CN210454504U

CN210454504U - Charging pile

Info

Publication number: CN210454504U
Application number: CN201920924931.9U
Authority: CN
Inventors: 余淑豪; 张兰春
Original assignee: Jiangsu University of Technology
Current assignee: Jiangsu University of Technology
Priority date: 2019-06-19
Filing date: 2019-06-19
Publication date: 2020-05-05
Anticipated expiration: 2029-06-19

Abstract

The utility model belongs to the technical field of automatic plug-in charging devices, in particular to a charging pile, which comprises a base, an mechanical arm, a self-positioning system and a receiving system, wherein the mechanical arm comprises a big arm and a small arm, the big arm is connected with the base in a sliding way, the small arm is connected with the big arm in a rotating way, and the small arm is provided with an electric push rod; the receiving system comprises a positioning sleeve and a charging female head which are fixedly connected, the positioning sleeve is in a circular truncated cone shape with a circular arc bus, and a light emitter is arranged on the positioning sleeve; self-align system is including the location head, cross universal joint and charging plug, the cross universal joint sets up the one end of keeping away from the forearm at electric putter, the location head is connected with the cross universal joint, location head and position sleeve cooperation, the location head has set gradually the carousel along its axial, first forced induction ring, second forced induction ring and plug base, carousel and plug base all rotate with the location head and are connected, be provided with photoelectric sensor on the carousel, it is provided with plug removal seat to slide on the plug base, the last charging plug that is provided with of plug removal seat.

Description

Charging pile

Technical Field

The utility model belongs to the technical field of automatic charging device that pegs graft, especially, relate to a fill electric pile.

Background

With the increase of vehicles and the popularization of new energy vehicles and the increasing tension of environmental problems, more and more users select cars with pure electric motion as energy, the current charging facilities all need to rely on manual operation, and particularly for shared electric vehicles, poor experience and even danger can be caused due to the fact that part of users have no operation experience or lack of experience. Therefore, at present, a charging pile is urgently needed to be matched with most vehicle types to realize automatic alignment and plugging, automatic charging operation is realized, and modularization, integration and intellectualization are favorable for improving convenience and safety. Especially for the leasing mode and the public operation enterprise, the effects of reducing the number of special managers for the charging equipment, improving the utilization rate and efficiency of the charging pile and reducing the management cost can be achieved.

SUMMERY OF THE UTILITY MODEL

Carry out the problem of charging for the sharing electric automobile manual operation who solves prior art existence, the utility model provides a fill electric pile.

In order to solve the technical problem, the technical scheme adopted by the utility model is that the charging pile comprises a base, a mechanical arm, a self-positioning system, a receiving system and a controller, wherein the mechanical arm comprises a big arm and a small arm, the big arm is connected with the base in a sliding manner along the Y-axis direction, the small arm is connected with the big arm in a rotating manner along the Y-axis direction, and an electric push rod is arranged on the small arm along the X-axis direction; the receiving system comprises a positioning sleeve and a charging female head which are fixedly connected, the positioning sleeve is in a circular truncated cone shape with a circular arc bus, and a light emitter is arranged on the positioning sleeve;

the self-positioning system comprises a positioning head, a cross universal joint and a charging plug, wherein the cross universal joint is arranged at one end of an electric push rod, which is far away from a small arm, and is used for driving the positioning head to rotate around the Y-axis direction and the Z-axis direction respectively, the positioning head is in a frustum shape matched with a positioning sleeve, the positioning head is sequentially provided with a turntable, a first pressure induction ring, a second pressure induction ring and a plug base along the axial direction thereof, the turntable and the plug base are both rotationally connected with the positioning head, the rotational axis of the turntable and the axis of the positioning head coincide, the turntable is provided with a photoelectric sensor for receiving a light emitter signal, the plug base is provided with a plug moving seat in a sliding manner along the X-axis direction, the plug moving seat is provided with the charging plug, when the positioning head is inserted into the positioning sleeve, the peripheral surface of the first pressure induction ring is contacted with the inner wall of the positioning sleeve, and the end surface of the second pressure induction ring is contacted with the, the plug moving seat drives the charging plug to be inserted into the charging female head; the mechanical arm and the self-positioning system are both electrically connected with the controller.

Preferably, the charging plug is clamped with the plug moving seat. Charging plug can follow the plug and remove the charging plug who takes down and freely change different standards on the seat, improves this application range who fills electric pile.

