CN217804384U

CN217804384U - Automatic charging terminal and automatic charging platform

Info

Publication number: CN217804384U
Application number: CN202221031989.9U
Authority: CN
Inventors: 王小飞; 宋奋韬; 丁钒; 张青锋; 王莹莹
Original assignee: Wuhan Lotus Technology Co Ltd
Current assignee: Hangzhou Shanchong Juneng New Energy Co ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2022-11-15
Anticipated expiration: 2032-04-29

Abstract

The application provides an automatic charging terminal and an automatic charging platform, which comprise a charging pile body, wherein a charging gun is connected to the charging pile body; the automatic control system comprises a detection device, a position adjusting device and a sliding table; the sliding table is provided with a motion track arranged along the direction of the vehicle body, the bottom of the position adjusting device is provided with a sliding plate, and the sliding plate is in transmission connection with a sliding table gear; the position adjusting device also comprises a telescopic mechanism and a universal mechanical arm, wherein the telescopic direction of the telescopic mechanism is vertical to the moving track; the free end of the universal mechanical arm is provided with a clamping part of a charging gun; the detection device is configured to acquire position information of a vehicle body charging port; the position adjustment device is configured to move the charging gun based on the position information to dock the charging gun with the vehicle body charging port. The technical scheme of this application can cover the automobile body mouth that charges of the different positions of automobile body, has reduced the requirement to parking standardization, can realize the rifle that charges and the nimble butt joint of automobile body mouth that charges based on detection device charges the detection of mouth to the automobile body.

Description

Automatic charging terminal and automatic charging platform

Technical Field

The application relates to the technical field of new energy automobile charging, in particular to an automatic charging terminal and an automatic charging platform.

Background

The traditional new energy automobile generally adopts the mode of manual charging, need to drive the car to assigned position after, personnel get off the car and manually open the car and charge the interface and manually insert, switch on again, the operation is complicated. With the continuous increase of the number of electric automobiles, the demand of charging infrastructures is driven to increase, and in the prior art, although automatic charging terminals appear on the market, the charging infrastructures in China generally have the problems of low automation degree, high requirement on parking positions and poor adaptability.

Disclosure of Invention

In view of the above problems in the prior art, an object of the present invention is to provide an automatic charging terminal and an automatic charging platform, which have high fault tolerance for a parking position, and can adapt to charging ports of different vehicle models at different positions, so as to realize flexible docking between a charging gun and a charging port of a vehicle body. The specific technical scheme of the invention is as follows:

on one hand, the invention provides an automatic charging terminal which comprises a charging pile body, wherein a charging gun is connected to the charging pile body;

the automatic control system comprises a detection device, a position adjusting device and a sliding table;

the sliding table is provided with a motion track arranged along the direction of the vehicle body, the bottom of the position adjusting device is provided with a sliding plate, and the sliding plate is in transmission connection with the sliding table gear;

the position adjusting device also comprises a telescopic mechanism and a universal mechanical arm;

the telescopic direction of the telescopic mechanism is vertical to the motion track; the universal mechanical arm is arranged on the telescopic mechanism, and a clamping part of the charging gun is arranged at the free end of the universal mechanical arm; the detection device is configured to acquire position information of a vehicle body charging port;

the position adjustment device is configured to move the charging gun based on the position information to dock the charging gun with the vehicle body charging port.

In one possible implementation manner, the telescopic mechanism includes a multi-stage telescopic arm, and the multi-stage telescopic arm is configured to drive the universal mechanical arm to move bidirectionally relative to the movement track.

In one possible implementation, the position adjustment device further comprises a rotation mechanism; the rotation mechanism is configured to rotate the telescoping mechanism.

In one possible implementation, the rotation angle of the rotation mechanism is equal to or greater than 180 degrees.

In one possible implementation, the detection device includes one or more of a laser sensor, a millimeter wave sensor, or a vision sensor.

Optionally, the gimbaled robotic arm is a six-axis or seven-axis robotic arm.

According to another aspect of the present application, there is provided an automatic charging platform comprising any of the above-mentioned feasible automatic charging terminals.

