gun can be controlled to carry out position movement.
The electric automobile charging gun is high-power continuous charging equipment and has high requirements on electric conduction and heat dissipation performance of the equipment. Most plugs react with market users, often have high temperature, form overheat protection, and even overheat deformation, burnout and the like of the plugs occur. The thermal effect of the current is the principle of the temperature rise of the current: when a current flows through the conductor, the current acts to produce heat due to the resistance of the conductor itself. It follows that the charging gun relies on manual operation and that identification has a safety hazard to the operator due to manual operation.
The technical problems to be solved are as follows: how to reduce the potential safety hazard of the connecting plug for automobile charging in the charging process.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a connection plug for charging an automobile, which has a longer service life and higher safety.
In order to achieve the above object and other related objects, the present invention adopts the following technical scheme: the utility model provides a connecting plug for automobile charging, includes plug part, power adapter, rifle that charges, the three passes through the power cord and connects, plug part includes aluminum hull, insulator, inserted bar, and the rear end of inserted bar sets up to the concentric ring portion of cavity, the centre sets up to coaxial bolt portion, and the terminal surface edge of ring portion is the direction horn mouth structure, and the pencil of power cord inserts ring portion and is fixed through the pressure riveting mode, bolt portion is fixed on the insulator, and the insulator inlays on the aluminum hull, is provided with first temperature sensor in the aluminum hull;
the charging gun is fixed by a mechanical arm, and a moment sensor and a visual sensor are arranged on the mechanical arm and are respectively connected with a data processor;
the vision sensor is arranged at the front end of the mechanical arm and used for collecting image information, and the data processor is used for identifying and positioning the charging socket through the image information; the torque sensor is fixed on the clamping jaw end of the mechanical arm and used for collecting torque information, and the data processor performs charging socket butt joint operation through the torque information.
Preferably, the data processor controls the mechanical arm to work, including the following splicing steps:
step one, confirming that the position distance of the charging jack enters an identification range, otherwise judging that the charging jack is not identified;
step two, the mechanical arm moves the charging gun from the initial position to the charging jack at a first speed, and waits after a first distance is reserved;
thirdly, after the charging gun is confirmed to stay at the first distance, adjusting the position and the posture of the charging gun at the second speed to keep the alignment of the charging gun and the socket;
and fourthly, after the alignment of the charging gun and the socket is confirmed, further performing fine adjustment by a binding force moment sensor, controlling the mechanical arm to move at a third speed, and inserting the charging gun into the charging socket.
Preferably, the data processor controls the mechanical arm to work, and the pulling-out step is reverse work of the plugging-in step.
Preferably, the data processor performs charging socket identification and positioning through image information, including extracting all feature circles in the charging socket image and determining the number thereof, including the steps of:
step one, image preprocessing is carried out through RGB images,
performing binarization processing on the image, extracting a closed contour, screening the contour, removing the contour with roundness and circumference smaller than a threshold value, calculating the circle center and radius of the contour by using a graph moment principle, and sequencing the contour according to the radius;
step three, judging that the maximum radius is larger than a first setting value,
step four: if the judgment result of the step three is true, extracting a first characteristic circle, adopting the relative position relation to determine the rest characteristic circles, judging whether all the characteristic circles are extracted,
step five: the binarization threshold value is adjusted, and the process returns to the step two,
step six: if the judgment result of the step three is false, or if the judgment result of the step four is false, the step five is carried out, and the success is proposed by the user if the judgment result of the step four is false.
Preferably, in the third step, the test step of trial plugging after alignment is included:
step one, setting the expected force value of the insertion,
step two, judging that the charging gun is above the socket, and controlling the charging gun to move downwards for a first micro distance;
step three, judging that the charging gun is below the socket, and controlling the charging gun to move upwards by a first micro distance;
step four, judging that the charging gun is at the left side of the eye-splice, and controlling the charging gun to move rightwards by a first micro distance;
and fifthly, when the judgment of the second, third and fourth steps is false, controlling the charging gun to move leftwards by a first micro distance.
