CN220742757U - Mobile charging robot based on simple piles - Google Patents
Mobile charging robot based on simple piles Download PDFInfo
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- CN220742757U CN220742757U CN202322308170.3U CN202322308170U CN220742757U CN 220742757 U CN220742757 U CN 220742757U CN 202322308170 U CN202322308170 U CN 202322308170U CN 220742757 U CN220742757 U CN 220742757U
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- 210000001503 joint Anatomy 0.000 claims abstract description 22
- 238000003032 molecular docking Methods 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 14
- 238000003780 insertion Methods 0.000 description 9
- 230000037431 insertion Effects 0.000 description 9
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of mobile charging robots, in particular to a mobile charging robot based on a simple pile, which comprises a simple pile and a mobile charging robot used for providing electric energy for the simple pile, wherein the simple pile comprises a stand column, a power receiving socket arranged on the stand column, and a charging gun connected with the power receiving socket through a cable and used for charging an electric automobile, the mobile charging robot comprises a mobile chassis, a battery pack arranged on the mobile chassis, a power supply plug connected with the battery pack through the cable and used for being in butt joint with the power receiving socket, and a plug socket automatic butt joint machine arranged on the mobile chassis and used for realizing automatic butt joint of the power supply plug and the power receiving socket. The utility model enhances the adaptability of the mobile charging equipment and improves the reliability of the butt joint of the mobile charging equipment and the charging interface.
Description
Technical Field
The utility model relates to the technical field of mobile charging robots, in particular to a mobile charging robot based on a simple pile.
Background
With the development and large-scale use of new energy automobiles, mobile charging equipment is increasingly favored by users because of flexible charging resources, environment and parking space conditions. The mobile charging equipment is in a mobile form of a charging pile or a mobile chassis carrying a battery pack, for example, when the mobile charging equipment is a mobile charging car, a plurality of battery packs can be carried on the chassis of the mobile charging car, and after the mobile charging car receives a user request, the mobile charging car drives to a place where the user is located, and provides charging service for a car driven by the user, so that a charging task is completed.
However, the existing mobile charging device has the following disadvantages:
firstly, because the charging interface specifications on different vehicles are different, the charging gun on the mobile charging equipment cannot meet the requirements of different charging interface specifications, so that the adaptability of the mobile charging equipment is poor.
Secondly, mobile charging equipment needs to realize that the charging gun carries out automatic accurate butt joint with the vehicle interface that charges, and current mobile charging equipment still has the butt joint precision of charging gun and interface that charges poor, leads to easily to charging gun plug time because of the too big drawback of damaging the butt joint piece of plug force, and its reliability is relatively poor.
Disclosure of Invention
In order to solve the problems, the utility model provides a mobile charging robot based on a simple pile, which aims to enhance the adaptability of mobile charging equipment and improve the reliability of the docking of the mobile charging equipment with a charging interface. The specific technical scheme is as follows:
the utility model provides a remove robot that charges based on simple and easy stake, includes simple and easy stake and is used for simple and easy stake provides the removal robot that charges of electric energy, simple and easy stake includes the stand, sets up receive electric socket on the stand, connect through the cable receive electric socket be used for the rifle that charges for electric automobile, remove the robot that charges including remove the chassis and set up battery package on the removal chassis, connect through the cable battery package be used for with receive the power plug of electric socket butt joint, set up be used for the realization on the removal chassis power plug with receive the automatic butt joint machine of plug socket of electric socket.
Preferably, the number of the simple piles is a plurality of and the simple piles are distributed beside each parking space, and the number of the mobile charging robots is at least one.
In the utility model, the charging gun is a manual plug charging gun which is mounted on the upright post of the simple pile; the mobile chassis is provided with a navigation system, and realizes autonomous positioning and navigation to the side of a simple pile of a designated parking space through the navigation system; and wireless communication modules are respectively arranged on the movable chassis and the power receiving socket of the upright post.
Preferably, a plurality of manual plug charging guns with different specifications can be arranged on each simple pile so as to meet the requirements of different charging interfaces of various vehicles.
