A charging robotic arm and an electric vehicle

Abstract

The present invention discloses an automatic charging device and an electric vehicle. The automatic charging device is installed on the electric vehicle. The automatic charging device includes: a robotic arm, a charging interface, an identification unit, and a control unit; the end of the robotic arm is arranged on the electric vehicle, the front end of the robotic arm is provided with the charging interface, and the charging interface is connected to the battery of the electric vehicle; the identification unit is arranged at the front end of the charging interface and is used for detecting the position information of the power supply interface; the control unit is connected to the identification unit and is used for obtaining the position information and outputting a driving signal based on the position information; the robotic arm is also connected to the control unit and is used for moving according to the driving signal so that the charging interface is docked with the power supply interface. The automatic charging device provided by the present application can independently complete the search and docking of the power supply interface, thereby realizing the automation of the charging process, and solving the technical problem that in the prior art, the driver still needs to get out of the vehicle to manually pick up the charging gun for manual charging.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and particularly to a charging robotic arm and an electric vehicle. Background Art

[0002] With the development of electric vehicle technology, electric vehicles are favored by more and more people, and the charging experience of electric vehicles has received unprecedented attention.

[0003] Currently, when charging an electric vehicle, the driver usually needs to drive the vehicle to a charging station suitable for their own charging standard, select a charging device (charging pile), and after obtaining the charging permission, the driver takes the charging gun from the charging device and then inserts it into the charging port of the vehicle to charge the vehicle.

[0004] However, for the charging pile equipment in existing charging stations, the driver needs to get off the vehicle to manually take the charging gun, which is neither safe nor convenient. Especially for thin people, the charging process is not user-friendly and the user experience is poor. Summary of the Invention

[0005] By providing an automatic charging device and an electric vehicle in an embodiment of the present application, the technical problem that the driver needs to get off the vehicle to manually take the charging gun for the charging pile equipment in existing charging stations, which is neither safe nor convenient, is solved.

[0006] On the one hand, the present application provides the following technical solution through an embodiment of the present application:

[0007] An automatic charging device is installed on an electric vehicle. The automatic charging device includes: a robotic arm, a charging interface, an identification unit, and a control unit; the end of the robotic arm is arranged on the electric vehicle, the front end of the robotic arm is provided with the charging interface, and the charging interface is connected to the battery of the electric vehicle; the identification unit is arranged at the front end of the charging interface and is used for detecting the position information of the power interface of the charging pile; the control unit is connected to the identification unit and is used for obtaining the position information and outputting a driving signal based on the position information; the robotic arm is also connected to the control unit and is used for moving according to the driving signal so that the charging interface is docked with the power interface.

[0008] In one embodiment, the identification unit includes: a camera unit; the camera unit is used for obtaining a first image corresponding to the power interface. The first image includes N light source points, and the position information is obtained according to the position distribution of the N light source points. The N light source points are generated by N reference light sources arranged on the power interface, and the N reference light sources are not on the same straight line. N is a positive integer greater than 2.

[0009] In one embodiment, the camera unit includes a lens and an image processing module; the lens is configured to acquire the first image; the image processing module is configured to determine the position distribution of the N reference light sources based on the first image, and obtain the position information based on the position distribution of the N reference light sources; wherein, the charging interface includes a plurality of first contacts, and the plurality of first contacts are equidistantly arranged on the charging interface centered on the first position; the power supply interface includes a plurality of second contacts, and the plurality of second contacts are equidistantly arranged on the power supply interface centered on the second position; the lens is disposed at the first position, the N reference light sources are arranged equidistantly on the power supply interface and form a regular polygon, the regular polygon is centered on the second position, and when the first position and the second position are on the same straight line, the first contacts and the second contacts are aligned.