Preferably, an annular clamping groove is formed in the plug moving seat, and an annular clamping protrusion matched with the annular clamping groove extends inwards in the radial direction of the charging plug. Simple structure, convenient standardization, convenient processing and manufacturing and low cost.

Preferably, the turntable is arranged at the front end of the positioning head, and the positioning head is provided with a first servo motor in transmission connection with the turntable.

Preferably, a first ring groove is formed in the circumferential surface of the positioning head, the first pressure sensing ring is sleeved on the first ring groove, the inner diameter of the first pressure sensing ring is larger than the diameter of the first ring groove, and when a part of the inner wall of the first pressure sensing ring is in contact with the first ring groove, the circumferential surface of the first pressure sensing ring is lower than the circumferential surface of the positioning head; when part of the inner wall of the first pressure sensing ring is separated from the first ring groove, the peripheral surface of the first pressure sensing ring is higher than that of the positioning head; the second annular is arranged on the circumferential surface of the positioning head, the second pressure sensing ring is sleeved on the second annular, and the circumferential surface of the second pressure sensing ring is higher than the circumferential surface of the positioning head. So that first pressure-sensitive ring can have certain free stroke at YZ plane translation on the locating head, after first pressure-sensitive ring pressurized, the locating head continues to follow x axle direction to the position sleeve translation, and the locating head moves according to the opposite direction that first pressure-sensitive ring pressurized on the YZ plane, until second pressure-sensitive ring pressurized, second pressure-sensitive ring and position sleeve inner wall contact are reliable, accomplish the locating head and insert the position sleeve this moment, location structure is simple ingenious, be convenient for realize.

Furthermore, ring teeth are arranged on the circumferential surface of the tail end of the positioning head, a second servo motor is fixedly arranged on the plug base, and a gear of the second servo motor is meshed with the ring teeth; the plug moving seat is fixedly provided with a third servo motor, and a gear of the third servo motor is meshed with the rack.

Furthermore, a transverse shaft of the cross universal joint is driven by a fourth servo motor to rotate around the Y-axis direction, and a longitudinal shaft of the cross universal joint is driven by a fifth servo motor to rotate around the Z-axis direction.

Further, the large arm is connected with the base in a sliding mode along the Y-axis direction through the moving guide rail.

Further, a small arm motor used for driving the small arm to do pitching motion around the Y-axis direction is arranged between the large arm and the small arm.

The charging pile further comprises a vision system, and the vision system is electrically connected with the controller. The vision system controls the mechanical arm to drive the positioning head to realize initial positioning of the positioning head relative to the positioning sleeve, is mature in the prior art, realizes accurate positioning by using a self-positioning system, is convenient to improve the efficiency of inserting the positioning head into the positioning sleeve, and is stable and reliable.

Has the advantages that: the utility model discloses a charging pile realizes that electric automobile automatic grafting charges, through the cooperation of the location head and the position sleeve of frustum type to and the cross universal joint has solved automatic grafting inaccuracy and grafting complicacy scheduling problem for the flexible characteristic of wrist joint, because the structure has adopted the location head of frustum type and the position sleeve cooperation location and the characteristic that the location process adopted earlier location grafting, even current vision system produces certain error when the target point location, accurate location can also be realized to this charging pile, tolerance rate is big, can accept great vision system positioning error and realize fuzzy fixed point accurate positioning; therefore, accurate plugging can be realized at a certain tolerance degree by the posture of the vehicle body, the damage of a charging plug caused by hard plugging can be effectively avoided, and the realization of intelligent automatic charging operation is favorable for improving convenience and safety.

Drawings

Fig. 1 is a schematic perspective view of a charging pile of the present invention;

FIG. 2 is an enlarged partial schematic view of A of FIG. 1;

fig. 3 is a schematic diagram of a local explosion of the charging pile of the present invention;

fig. 4 is a schematic view of a partial cross-section of the charging pile of the present invention;

fig. 5 is a schematic perspective view of a receiving system of the charging pile of the present invention;

in the figure: 1. the base, 11, the movable guide rail, 2, the arm, 21, the big arm, 22, the forearm, 221, electric putter, 23, the forearm motor, 3, from positioning system, 31, the locating head, 311, first annular, 312, the second annular, 313, the ring tooth, 32, the carousel, 33, first pressure-sensitive ring, 34, the second pressure-sensitive ring, 35, the cross universal joint, 351, the fourth servo motor, 352, the fifth servo motor, 36, the charging plug, 361, the annular card is protruding, 37, the plug base, 371, the rack, 372, the second servo motor, 38, the plug removes the seat, 381, the annular card groove, 382, the third servo motor, 4, receiving system, 41, the position sleeve, 42, the female head that charges, 43, the light emitter.