In the utility model, the plug and socket automatic docking machine comprises a multi-axis joint manipulator arranged on the movable chassis, and the power supply plug is fixed at the front end part of the multi-axis joint manipulator.
In the utility model, the 3D structured light vision camera for identifying the position of the power receiving socket on the simple pile is also arranged on the forefront section of mechanical arm of the multi-axis joint mechanical arm.
As a further improvement of the utility model, a plug butt joint error automatic compensation regulator is further arranged between the front end part of the multi-axis joint manipulator and the power supply plug, the plug butt joint error automatic compensation regulator comprises a positioning seat fixed at the front end of the forefront section manipulator, and a conical hole which is arranged on the positioning seat and has a small front end hole and a large rear end hole, the conical Kong Nashi is provided with a conical body, a jacking spring is arranged between the rear end face of the conical body and the front end face of the forefront section manipulator, a ball head jack post is arranged at the central part of the front end face of the forefront section manipulator, and a gap is arranged between the front end of the ball head jack post and the rear end face of the conical body; the rear end of the power supply plug is fixedly connected with the front end of the conical body.
Preferably, the cone is a regular polygon pyramid, and the tapered hole is a regular polygon pyramid hole matched with the regular polygon pyramid.
More preferably, the conical body is a regular rectangular pyramid, and the conical hole is a regular rectangular pyramid hole matched with the regular rectangular pyramid; the plug docking error automatic compensation regulator further comprises first ranging sensors which are distributed and arranged on the front end face of the forefront section mechanical arm along the circumferential direction and are 3-4 in number, and the ranging direction of each first ranging sensor points to the rear end face of the regular rectangular pyramid.
As a further improvement of the utility model, the plug docking error automatic compensation regulator further comprises four pairs of ranging holes circumferentially arranged on the positioning seat, and four pairs of second ranging sensors correspondingly arranged on the four pairs of ranging holes, wherein the ranging directions of the four pairs of second ranging sensors correspondingly point to four sides of the regular rectangular pyramid.
Preferably, the first distance measuring sensor and the second distance measuring sensor may be non-contact distance measuring sensors such as a laser distance measuring sensor, an ultrasonic distance measuring sensor, a magnetic induction distance measuring sensor, or mechanical contact displacement sensors.
Preferably, a tension and pressure sensor may be further disposed between the front end of the forefront mechanical arm and the positioning seat. The mobile charging robot detects the plugging force between the power supply plug and the power receiving socket in real time through the pulling pressure sensor so as to judge whether a plugging fault exists or not and send out an alarm when necessary.
In the utility model, a telescopic dustproof corrugated cover is arranged between the front end face of the positioning seat and the rear end part of the power supply plug so as to prevent external dust from entering the conical hole.
The working principle of the plug docking error automatic compensation regulator in the utility model is described as follows:
(1) The mobile charging robot recognizes the position of a power receiving socket on the upright post of the simple pile through the 3D structure light vision camera, and then adjusts the gesture of the multi-axis joint manipulator, so that a power supply plug at the front end of the multi-axis joint manipulator is gradually inserted into a jack of the power receiving socket after aligning with the power receiving socket; under the condition that the insertion direction of the power supply plug is consistent with the axis of the jack of the power receiving socket, the jacking spring jacked on the conical body at the rear end of the power supply plug is enough to overcome the insertion resistance, so that the power supply plug can be smoothly inserted into the jack of the power receiving socket; under the condition that the inserting direction of the power supply plug is inconsistent relative to the axis of the jack of the power receiving socket, namely, the inserting direction of the power supply plug has certain angle deviation, the resistance of the power supply plug can be gradually increased in the inserting process, and the pushing spring pushing the conical body at the rear end of the power supply plug is insufficient to overcome the inserting resistance, so that the conical body at the rear end of the power supply plug generates a retreating action until the rear end face of the conical body is pushed against the ball head jack post of the foremost mechanical arm of the multi-axis joint mechanical arm; in the process of retreating the conical body, the side surface of the conical body is separated from contact with the conical hole on the positioning seat (namely, a certain clearance space is formed between the side surface of the conical body and the conical hole on the positioning seat), and the angle position of the conical body is adaptively adjusted in the clearance space, so that the inserting direction of the power supply plug positioned at the front end of the conical body is consistent with the axial direction of the jack of the power receiving socket, and then the power supply plug can be smoothly inserted into the power receiving socket under the jacking pressure of the ball head jack post.