By adopting the technical scheme, the automatic charging terminal and the automatic charging platform have the following beneficial effects:

through the movement of the position adjusting device on the sliding table along the movement track within the range of the vehicle body, the automatic charging terminal can cover vehicle body charging ports of different vehicle types and different positions; through setting up telescopic machanism, increased the regulation space of universal arm in the perpendicular to automobile body direction to can relax the requirement to parking standardization, can realize the rifle that charges and the nimble butt joint of automobile body mouth that charges based on detection device charges the detection of mouthful to the automobile body.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1 is a schematic structural diagram of an automatic charging terminal according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of an application scenario of the automatic charging terminal shown in fig. 1;

fig. 3 is a schematic diagram of another application scenario of the automatic charging terminal shown in fig. 1;

fig. 4 is a schematic diagram of another application scenario of the automatic charging terminal shown in fig. 1;

in the figure: the charging gun comprises a charging gun 1, a vehicle body charging port 2, a detection device 10, a position adjusting device 20, a sliding plate 201, a telescopic mechanism 210, a universal mechanical arm 220, a rotating mechanism 230, a sliding table 30 and a motion track 301.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.

Referring to fig. 1, the automatic charging terminal of the embodiment shown in fig. 1 includes a charging pile body and an automatic control system, wherein the charging pile body is connected with a charging gun 1; the automatic control system includes a detection device 10, a position adjustment device 20, and a slide table 30. The sliding table 30 is provided with a motion track 301 arranged along the direction of the vehicle body, the bottom of the position adjusting device 20 is provided with a sliding plate 201, and the sliding plate 201 is in gear transmission connection with the sliding table 30; the position adjustment device 20 further includes a telescoping mechanism 210 and a gimbaled robotic arm 220. The telescopic direction of the telescopic mechanism 210 is perpendicular to the moving track 301; the universal mechanical arm 220 is arranged on the telescopic mechanism 210, and the free end of the universal mechanical arm 220 is provided with a clamping part of the charging gun 1; the detection device 10 is configured to acquire position information of the vehicle body charging port 2. The position adjustment device 20 is configured to move the charging gun 1 based on the position information so that the charging gun 1 is docked with the vehicle body charging port 2.

As shown in fig. 1, the universal robot arm 220 is a six-axis robot arm, and the grip portion is provided on the sixth axis of the six-axis robot arm. The driving control of the universal robot arm 220 by the position adjusting device 20 includes driving the six-axis robot arm to rotate left and right and extend back and forth in the space.

Fig. 2 provides an application scenario of matching the vehicle body charging port by using the above automatic charging terminal, in the figure, the detection device 10 disposed at the free end of the mechanical arm is configured to identify the charging port 2 in the vehicle body range, and the position adjustment device 20 is configured to determine the distance between itself and the vehicle body charging port 2 in the vehicle body direction based on the position of the vehicle body charging port 2, and further move a corresponding distance on the moving track 301, so as to drive the universal mechanical arm 220 to move to the position of the vehicle body charging port 2. Based on the above setting, the automatic charging terminal of this embodiment sets up the motion of position adjustment device 20 along motion track 301 in the automobile body within range on the slip table, can drive the arm motion and charge mouthful 2 with the automobile body that covers the automobile body different positions to can match the position setting of the automatic mouth that charges of multiple motorcycle type.

Further, the automatic charging terminal of this embodiment has increased universal arm 220 in the accommodation space of perpendicular to automobile body direction through setting up telescopic machanism, can move rifle 1 that charges in bigger within range, has realized the butt joint of rifle 1 and the 2 multiple angles of automobile body mouth that charge and multiple distance to reduced the requirement of automatic charging terminal to parking normative, the automatic charging terminal of this embodiment has stronger adaptability.

In another embodiment, the gimbaled robot arm may also be a seven axis robot arm.

In one embodiment, the telescopic mechanism 210 comprises a multi-stage telescopic arm, and the position adjusting device 20 is configured to drive the telescopic mechanism 210 to drive the universal mechanical arm 220 to move bidirectionally relative to the moving track 301, so as to adapt to charging ports with different parking postures and parking distances.

In one embodiment, the multi-stage telescopic arm adopts a screw rod transmission mode to realize bidirectional orbital motion.