Detailed Description

Examples

As shown in fig. 1 to 5, a charging pile includes a base 1, a mechanical arm 2, a self-positioning system 3, a receiving system 4, a controller, and a vision system, for convenience of description, a spatial coordinate system is established in an X-axis direction, a Y-axis direction, and a Z-axis direction that are perpendicular to each other, where the Z-axis direction faces a vertical direction, the mechanical arm 2 includes a large arm 21 and a small arm 22, the large arm 21 is slidably connected to the base 1 along the Y-axis direction, specifically, the large arm 21 is slidably connected to the base 1 along the Y-axis direction through a moving guide rail 11, the small arm 22 is rotatably connected to the large arm 21 around the Y-axis direction, specifically, a small arm motor 23 for driving the small arm 22 to perform a pitching motion around the Y-axis direction is disposed between the large arm 21 and the small arm 22, and an electric push rod 221 is disposed on the small arm 22 along the X-;

as shown in fig. 1 to 5, the receiving system 4 includes a positioning sleeve 41 and a charging female head 42 that are fixedly connected, the positioning sleeve 41 is in a circular truncated cone shape with a circular arc bus, two light emitters 43 with different emission wavelengths are disposed on the positioning sleeve 41, and specifically, the light emitters 43 are infrared light emitters; the receiving system 4 is fixedly arranged on the electric automobile;

as shown in fig. 1 to 4, the self-positioning system 3 includes a positioning head 31, a cross universal joint 35 and a charging plug 36, the cross universal joint 35 is disposed at an end of the electric push rod 221 away from the small arm 22, the cross universal joint 35 is used for driving the positioning head 31 to rotate around the Y-axis direction and around the Z-axis direction respectively, specifically, a transverse shaft of the cross universal joint 35 is driven by a fourth servo motor 351 to rotate around the Y-axis direction, a longitudinal shaft of the cross universal joint 35 is driven by a fifth servo motor 352 to rotate around the Z-axis direction, the positioning head 31 is in a frustum shape matched with a positioning sleeve 41, the positioning head 31 is provided with a rotary plate 32, a first pressure induction ring 33, a second pressure induction ring 34 and a plug base 37 in sequence along an axial direction thereof, the rotary plate 32 and the plug base 37 are both rotatably connected with the positioning head 31, and a rotation axis thereof coincides with an axis of the positioning head 31, the rotary table 32 is arranged at the front end of the positioning head 31, a first servo motor in transmission connection with the rotary table 32 is arranged on the positioning head 31, a photoelectric sensor for receiving a signal of a light emitter 43 is arranged on the rotary table 32, a plug moving seat 38 is arranged on the plug base 37 in a sliding manner along the X-axis direction, a charging plug 36 is arranged on the plug moving seat 38, and when the positioning head 31 is inserted into the positioning sleeve 41, the peripheral surface of the first pressure sensing ring 33 is in contact with the inner wall of the positioning sleeve 41, and the end surface of the second pressure sensing ring 34 is in contact with the end surface of the positioning sleeve 41, the plug moving seat 38 drives the charging plug 36 to be inserted into the charging female head 42; the moving guide rail 11, the vision system, the mechanical arm 2 and the self-positioning system 3 are all electrically connected with a controller.

As shown in fig. 3 and 4, in order to facilitate replacement of different charging plugs 36 according to different vehicle models, the charging plug 36 is connected to the plug moving seat 38 in a clamping manner, an annular card slot 381 is formed in the plug moving seat 38, and an annular card protrusion 361 matched with the annular card slot 381 extends radially inward from the charging plug 36;