(2) 3-4 first distance measuring sensors which are distributed in a scattered manner are arranged on the front end face of the forefront section of mechanical arm of the multi-axis joint mechanical arm, and the mobile charging robot can calculate the relative inclination angle of the rear end face of the conical body according to data measured by the first distance measuring sensors; four pairs of second distance measuring sensors are arranged on the positioning seat, and the mobile charging robot can acquire the interval distance between each side face of the conical body and each side face of the conical hole on the positioning seat according to the data measured by the second distance measuring sensors; therefore, the control system of the mobile charging robot can dynamically adjust the gesture of the multi-axis joint manipulator in real time according to the relative inclination angle of the rear end face of the conical body and the interval distance between each side face of the conical body and each side face of the conical hole on the positioning seat, and the conical hole on the positioning seat is coaxial with the conical body.
According to the self-adaptive adjustment of the position of the conical body and the dynamic adjustment of the gesture of the multi-axis joint manipulator according to the distance measuring sensor, the minimum plugging force in the process of butting and separating the power supply plug and the power receiving socket can be realized, and the defect that the plugging force between the power supply plug and the power receiving socket is overlarge due to the plugging position error can be avoided, so that the damage of the power supply plug and the power receiving socket is effectively prevented.
A mobile charging method of a mobile charging robot based on a simple pile comprises the following steps:
(1) Order information receiving: the mobile charging robot receives the information of the parking spaces of the vehicles, which are required to be charged and sent by the parking lot charging management system, through the wireless communication module;
(2) And (3) mobile positioning: the mobile charging robot is autonomously positioned and navigated through a navigation system, and moves to the side of a simple pile corresponding to an order parking space to be charged;
(3) Plug and socket butt joint: the mobile charging robot recognizes the position of a power receiving socket on a stand column of the simple pile through the 3D structure light vision camera, and then adjusts the gesture of the multi-axis joint manipulator, so that a power supply plug at the front end of the multi-axis joint manipulator is inserted into the power receiving socket after aligning to the power receiving socket, and the power is supplied to the simple pile through a battery pack;
(4) Vehicle charging: the charging gun is connected with a charging interface of the vehicle to be charged in a manual mode, the vehicle to be charged is charged, and the charging gun is hung to the original position after the charging is completed;
(5) Fee settlement: after charging, the mobile charging robot pulls out the power supply plug from the power receiving socket, and simultaneously sends information of the charging end to a parking lot charging management system through a wireless communication module, and the parking lot charging management system automatically deducts the payment account number of the charging vehicle to complete non-inductive payment;
in the plug-socket docking process of the step (4), the mobile charging robot automatically compensates the regulator through the plug docking error, and adaptively and dynamically adjusts the position of the power supply plug in the process of being inserted into the power receiving socket, so that the position of the power supply plug is adaptively inserted, and the power supply plug is prevented from being damaged possibly caused by being forcibly inserted into the power receiving socket;
in the plug-socket docking process of the step (4), the mobile charging robot dynamically adjusts the gesture of the multi-axis joint manipulator in real time according to the ranging data obtained by the first ranging sensor and the second ranging sensor so as to obtain the minimum plugging force.
The beneficial effects of the utility model are as follows:
firstly, the mobile charging robot based on the simple pile only comprises the power receiving socket, the charging gun and the cable connected between the power receiving socket and the charging gun, and the simple pile is simple in construction and easy to deploy in a parking space because the simple pile is not connected with power electricity; in addition, a plurality of charging guns with fixed specifications can be easily arranged on the simple pile so as to meet the requirements of charging interfaces with different specifications of vehicles.
Secondly, the mobile charging robot based on the simple piles is provided with the plug docking error automatic compensation regulator on the multi-axis joint manipulator of the mobile charging robot, so that the power supply plug can be inserted into the power receiving socket in an accurate position in a self-adaptive manner, the insertion resistance is reduced, and the damage of the plug and the socket is avoided.