Preferably, the torque control method comprises the following steps:
step one, the moment sensor detects the actual contact force F of the charging socket and the charging plug and according to the expected contact force F d Calculating the deviation value E of the contact force F ＝F d -F，
Step two, the contact force deviation F E Transmitting to a data processor, and outputting a pose correction E according to the control parameters by the data processor for correcting the reference terminal pose X so as to obtain a corrected expected pose X d ＝X+E，
Step three, the corrected pose X d The position controller is transmitted to the mechanical arm, the mechanical arm moves the tail end to the target position through kinematic inverse solution and track planning, and meanwhile, moment sensor information is collected;
and step four, repeatedly executing the step one until the task is completed.
Preferably, the outer side of the insulator of the plug component is provided with a circle of flexible sealing edge, the sealing edge is in plug-in interaction with a groove on the power supply socket, the first temperature sensor is connected with the data processor to feed back temperature data, the plug component is provided with an air pipe, the air pipe is communicated with an inner cavity space surrounded by the sealing edge, the plug rod is sleeved with a sealing ring, the sealing ring is used for sealing with a socket hole, the air pipe is connected with an air pump device, and the air pump device is controlled by the data processor and starts working according to a temperature alarm signal.
Preferably, the power supply socket is provided with a fastening device for fastening the sealing edge, the fastening device comprises a pressing claw, a mounting channel perpendicular to the sealing edge and a screw rod for driving the pressing claw to linearly move on the mounting channel, the pressing claw is in threaded fit with the screw rod, the screw rod is connected with a driving motor, and the driving motor drives the screw rod to rotate positively and negatively so that the pressing claw linearly moves back and forth in the mounting channel.
Preferably, the driving motor is connected with the data processor, and the data processor controls the driving motor to work to enable the pressing claw to retreat after the air quantity injected by the air pump device reaches a set value.
Preferably, the sealing edge is made of elastic materials.
Compared with the background art, the invention has the technical effects that:
(1) Considering that the plug part is easy to rivet, the U-shaped opening terminal cannot meet the requirement, and the problems of wire scattering and poor torsion are easy to generate; the opening is designed with a guiding horn mouth structure, so that the wire harness is sufficiently guided, the problem of wire harness bending and wire breakage is avoided, the mechanical arm is utilized for control and automatic grafting when the charging gun at the other end is combined for grafting, after a vehicle stops at the position of an identification range, the visual sensor is utilized for identifying the jack, and then the torque sensor is utilized for butt joint insertion assembly action control, so that efficient, stable and safe work is realized, unmanned and automatic purposes can be realized, potential safety hazards caused by manual operation to personnel are avoided, and the automation level and the intelligent level are improved;
(2) The speed adjustment in three stages in the working process can improve the assembly efficiency and improve the assembly reliability at the same time;
(3) The position of the charging jack on the automobile is quickly identified by adopting an image processing mode of machine vision, so that the gesture position adjustment in the butt joint process can be effectively performed, and the position fine adjustment can be performed through real-time data feedback of a moment sensor, thereby avoiding overlarge force, and greatly improving the speed and efficiency of the plug-in connection on the premise of safe plug-in connection;
(4) In order to further improve safety, a safety control mechanism is adopted on the plug part at the other end, when the first temperature sensor detects that the temperature exceeds the warning value, the air pump can be controlled to work, and the plug part is automatically separated from the mains supply socket by adopting the air explosion function.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of a plug face of a charging gun according to an embodiment of the present invention;
FIG. 3 is a schematic view of a plug assembly according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an embodiment of the present invention.
[ Main component reference numerals Specification ]
1. A plug member; 11. an aluminum shell; 12. an insulator; 13. a rod; 131. a circular ring portion; 132. a plug pin part; 133. a guide bell mouth structure; 2. a power adapter; 3. a charging gun; 4. a power line; 5. a first temperature sensor; 6. a mechanical arm; 7. a torque sensor; 8. a visual sensor; 9. a data processor; 100. sealing edges; 110. a power supply socket; 111. a groove; 112. an inner cavity space; 120. an air pipe; 130. a seal ring; 140. an air pump device; 150. a fastening device; 151. a pressing claw; 152. a mounting channel; 153. a screw; 154. and driving the motor.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
The following describes the embodiments of the present invention further with reference to the drawings.