as shown in fig. 3 and 4, a first annular groove 311 is formed on the circumferential surface of the positioning head 31, the first pressure sensing ring 33 is sleeved on the first annular groove 311, and the inner diameter of the first pressure sensing ring 33 is greater than the diameter of the first annular groove 311, when a part of the inner wall of the first pressure sensing ring 33 contacts with the first annular groove 311, the circumferential surface of the first pressure sensing ring 33 is lower than the circumferential surface of the positioning head 31; when a part of the inner wall of the first pressure sensing ring 33 is separated from the first ring groove 311, the peripheral surface of the first pressure sensing ring 33 of the part is higher than the peripheral surface of the positioning head 31, the tail part of the hall sensor of the first pressure sensing ring 33 is fixed in the inner cavity of the positioning head 31, and the head moving part of the hall sensor monitors the radial movement of the first pressure sensing ring 33 (the hall sensor is not shown in the figure); the second annular groove 312 has been seted up on the global of location head 31, second pressure-sensitive ring 34 cover is established on second annular groove 312, and the global of second pressure-sensitive ring 34 is higher than the global of location head 31, and the afterbody of the hall sensor of second pressure-sensitive ring 34 is fixed in the inner chamber of location head 31, and the head moving part of hall sensor monitors the radial movement of second pressure-sensitive ring 34 (hall sensor is not shown in the figure).

As shown in fig. 3, in order to facilitate the rotation of the plug base 37 around the positioning head 31, a ring tooth 313 is disposed on the peripheral surface of the rear end of the positioning head 31, a second servo motor 372 is fixedly disposed on the plug base 37, and a gear of the second servo motor 372 is engaged with the ring tooth 313; in order to facilitate the sliding of the plug moving seat 38 on the plug base 37 along the X axis, a rack 371 is disposed on the plug base 37 along the X axis direction, a third servomotor 382 is fixedly disposed on the plug moving seat 38, and a gear of the third servomotor 382 is engaged with the rack 371.

The working principle is as follows:

a static state:

when the plug is not in operation, the electric push rod 221 is in a contraction state, the small arm 22 and the large arm 21 are folded, and the plug moving seat 38 is far away from the positioning head 31;

the initial positioning process:

when the electric automobile enters an effective parking area, the vision system detects the position of the receiving system 4, a detection signal is sent to the controller, the controller controls the mechanical arm 2 to move, the small arm motor 23 drives the small arm 22 to rotate upwards relative to the large arm 21, the electric push rod 221 drives the positioning head 31 to move towards a target point of the positioning sleeve 41, and when the distance between the positioning head 31 and the target point reaches 10cm and the error of a capture point on an XY plane is within 10mm, initial positioning is completed.

Inserting and positioning:

the photoelectric sensor on the turntable 32 receives the signal of the first light emitter 43, so that the electric push rod 221 continues to drive the positioning head 31 to move towards the positioning sleeve 41 along the x-axis direction, when the first pressure sensing ring 33 is pressed, the signal is sent to the controller, the electric push rod 221 continues to drive the positioning head 31 to continue to move towards the positioning sleeve 41 along the x-axis direction, the controller controls the self-positioning system 3 to move, the positioning head 31 moves on the YZ plane according to the opposite direction of the pressing of the first pressure sensing ring 33, at this time, according to the pressed signal of the first pressure sensing ring 33, the fourth servo motor 351 drives the transverse shaft of the cross joint 35 to rotate around the Y-axis direction, the fifth servo motor 352 drives the longitudinal shaft of the cross joint 35 to rotate around the Z-axis direction, the cross joint 35 drives the positioning head 31 to rotate around the Y-axis direction and around the Z-axis direction respectively, so that the positioning head 31 is aligned with the positioning, until the end surface of the second pressure sensing ring 34 contacts and is pressed with the end surface of the positioning sleeve 41, at this time, the axis of the second pressure sensing ring 34 coincides with the axis of the positioning sleeve 41, and the insertion positioning of the positioning head 31 is completed.

A charging and plugging process:

after the positioning head 31 is inserted and positioned, the first servo motor drives the photoelectric rotary disc 32 to rotate, when the photoelectric sensor receives infrared light emitted by the second light emitter 43, the rotary disc 32 stops rotating, at the moment, the second servo motor 372 drives the plug base 37 to rotate around the positioning head 31 for fine adjustment through a rotation angle signal of the rotary disc 32 until the charging plug 36 and the charging female head 42 are coaxial, the third servo motor 382 drives the plug moving seat 38 to drive the charging plug 36 to move towards the charging female head 42 until the charging plug 36 is inserted into the charging female head 42, and charging plugging is completed.