Thirdly, the mobile charging robot based on the simple pile, provided by the utility model, is further provided with the first ranging sensor and the second ranging sensor on the plug docking error automatic compensation regulator, and the mobile charging robot can dynamically adjust the gesture of the multi-axis joint manipulator according to the data measured by the ranging sensors, so that the plugging direction of the power supply plug is controlled and adjusted to be consistent with the axis direction of the jack of the power receiving socket in real time by the multi-axis joint manipulator, the plugging force of the power supply plug is further reduced, and the plugging reliability of the power supply plug is improved.
Drawings
Fig. 1 is a schematic structural view of a mobile charging robot based on a simple pile according to the present utility model;
FIG. 2 is a diagram of an automatic plug-docking error compensation adjuster on a multi-axis joint manipulator;
fig. 3 is a normal cross-sectional view of the portion of fig. 2 involving the positioning socket and cone.
In the figure: 1. the device comprises a simple pile, 2, a mobile charging robot, 3, a stand column, 4, a power receiving socket, 5, a cable, 6, a charging gun, 7, a mobile chassis, 8, a battery pack, 9, a power supply plug, 10, a parking space, 11, a multi-axis joint manipulator, 12, a 3D structured light vision camera, 13, a plug docking error automatic compensation regulator, 14, a positioning seat, 15, a conical hole, 16, a conical body, 17, a jacking spring, 18, a ball head jacking column, 19, a first ranging sensor, 20, a second ranging sensor, 21, a tension pressure sensor, 22 and a telescopic dustproof corrugated cover.
Detailed Description
The following describes the embodiments of the present utility model further with reference to the drawings and examples. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and are not intended to limit the scope of the present utility model.
Example 1:
an embodiment of a mobile charging robot based on a simple pile according to the present utility model is shown in fig. 1 to 3, and comprises a simple pile 1 and a mobile charging robot 2 for providing electric energy for the simple pile 1, wherein the simple pile 1 comprises a stand column 3, a power receiving socket 4 arranged on the stand column 3, a charging gun 6 connected with the power receiving socket 4 through a cable 5 and used for charging an electric automobile, and the mobile charging robot 2 comprises a mobile chassis 7, a battery pack 8 arranged on the mobile chassis 7, a power supply plug 9 connected with the battery pack 8 through the cable 5 and used for being in butt joint with the power receiving socket 4, and a plug socket automatic butt joint machine arranged on the mobile chassis 7 and used for realizing automatic butt joint of the power supply plug 9 and the power receiving socket 4.
Preferably, the number of the simple piles 1 is a plurality and the simple piles are distributed beside each parking space 10, and the number of the mobile charging robots 2 is at least one.
In this embodiment, the charging gun 6 is a manual plug charging gun, and the manual plug charging gun is mounted on the upright post 3 of the simple pile 1; the mobile chassis 7 is provided with a navigation system, and the mobile chassis 7 realizes autonomous positioning and navigation to the side of the simple pile 1 of the appointed parking space 10 through the navigation system; wireless communication modules are further arranged on the mobile chassis 7 and the power receiving socket 4 of the upright post 3 respectively.
Preferably, a plurality of manual plug-in charging guns 6 with different specifications can be arranged on each simple pile 1 so as to meet the requirements of different charging interfaces of various vehicles.
In this embodiment, the automatic plug-socket docking machine includes a multi-axis joint manipulator 11 (only the forefront section of the multi-axis joint manipulator is shown in the figure) disposed on the mobile chassis 7, and the power supply plug 9 is fixed at the front end of the multi-axis joint manipulator 11.
In this embodiment, a 3D structured light vision camera 12 for identifying the position of the power receiving socket 4 on the simple pile 1 is further disposed on the forefront section of the multi-axis joint manipulator 11.