Embodiment one:
the connecting plug for automobile charging, as shown in fig. 1 and 2, comprises a plug part 1, a power adapter 2 and a charging gun 3, which are connected by a power cord 4. The plug member 1 includes an aluminum shell 11, an insulator 12, and a plug stem 13. The rear end of the inserted link 13 is provided with a hollow concentric circular ring part 131 and a bolt part 132 which is coaxial in the middle, the edge of the end face of the circular ring part 131 is provided with a guide horn mouth structure 133, the wire harness of the power line 4 is inserted into the circular ring part 131 and fixed in a press riveting mode, the bolt part 132 is fixed on the insulator 12, the insulator 12 is embedded on the aluminum shell 11, and the aluminum shell 11 is internally provided with the first temperature sensor 5. Considering that the plug part 1 is easy to rivet, the U-shaped opening terminal cannot meet the requirement, and the problems of wire scattering and poor torsion are easy to generate, the hollow structural design is adopted, the riveting axis of the concentric ring is coaxial with the bolt, the torsion problem after press riveting is avoided, and the structure is also a closed-loop ring structure, so that the problem of wire scattering of the opening during press riveting is avoided; the mouth part is designed with a guiding horn mouth structure, so that the wire harness is guided sufficiently, and the problem of wire breakage caused by bending of the wire harness is avoided. After the conductivity of the structure is obviously improved, the structure is favorable for reducing the temperature rise and improving the safety. And the internal temperature is monitored by the first temperature sensor 5.
The charging gun 3 is fixed by a mechanical arm 6, a moment sensor 7 and a visual sensor 8 are arranged on the mechanical arm 6, and the mechanical arm 6, the moment sensor 7 and the visual sensor 8 are respectively connected with a data processor 9; the mechanical arm 6 adopts a multi-axis mechanical arm 6, and can be a five-axis mechanical arm 6, a six-axis mechanical arm 6 and the like.
The vision sensor 8 is arranged at the front end of the mechanical arm 6 and is used for collecting image information, and the data processor 9 carries out charging socket identification and positioning through the image information; the torque sensor 7 is fixed on the clamping jaw end of the mechanical arm 6 and is used for collecting torque information, and the data processor 9 performs charging socket docking operation through the torque information.
Embodiment two:
further to the first embodiment, specifically, the data processor 9 controls the operation of the mechanical arm 6 to include the following plugging steps:
step one, confirming that the position distance of the charging jack enters an identification range, otherwise judging that the charging jack is not identified;
step two, the mechanical arm 6 moves the charging gun 3 from the initial position to the charging socket at a first speed, and waits after a first distance is reserved;
thirdly, after confirming that the charging gun 3 stays at the first distance, adjusting the position and the posture of the charging gun 3 at the second speed to keep the alignment of the charging gun 3 and the socket;
and fourthly, after the alignment of the charging gun 3 and the socket is confirmed, further performing fine adjustment by a binding force moment sensor 7, controlling the mechanical arm 6 to move at a third speed, and inserting the charging gun 3 into the charging socket.
The first speed is greater than the second speed and greater than the third speed.
In a specific case, when the charging plug is located at the initial position, the general position of the charging socket needs to be found first, and the tail end is quickly moved to an approximate position about 200mm away from the charging socket; further positioning the charging jack in the approximated position and moving the charging plug to a final aligned position; in the final alignment position, the mechanical arm 6 can be successfully inserted by only slowly moving along one direction in theory, but the final adjustment is also required by combining the force sensor data.
It follows that for the sake of brevity, no specific expansion is made. The data processor 9 controls the operation of the mechanical arm 6 to comprise the following pulling-out step, wherein the pulling-out step is the reverse operation of the plugging-in step. And the charging gun 3 is pulled out after the charging is completed, and the charging gun is moved to the starting position according to the reverse direction of the plugging path point, and the next vehicle is waited for.