Taking fig. 3 as an example, when the vehicle parking position is far away from the sliding table, the position adjusting device 20 drives the telescopic mechanism 210 to extend in the direction close to the vehicle body, so as to drive the mechanical arm to be close to the vehicle body charging port 2, and further drive the mechanical arm to move to drive the charging gun 1 to move based on the charging port position information acquired by the detection device 10, thereby realizing the accurate positioning of the charging gun 1 and the vehicle body charging port 2. When the vehicle parking position is too close to the sliding table, the position adjusting device 20 drives the telescopic mechanism 210 to retract in the direction away from the vehicle body, so that the mechanical arm is driven to be away from the vehicle body charging port 2, the mechanical arm is in an effective adjusting space, and the charging gun 1 and the vehicle body charging port 2 are accurately positioned.

In one embodiment, the position adjustment device 20 further includes a rotation mechanism 230; the rotation mechanism 230 is configured to rotate the telescoping mechanism 210.

Taking fig. 4 as an example, the automatic charging terminal is disposed between two adjacent parking spaces, and after the automatic charging terminal drives the mechanical arm to rotate 180 °, the position adjusting device 20 can charge the vehicles parked in the two adjacent parking spaces.

In one embodiment, two charging guns 1 are arranged on the charging pile of the automatic charging terminal. After the charging procedure is started, the universal mechanical arm 220 of the position adjusting device 20 drives the mechanical arm to fix the charging gun 1 through the clamping part based on the starting sequence of the charging procedure, and vehicles parked on two parking spaces are charged successively.

Preferably, the rotation angle of the rotation mechanism 230 is set to be equal to or greater than 180 degrees to increase the tolerance for the parking angle in the parking space.

In one embodiment, the detection device 10 includes one or more of a laser sensor, a millimeter wave sensor, or a vision sensor.

Preferably, the vision sensor employs a binocular camera, which acquires a picture of the vehicle body and recognizes the charging port, thereby obtaining position information of the vehicle body charging port 2. The laser sensor and the millimeter wave sensor are used for distance detection and for driving and controlling the universal mechanical arm 220 by the position adjusting device 20.

The embodiment of the application further provides an automatic charging platform which comprises any one of the feasible automatic charging terminals.

For the details of the automatic charging terminal included in the above embodiment, the above contents may be referred to, and are not described herein again.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

While the invention has been described with reference to specific embodiments, it will be appreciated by those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the invention can be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An automatic charging terminal comprises a charging pile body, wherein a charging gun (1) is connected to the charging pile body, and the automatic charging terminal is characterized by further comprising an automatic control system;

the automatic control system comprises a detection device (10), a position adjusting device (20) and a sliding table (30);

the sliding table (30) is provided with a moving track (301) arranged along the direction of a vehicle body, the bottom of the position adjusting device (20) is provided with a sliding plate (201), and the sliding plate (201) is in gear transmission connection with the sliding table (30);

the position adjusting device (20) further comprises a telescopic mechanism (210) and a universal mechanical arm (220);

the telescopic direction of the telescopic mechanism (210) is vertical to the motion track (301); the universal mechanical arm (220) is arranged on the telescopic mechanism (210), and a clamping part of the charging gun (1) is arranged at the free end of the universal mechanical arm (220); the detection device (10) is configured to acquire position information of a vehicle body charging port;

the position adjustment device (20) is configured to move the charging gun (1) based on the position information to dock the charging gun (1) with the vehicle body charging port.

2. The terminal according to claim 1, wherein the telescoping mechanism (210) comprises a multi-stage telescoping arm configured to move the gimbaled robotic arm (220) bi-directionally relative to the motion track (301).

3. A terminal according to claim 1, characterized in that said position adjustment means (20) further comprise a rotation mechanism (230); the rotation mechanism (230) is configured to rotate the telescoping mechanism (210).

4. A terminal according to claim 3, characterized in that the rotation mechanism (230) has a rotation angle equal to or greater than 180 degrees.

5. A terminal according to claim 1, characterized in that the detection means (10) comprise one or more of a laser sensor, a millimeter wave sensor or a visual sensor.

6. A terminal according to claim 1, characterized in that the gimbaled manipulator (220) is a six-or seven-axis manipulator.

7. An automatic charging platform, characterized by comprising the automatic charging terminal according to any one of claims 1 to 6.