As a further improvement of the embodiment, a plug butt joint error automatic compensation regulator 13 is further arranged between the front end part of the multi-axis joint manipulator 11 and the power supply plug 9, the plug butt joint error automatic compensation regulator 13 comprises a positioning seat 14 fixed at the front end of the forefront section manipulator, and a conical hole 15 which is arranged on the positioning seat 14 and has a small front end hole and a large rear end hole, a conical body 16 is adapted in the conical hole 5, a pressing spring 17 is arranged between the rear end surface of the conical body 16 and the front end surface of the forefront section manipulator, a ball head jack 18 is arranged at the central part of the front end surface of the forefront section manipulator, and a gap is arranged between the front end of the ball head jack 18 and the rear end surface of the conical body 16; the rear end of the power supply plug 9 is fixedly connected with the front end of the conical body 16.
Preferably, the cone 16 is a regular polygonal pyramid, and the tapered hole 15 is a regular polygonal pyramid hole adapted to the regular polygonal pyramid.
More preferably, the conical body is a regular rectangular pyramid, and the conical hole is a regular rectangular pyramid hole matched with the regular rectangular pyramid; the plug docking error automatic compensation regulator 13 further comprises first ranging sensors 19 which are distributed and arranged on the front end face of the forefront section mechanical arm along the circumferential direction, wherein the number of the first ranging sensors 19 is 3-4, and the ranging direction of each first ranging sensor 19 points to the rear end face of the regular rectangular pyramid.
As a further improvement of the present embodiment, the plug docking error automatic compensation regulator 13 further includes four pairs of ranging holes circumferentially disposed on the positioning seat 14, and four pairs of second ranging sensors 20 correspondingly disposed on the four pairs of ranging holes, wherein the ranging directions of the four pairs of second ranging sensors 20 correspondingly point to four sides of the regular pyramid.
Preferably, the first distance measuring sensor 19 and the second distance measuring sensor 20 may be non-contact distance measuring sensors such as a laser distance measuring sensor, an ultrasonic distance measuring sensor, a magnetic induction distance measuring sensor, or may be mechanical contact type displacement sensors.
Preferably, a tension and pressure sensor 21 may be further disposed between the front end of the forefront mechanical arm and the positioning seat 14. The mobile charging robot 2 detects the plugging force between the power supply plug 9 and the power receiving socket 4 in real time through the pull pressure sensor 21 so as to judge whether a plugging fault exists or not, and gives an alarm when necessary.
In this embodiment, a retractable dust-proof bellows 22 is disposed between the front end face of the positioning seat 14 and the rear end of the power plug 9, so as to prevent external dust from entering the tapered hole 15.
The working principle of the plug docking error automatic compensation regulator 13 in this embodiment is described as follows:
(1) The mobile charging robot 2 recognizes the position of the power receiving socket 4 on the upright post 3 of the simple pile 1 through the 3D structure light vision camera 12, and then adjusts the gesture of the multi-axis joint manipulator 11, so that the power supply plug 9 at the front end of the multi-axis joint manipulator 11 is gradually inserted into the jack of the power receiving socket 4 after aligning with the power receiving socket 4; in the case that the insertion direction of the power supply plug 9 is consistent with respect to the axis of the jack of the power receiving socket 4, the pressing spring 17 pressing against the tapered body 16 at the rear end of the power supply plug 9 is sufficient to overcome the resistance of insertion, so that the power receiving socket 4 can be smoothly inserted into the jack; when the insertion direction of the power supply plug 9 is inconsistent relative to the axis of the jack of the power receiving socket 4, that is, when a certain angle deviation exists in the insertion direction of the power supply plug 9, the resistance of the power supply plug 9 can be gradually increased in the process of insertion, and the pushing spring 17 pushing against the conical body 16 at the rear end of the power supply plug 9 is insufficient to overcome the resistance of insertion, so that the conical body 16 at the rear end of the power supply plug 9 generates a retreating action until the rear end face of the conical body 16 is pushed against the ball head jack 18 of the foremost section of mechanical arm of the multi-axis joint mechanical arm 11; during the process of retreating the conical body 16, the side surface of the conical body 16 is separated from contact with the conical hole on the positioning seat 14 (i.e. a certain gap is formed between the side surface of the conical body 16 and the conical hole 15 on the positioning seat 14), and the angle position of the conical body 16 is adaptively adjusted in the gap space, so that the inserting direction of the power supply plug 9 positioned at the front end of the conical body 16 is consistent with the axial direction of the jack of the power receiving socket 4, and then the power supply plug 9 can be smoothly inserted into the power receiving socket 4 under the top pressure of the ball head jack post 18.