Embodiment III:
based on the second embodiment, it can be seen that the identification and positioning of the charging jack is completed by adopting a visual method. The part is divided into three links of identification, coarse positioning and fine positioning. To obtain the pose of the charging jack, the charging jack is first found. A specific camera implementation may be employed for the vision sensor 8. The data processor 9 performs charging socket recognition and positioning through image information, including extracting all feature circles in the charging socket image and determining the number thereof, including the steps of:
step one, image preprocessing is carried out through RGB images,
performing binarization processing on the image, extracting a closed contour, screening the contour, removing the contour with roundness and circumference smaller than a threshold value, calculating the circle center and radius of the contour by using a graph moment principle, and sequencing the contour according to the radius;
step three, judging that the maximum radius is larger than a first setting value,
step four: if the judgment result of the step three is true, extracting a first characteristic circle, adopting the relative position relation to determine the rest characteristic circles, judging whether all the characteristic circles are extracted,
step five: the binarization threshold value is adjusted, and the process returns to the step two,
step six: if the judgment result of the step three is false, or if the judgment result of the step four is false, the step five is carried out, and the success is proposed by the user if the judgment result of the step four is false.
At least 6 feature points have to be found in the charging socket, which feature points have to be easily extracted in the image. The charging socket coordinate system is also required to be established, the fixed accurate coordinate positions of the plurality of characteristic points are arranged in the charging socket coordinate system, the pixel coordinate characteristic points in the image of the charging socket shot by the camera are extracted by utilizing methods such as digital image processing, the characteristic points are projections of the characteristic points in the charging socket coordinate, and the characteristic points arranged in the power supply socket coordinate system are in one-to-one correspondence with the two-dimensional characteristic points extracted from the image by skillfully utilizing the relative position relation among the characteristic points. In order to make the feature points in one-to-one correspondence subsequently, each circle center needs to be numbered.
In order to improve the extraction effect, the image needs to be preprocessed, the RGB image is subjected to gray image conversion so as to facilitate edge extraction, and then the gray image is subjected to median filtering to remove noise. In order to solve the problems of uneven illumination, poor local contrast and the like of the charging jack image, the charging jack image is subjected to histogram equalization processing, and the original concentrated gray level histogram is changed into a histogram with uniformly distributed gray level intervals by the histogram equalization method, so that the local contrast of the charging jack can be effectively enhanced, and the influence of illumination on a circle extraction algorithm is reduced. After this is done, the image is binarized, converting the gray scale image into a binary image of only 0 and 255, so that the circle feature is more easily extracted.
After image preprocessing, the image is contour extracted using the findContours () function of OpenCV. The remaining profile may be considered approximately a circular profile. And carrying out circle extraction based on image moment on the outline, and calculating parameters such as circle center, radius and the like, thereby establishing a two-dimensional characteristic point sequence (the circle center is the two-dimensional characteristic point).
The image moment is an important characteristic for describing an image, and can reflect information such as the direction and the shape of the image. The first moment of the image can reflect the shape characteristics of the image, and the gravity center of the outline is calculated by adopting the first moment and the zero moment, so that the accuracy and the efficiency can be improved.
Embodiment four:
in the third step of the second embodiment, after the tool coordinate system of the mechanical arm 6 reaches the pose obtained by precise positioning, the mechanical arm cannot be directly inserted, and due to a certain error in visual positioning, when the charging socket is not aligned with the central axis of the charging gun 3, the insertion process may be blocked. Therefore, it is necessary to perform trial plugging first, control the mechanical arm 6 to move with a desired force of 20N along the plugging direction of the tool coordinate system, read the data of the torque sensor 7 after the end position of the mechanical arm 6 is stable, and if the mechanical arm 6 is in a state of successful plugging, control the mechanical arm 6 to enter a slow plugging stage of the third speed, otherwise enter a socket searching stage. The test steps of trial plugging after alignment are as follows:
step one, setting the expected force value of the insertion,
step two, judging that the charging gun 3 is above the socket, and controlling the charging gun 3 to move downwards for a first micro distance;
step three, judging that the charging gun 3 is below the socket, and controlling the charging gun 3 to move upwards for a first micro distance;
step four, judging that the charging gun 3 is at the left side of the eye-splice, and controlling the charging gun 3 to move rightwards by a first micro distance;
and fifthly, when the judgment of the second, third and fourth steps is false, controlling the charging gun 3 to move leftwards by a first micro distance.
The first minor distance may be 1mm in one particular case.