Claims

1. The utility model provides a fill electric pile which characterized in that: the mechanical arm (2) comprises a large arm (21) and a small arm (22), the large arm (21) is connected with the base (1) in a sliding mode along the Y-axis direction, the small arm (22) is connected with the large arm (21) in a rotating mode around the Y-axis direction, and an electric push rod (221) is arranged on the small arm (22) along the X-axis direction; the receiving system (4) comprises a positioning sleeve (41) and a charging female head (42) which are fixedly connected, the positioning sleeve (41) is in a circular truncated cone shape with a circular arc bus, and a light emitter (43) is arranged on the positioning sleeve (41);

the self-positioning system (3) comprises a positioning head (31), a cross universal joint (35) and a charging plug (36), the cross universal joint (35) is arranged at one end of an electric push rod (221) far away from a small arm (22), the cross universal joint (35) is used for driving the positioning head (31) to rotate around the Y-axis direction and rotate around the Z-axis direction respectively, the positioning head (31) is in a frustum shape matched with a positioning sleeve (41), the positioning head (31) is sequentially provided with a turntable (32), a first pressure sensing ring (33), a second pressure sensing ring (34) and a plug base (37) along the axial direction thereof, the turntable (32) and the plug base (37) are both rotationally connected with the positioning head (31), the rotating axis of the turntable (32) coincides with the axis of the positioning head (31), and the turntable (32) is provided with a photoelectric sensor for receiving a light emitter (43) signal, a plug moving seat (38) is arranged on the plug base (37) in a sliding mode along the X-axis direction, a charging plug (36) is arranged on the plug moving seat (38), and when the positioning head (31) is inserted into the positioning sleeve (41), the peripheral surface of the first pressure sensing ring (33) is in contact with the inner wall of the positioning sleeve (41), and the end surface of the second pressure sensing ring (34) is in contact with the end surface of the positioning sleeve (41), the plug moving seat (38) drives the charging plug (36) to be inserted into the charging female head (42); the mechanical arm (2) and the self-positioning system (3) are electrically connected with the controller.

2. A charging pile according to claim 1, characterised in that: the charging plug (36) is clamped with the plug moving seat (38).

3. A charging pile according to claim 2, characterised in that: annular card groove (381) is opened on plug removes seat (38), charging plug (36) radially inwards extend have with annular card protruding (361) of annular card groove (381) complex.

4. A charging pile according to claim 1, characterised in that: the turntable (32) is arranged at the front end of the positioning head (31), and a first servo motor in transmission connection with the turntable (32) is arranged on the positioning head (31).

5. A charging pile according to claim 1, characterised in that: the circumferential surface of the positioning head (31) is provided with a first ring groove (311), the first pressure sensing ring (33) is sleeved on the first ring groove (311), the inner diameter of the first pressure sensing ring (33) is larger than the diameter of the first ring groove (311), and when part of the inner wall of the first pressure sensing ring (33) is in contact with the first ring groove (311), the circumferential surface of the first pressure sensing ring (33) is lower than the circumferential surface of the positioning head (31); when a part of the inner wall of the first pressure sensing ring (33) is separated from the first annular groove (311), the peripheral surface of the first pressure sensing ring (33) of the part is higher than that of the positioning head (31);

second annular groove (312) have been seted up on the global of location head (31), second pressure-sensitive ring (34) cover is established on second annular groove (312), and the global of second pressure-sensitive ring (34) is higher than the global of location head (31).

6. A charging pile according to claim 1, characterised in that: the circumferential surface of the tail end of the positioning head (31) is provided with ring teeth (313), the plug base (37) is fixedly provided with a second servo motor (372), and a gear of the second servo motor (372) is meshed with the ring teeth (313); a rack (371) is arranged on the plug base (37) along the X-axis direction, a third servo motor (382) is fixedly arranged on the plug moving seat (38), and a gear of the third servo motor (382) is meshed with the rack (371).

7. A charging pile according to claim 1, characterised in that: the transverse shaft of the cross universal joint (35) is driven by a fourth servo motor (351) to rotate around the Y-axis direction, and the longitudinal shaft of the cross universal joint (35) is driven by a fifth servo motor (352) to rotate around the Z-axis direction.

8. A charging pile according to claim 1, characterised in that: the large arm (21) is connected with the base (1) in a sliding mode along the Y-axis direction through the movable guide rail (11).

9. A charging pile according to claim 1, characterised in that: a small arm motor (23) for driving the small arm (22) to do pitching motion around the Y-axis direction is arranged between the large arm (21) and the small arm (22).

10. A charging pile according to any one of claims 1 to 9, characterised in that: the charging pile further comprises a vision system, and the vision system is electrically connected with the controller.