(2) 3-4 first ranging sensors 19 which are distributed in a scattered manner are arranged on the front end face of the forefront section of the multi-axis joint manipulator 11, and the mobile charging robot 2 can calculate the relative inclination angle of the rear end face of the conical body 16 according to data measured by the first ranging sensors 19; four pairs of second ranging sensors 20 are arranged on the positioning seat 14, and the mobile charging robot can acquire the interval distance between each side face of the conical body 16 and each side face of the conical hole 15 on the positioning seat 14 according to the data measured by the second ranging sensors 20; therefore, the control system of the mobile charging robot 2 can dynamically adjust the gesture of the multi-axis joint manipulator 11 in real time according to the relative inclination angle of the rear end surface of the conical body 16 and the interval distance between each side surface of the conical body 16 and each side surface of the conical hole 16 on the positioning seat 14, so that the conical hole 15 on the positioning seat 14 is coaxial with the conical body 16.
The self-adaptive adjustment of the position of the conical body 16 and the dynamic adjustment of the gesture of the multi-axis joint manipulator 11 according to the ranging sensors 20 and 21 can realize the minimum plugging force in the process of docking and separating the power supply plug 9 and the power receiving socket 4, so that the defect of overlarge plugging force between the power supply plug 9 and the power receiving socket 4 caused by the error of the plugging position can be avoided, and the damage of the power supply plug 9 and the power receiving socket 4 can be effectively prevented.
Example 2:
a mobile charging method of a mobile charging robot based on a simple peg of embodiment 1, comprising the steps of:
(1) Order information receiving: the mobile charging robot 2 receives vehicle parking space information which is sent by a parking lot charging management system and needs to be charged through a wireless communication module;
(2) And (3) mobile positioning: the mobile charging robot 2 automatically locates and navigates through a navigation system and moves to the side of the simple pile 1 corresponding to the order parking space to be charged;
(3) Plug and socket butt joint: the mobile charging robot 2 recognizes the position of the power receiving socket 4 on the upright post 3 of the simple pile 1 through the 3D structure light vision camera 12, then adjusts the gesture of the multi-axis joint manipulator 11, so that the power supply plug 9 at the front end of the multi-axis joint manipulator 11 is inserted into the power receiving socket 4 after aligning with the power receiving socket 4, and supplies power to the simple pile 1 through a battery pack;
(4) Vehicle charging: the charging gun 6 is connected with a charging interface of the vehicle to be charged in a manual mode, the vehicle to be charged is charged, and the charging gun 6 is hung to the original position after the charging is completed;
(5) Fee settlement: after the charging is finished, the mobile charging robot 2 pulls out the power supply plug 9 from the power receiving socket 4, and simultaneously sends the information of the charging completion to a parking lot charging management system through a wireless communication module, and the parking lot charging management system automatically deducts the payment account number of the charging vehicle to complete the noninductive payment;
in the plug-socket docking process in the step (4), the mobile charging robot 2 adaptively and dynamically adjusts the position of the power supply plug 9 in the process of being inserted into the power receiving socket 4 through the plug docking error automatic compensation regulator 13, so that the position of the power supply plug 9 is adaptively inserted, and the power supply plug 9 is prevented from being damaged possibly caused by being forcibly inserted into the power receiving socket 4;
in the plug-socket docking process of the step (4), the mobile charging robot 2 dynamically adjusts the posture of the multi-axis joint manipulator 11 in real time according to the ranging data obtained by the first ranging sensor 19 and the second ranging sensor 20, so as to obtain the minimum plugging force.
The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that it will be apparent to those skilled in the art that several modifications and variations can be made without departing from the technical principle of the present utility model, and these modifications and variations should also be regarded as the scope of the utility model.