Fifth embodiment:
the mechanical arm 6 is fully contacted with the charging socket in the plugging process, so that the simple position control can cause excessive stress between the charging socket and the charging plug, thereby damaging the structure and the service life of the charging socket. Meanwhile, when the mechanical arm 6 performs hole searching operation, if only position control is adopted, the contact force between the charging socket and the charging plug is continuously fluctuated, and sufficient and stable contact cannot be ensured. Therefore, the following torque control method is required for the control.
The torque control method comprises the following steps:
step one, a moment sensor detects the actual contact force F of a charging socket and a charging plug and according to the expected contact force F d Calculating the deviation value E of the contact force F ＝F d -F，
Step two, the contact force deviation F E Transmitting to a data processor, and outputting a pose correction E according to the control parameters by the data processor for correcting the reference terminal pose X so as to obtain a corrected expected pose X d ＝X+E，
Step three, the corrected pose X d The position controller is transmitted to the mechanical arm, the mechanical arm moves the tail end to the target position through kinematic inverse solution and track planning, and meanwhile, moment sensor information is collected;
and step four, repeatedly executing the step one until the task is completed.
The closed loop feedback can further improve the control reliability.
Example six:
on the other hand, according to the first embodiment, the method can be further optimized, referring to fig. 3 and 4, in order to avoid the occurrence of abnormal temperature unsupervised in the power supply process, and fire is generated. The outer side of the insulator 12 of the plug part 1 is provided with a ring of flexible sealing edges 100, which sealing edges 100 are deformable under force. The sealing edge 100 is made of insulating material. The sealing edge 100 is made of elastic material. The sealing edge 100 thus may be selected from the group consisting of flame retardant rubber, other modified rubber, and the like.
The sealing edge 100 is in plug-in fit with a groove 111 on the power supply socket 110, and the first temperature sensor 5 is connected with the data processor 9 to feed back temperature data. The plug part 1 is provided with an air pipe 120, the air pipe 120 is communicated with an inner cavity space 112 surrounded by the sealing edge 100, the inserted link 13 is sleeved with a sealing ring 130, the sealing ring 130 is used for sealing with a socket hole, the air pipe 120 is connected with an air pump device 140, and the air pump device 140 is controlled by the data processor 9 and starts working according to a temperature alarm signal. We set the temperature warning value to 85 degrees celsius. In the case of mains sockets, in one case sockets providing mains power, the improvement resides in the ability to cooperate with the plug part 1 of the present solution. Wherein, the power supply socket 110 adopts a commercial power socket.
Specifically, the power supply socket 110 is provided with a fastening device 150 for fastening the sealing edge 100, the fastening device 150 includes a pressing claw 151, a mounting channel 152 perpendicular to the sealing edge 100, and a screw 153 for driving the pressing claw 151 to linearly move on the mounting channel 152, the pressing claw 151 and the screw 153 are in threaded fit, the screw 153 is connected with a driving motor 154, and the driving motor 154 rotates by driving the screw 153 positively and negatively so that the pressing claw 151 linearly moves back and forth in the mounting channel 152. The cross section of the mounting channel 152 is a rectangular structure, the pressing claw 151 is also a rectangular structure and slides relatively in the mounting channel 152, when the driving motor 154 is operated first, the driving screw 153 is driven to rotate, at this time, the pressing claw 151 can move along the mounting channel 152, after the sealing edge 100 is inserted into the groove 111, the mounting channel 152 is communicated with the position of the groove 111, and the pressing claw 151 is pressed against the sealing edge 100 at the bottom side of the groove 111, so that the sealing edge 100 is fastened. The sealing edge 100 is then fixed by the presser finger 151. Because the sealing edge 100 is in a ring-shaped structure, the fastening devices 150 in the scheme are multiple, specifically four fastening devices can be arranged and uniformly distributed on one ring of the sealing edge 100, so that the sealing edge 100 is fastened. The gas injected by the air pump may be an inert gas such as nitrogen or argon. The driving motor 154 is connected with the data processor 9, and the data processor 9 controls the driving motor 154 to work to enable the pressing claw 151 to retreat after the gas quantity injected by the gas pump device 140 reaches a set value.
The specific working process is as follows: normally, the plug part 1 can be plugged into the power supply socket 110, and the corresponding power supply socket 110 realizes the power supply work of the power connection. The sealing edge 100 is now fitted into the groove 111, and the driving motor 154 is operated to rotate the screw 153, and the pressing jaw 151 is moved 5mm-10mm to fasten the sealing edge 100. This serves to form an internal sealed environment that can be filled with inert gas through the gas tube 120. When abnormal power supply occurs and the temperature is abnormal, for example, the temperature is increased to 85 ℃, the temperature is detected by the first temperature sensor 5, data is directly fed back to the data processor 9, then the data processor 9 controls the air pump to carry out pressurization, and quantitative inert gas is injected into the sealed inner cavity, so that the internal pressure is increased, and the internal pressure can be controlled within a proper range. At this time, when the pressure in the inner cavity is relatively small, the sealing performance can be maintained, no air leakage occurs, even if the pressure is continuously increased in the later period, even if the pressing claw 151 presses the sealing edge 100, the air leakage phenomenon still occurs, but the air leakage phenomenon is not influenced, because the air leakage does not need to last long now, only one end of the air leakage needs to be kept at a high pressure for a short time, for example, the high pressure state is kept for 5 seconds, during the 5 seconds, the data processor 9 controls the driving motor 154 to work, and immediately controls all the pressing claws 151 to retreat, so that under the action of the internal pressure, the plug component 1 can be automatically separated from the power supply socket 110 under the assistance of gas, and thus the subsequent damage is avoided.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. The utility model provides a connecting plug for automobile charging, includes plug part, power adapter, rifle that charges, and the three passes through the power cord connection, characterized by: the plug component comprises an aluminum shell, an insulator and a plug rod, wherein the rear end of the plug rod is provided with a hollow concentric ring part, the middle of the plug rod is provided with a coaxial plug pin part, the edge of the end face of the ring part is of a guide horn mouth structure, a wire harness of a power wire is inserted into the ring part and fixed in a press riveting mode, the plug pin part is fixed on the insulator, the insulator is embedded on the aluminum shell, and a first temperature sensor is arranged in the aluminum shell;
the charging gun is fixed by a mechanical arm, and a moment sensor and a visual sensor are arranged on the mechanical arm and are respectively connected with a data processor;
the vision sensor is arranged at the front end of the mechanical arm and used for collecting image information, and the data processor is used for identifying and positioning the charging socket through the image information; the torque sensor is fixed on the clamping jaw end of the mechanical arm and used for collecting torque information, and the data processor performs charging socket butt joint operation through the torque information.
2. The connection plug for charging an automobile according to claim 1, wherein: the data processor controls the mechanical arm to work and comprises the following splicing steps:
step one, confirming that the position distance of the charging jack enters an identification range, otherwise judging that the charging jack is not identified;
step two, the mechanical arm moves the charging gun from the initial position to the charging jack at a first speed, and waits after a first distance is reserved;
thirdly, after the charging gun is confirmed to stay at the first distance, adjusting the position and the posture of the charging gun at the second speed to keep the alignment of the charging gun and the socket;
and fourthly, after the alignment of the charging gun and the socket is confirmed, further performing fine adjustment by a binding force moment sensor, controlling the mechanical arm to move at a third speed, and inserting the charging gun into the charging socket.
3. The connection plug for charging an automobile according to claim 2, characterized in that: the data processor controls the mechanical arm to work and comprises the following pulling-out step, wherein the pulling-out step is the reverse order work of the plugging-in step.
4. The connection plug for charging an automobile according to claim 1, wherein: the data processor performs charging socket identification and positioning through image information, and comprises the steps of extracting all characteristic circles in a charging socket image and determining the number of the characteristic circles, and comprises the following steps:
step one, image preprocessing is carried out through RGB images,
performing binarization processing on the image, extracting a closed contour, screening the contour, removing the contour with roundness and circumference smaller than a threshold value, calculating the circle center and radius of the contour by using a graph moment principle, and sequencing the contour according to the radius;
step three, judging that the maximum radius is larger than a first setting value,
step four: if the judgment result of the step three is true, extracting a first characteristic circle, adopting the relative position relation to determine the rest characteristic circles, judging whether all the characteristic circles are extracted,
step five: the binarization threshold value is adjusted, and the process returns to the step two,
step six: if the judgment result of the step three is false, or if the judgment result of the step four is false, the step five is carried out, and the success is proposed by the user if the judgment result of the step four is false.