Claims (9)
1. The utility model provides a remove robot that charges based on simple and easy stake, its characterized in that, including simple and easy stake and be used for the simple and easy stake provides the removal robot that charges of electric energy, simple and easy stake includes the stand, sets up receive electric socket on the stand, connect through the cable receive electric socket be used for the rifle that charges for electric automobile, remove the robot that charges including remove the chassis and set up battery package on the removal chassis, connect through the cable battery package be used for with receive the power plug of electric socket butt joint, set up be used for the realization on the removal chassis power plug with receive the automatic butt joint machine of plug socket of electric socket.
2. The mobile charging robot based on simple piles according to claim 1, wherein the number of the simple piles is a plurality of the mobile charging robots and the simple piles are distributed beside each parking space, and the number of the mobile charging robots is at least one.
3. The mobile charging robot based on a simple pile according to claim 1, wherein the charging gun is a manual plug charging gun, and the manual plug charging gun is mounted on a column of the simple pile; the mobile chassis is provided with a navigation system, and realizes autonomous positioning and navigation to the side of a simple pile of a designated parking space through the navigation system; and wireless communication modules are respectively arranged on the movable chassis and the power receiving socket of the upright post.
4. The mobile charging robot based on simple piles according to claim 1, wherein the plug-and-socket automatic docking machine comprises a multi-axis joint manipulator arranged on the mobile chassis, and the power supply plug is fixed at the front end part of the multi-axis joint manipulator.
5. The mobile charging robot based on a simple pile according to claim 4, wherein a 3D structured light vision camera for identifying the position of the power receiving socket on the simple pile is further arranged on a forefront section of the multi-axis joint manipulator.
6. The mobile charging robot based on the simple pile according to claim 5, wherein a plug butt joint error automatic compensation regulator is further arranged between the front end part of the multi-axis joint manipulator and the power supply plug, the plug butt joint error automatic compensation regulator comprises a positioning seat fixed at the front end of the foremost mechanical arm, a conical hole which is arranged on the positioning seat and has a small front end hole and a large rear end hole, the conical Kong Nashi is provided with a conical body, a jacking spring is arranged between the rear end face of the conical body and the front end face of the foremost mechanical arm, a ball head jack post is arranged at the central part of the front end face of the foremost mechanical arm, and a gap is arranged between the front end of the ball head jack post and the rear end face of the conical body; the rear end of the power supply plug is fixedly connected with the front end of the conical body.
7. The mobile charging robot based on simple piles according to claim 6, wherein the cone is a regular polygonal pyramid, and the tapered hole is a regular polygonal pyramid hole adapted to the regular polygonal pyramid.
8. The mobile charging robot based on simple piles according to claim 7, wherein the cone is a regular square pyramid, and the conical hole is a regular square pyramid hole matched with the regular square pyramid; the plug docking error automatic compensation regulator further comprises first ranging sensors which are distributed and arranged on the front end face of the forefront section mechanical arm along the circumferential direction and are 3-4 in number, and the ranging direction of each first ranging sensor points to the rear end face of the regular rectangular pyramid.
9. The mobile charging robot based on simple piles according to claim 8, wherein the plug docking error automatic compensation regulator further comprises four pairs of ranging holes circumferentially arranged on the positioning seat, four pairs of second ranging sensors correspondingly arranged on the four pairs of ranging holes, and ranging directions of the four pairs of second ranging sensors correspondingly point to four sides of the regular rectangular pyramid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322308170.3U CN220742757U (en) | 2023-08-28 | 2023-08-28 | Mobile charging robot based on simple piles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322308170.3U CN220742757U (en) | 2023-08-28 | 2023-08-28 | Mobile charging robot based on simple piles |
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| Publication Number | Publication Date |
|---|---|
| CN220742757U true CN220742757U (en) | 2024-04-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322308170.3U Active CN220742757U (en) | 2023-08-28 | 2023-08-28 | Mobile charging robot based on simple piles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220742757U (en) |
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2023
- 2023-08-28 CN CN202322308170.3U patent/CN220742757U/en active Active
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