5. The connection plug for charging an automobile according to claim 2, characterized in that: in the third step, the method comprises the following steps of trial plugging test after alignment:
step one, setting the expected force value of the insertion,
step two, judging that the charging gun is above the socket, and controlling the charging gun to move downwards for a first micro distance;
step three, judging that the charging gun is below the socket, and controlling the charging gun to move upwards by a first micro distance;
step four, judging that the charging gun is at the left side of the eye-splice, and controlling the charging gun to move rightwards by a first micro distance;
and fifthly, when the judgment of the second, third and fourth steps is false, controlling the charging gun to move leftwards by a first micro distance.
6. The connection plug for charging an automobile according to claim 5, wherein:
the torque control method comprises the following steps:
step one, the moment sensor detects the actual contact force F of the charging socket and the charging plug and according to the expected contact force F d Calculating the deviation value E of the contact force F ＝F d -F，
Step two, the contact force deviation F E Transmitting to a data processor, and outputting a pose correction E according to the control parameters by the data processor for correcting the reference terminal pose X so as to obtain a corrected expected pose X d ＝X+E，
Step three, the corrected pose X d A position controller transmitted to the mechanical arm, wherein the mechanical arm moves the tail end to the target position through the inverse kinematics solution and the track planning, and meanwhileAcquiring moment sensor information;
and step four, repeatedly executing the step one until the task is completed.
7. The connection plug for charging an automobile according to claim 1, wherein: the utility model discloses a temperature alarm device, including plug part, air pipe, air pump device, data processor, socket hole, air pump device, plug part's insulator's lateral surface is provided with the sealing strip of round flexibility, the recess grafting on sealing strip and the power supply socket is mutually joined in marriage, and first temperature sensor connects data processor feedback temperature data, is provided with the trachea on the plug part, and the inner chamber space that the sealing strip encloses is linked to the trachea, cup joint the sealing washer on the inserted bar, the sealing washer is used for sealing with the socket hole, air pump device is connected to the trachea, and air pump device is controlled by data processor and starts work according to temperature alarm signal.
8. The connection plug for charging an automobile according to claim 7, wherein: the power supply socket is provided with a fastening device for fastening the sealing edge, the fastening device comprises a pressing claw, a mounting channel perpendicular to the sealing edge and a screw rod for driving the pressing claw to linearly move on the mounting channel, the pressing claw is in threaded fit with the screw rod, the screw rod is connected with a driving motor, and the driving motor drives the screw rod to rotate positively and negatively so that the pressing claw linearly moves back and forth in the mounting channel.
9. The connection plug for charging an automobile according to claim 8, wherein: the driving motor is connected with the data processor, and the data processor controls the driving motor to work to enable the pressing claw to retreat after the gas quantity injected by the gas pump device reaches a set value.
10. The connection plug for charging an automobile according to claim 7, wherein: the sealing edge is made of elastic materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310945806.7A CN116914507A (en) | 2023-07-28 | 2023-07-28 | Connecting plug for automobile charging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310945806.7A CN116914507A (en) | 2023-07-28 | 2023-07-28 | Connecting plug for automobile charging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116914507A true CN116914507A (en) | 2023-10-20 |
Family
ID=88350924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310945806.7A Withdrawn CN116914507A (en) | 2023-07-28 | 2023-07-28 | Connecting plug for automobile charging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116914507A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117718986A (en) * | 2024-02-08 | 2024-03-19 | 宁德时代新能源科技股份有限公司 | Battery testing system and battery testing method |
-
2023
- 2023-07-28 CN CN202310945806.7A patent/CN116914507A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117718986A (en) * | 2024-02-08 | 2024-03-19 | 宁德时代新能源科技股份有限公司 | Battery testing system and battery testing method |
| CN117718986B (en) * | 2024-02-08 | 2024-06-21 | 宁德时代新能源科技股份有限公司 | Battery testing system and battery testing method |
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Application publication date: 20231020 |
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