[0010] In one embodiment, a charging cavity is provided on the electric vehicle, and the opening of the charging cavity faces the width direction of the electric vehicle; the robotic arm includes: a first telescopic transmission mechanism, a guide rail and a telescopic arm; the guide rail is arranged along the length direction of the electric vehicle; the first telescopic transmission mechanism is connected to the control unit and the guide rail, and the first telescopic transmission mechanism is configured to drive the guide rail to telescopically move along the width direction of the electric vehicle under the control of the control unit, so as to extend out of or retract into the charging cavity; the charging interface is provided at the front end of the telescopic arm, the end of the telescopic arm is slidably arranged on the guide rail, and the telescopic arm is connected to the control unit, and the telescopic arm is configured to drive the charging interface to move towards the power supply interface under the action of the control unit.

[0011] In one embodiment, the first telescopic transmission mechanism includes: a first driving device, a ball screw pair, a first support rod, a second support rod, a third support rod and a support member; the input end of the first driving device is connected to the control unit; the output end of the first driving device is connected to the input end of the ball screw pair; the first end of the first support rod is rotatably connected to the output end of the ball screw pair, and the second end of the first support rod is rotatably connected to the guide rail; the first end of the second support rod is hinged to the charging cavity, and the second end of the second support rod is rotatably connected to the guide rail; the first end of the third support rod is hinged to the charging cavity, and the second end of the third support rod is rotatably connected to the guide rail; the support member is arranged between the bottom surface of the charging cavity and the bottom surface of the guide rail.

[0012] In one embodiment, a first groove is provided along the length direction on the side surface of the guide rail; when not charging, the telescopic arm is accommodated in the first groove, and when charging, the telescopic arm can extend out of the first groove and can drive the charging interface to move towards the power interface.

[0013] In one embodiment, the robotic arm further includes: a sliding member and a main swing joint; the sliding member is arranged on the guide rail and is connected to the control unit, and the sliding member can slide on the guide rail; the sliding member is connected to the end of the telescopic arm through the main swing joint, and the sliding member is used to drive the telescopic arm to move along the length direction of the electric vehicle under the control of the control unit; the main swing joint is connected to the control unit, and the main swing joint is used to drive the telescopic arm to swing around the end of the telescopic arm under the control of the control unit, so that the telescopic arm extends out of or retracts into the first groove.

[0014] In one embodiment, the telescopic arm includes a plurality of joints connected in sequence, and each joint at least includes: a servo motor, a rolling bearing and a joint arm; the servo motor is connected to the control unit, the rolling bearing is sleeved on the rotating shaft of the servo motor, and the end of the joint arm is connected to the inner ring of the rolling bearing; among the plurality of joints, the outer ring of the rolling bearing of the first joint is fixedly connected to the main swing joint, the front end of the joint arm of the last joint is connected to the charging interface, and the front end of the joint arm in other joints is connected to the outer ring of the rolling bearing of the next joint.

[0015] In one embodiment, the charging interface includes: a plug base, a pin, a support handle, a mounting shaft and a second telescopic transmission mechanism; the front end face of the plug base is provided with the identification unit and the pin, the end of the plug base is connected to the front end of the robotic arm, and both the mounting shaft and the second telescopic transmission mechanism are arranged in the plug base; the end of the mounting shaft is connected to the second telescopic transmission mechanism, the second telescopic transmission mechanism is connected to the control unit, and the second telescopic transmission mechanism is used to drive the mounting shaft to extend or retract axially under the control of the control unit; a second groove is provided on the side surface of the plug base, the support handle is hinged to the side part of the plug base, the circumferential surface of the mounting shaft is provided with a first flange and a second flange, one end of the support handle is clamped between the first flange and the second flange, when the mounting shaft extends, the support handle can rotate around the hinge point towards the direction of retracting into the second groove, and when the mounting shaft retracts, the support handle can rotate around the hinge point towards the direction of extending out of the second groove.

[0016] On the other hand, through an embodiment of the present application, the following technical solutions are provided:

[0017] An electric vehicle is provided with a charging cavity, and the electric vehicle further includes: the automatic charging device according to any one of the above. When the automatic charging device is in a non-operating state, the automatic charging device is accommodated in the charging cavity; when the automatic charging device is in an operating state, the automatic charging device extends out of the charging cavity under the control of the control unit, and completes the docking of the charging interface and the power supply interface with the assistance of the recognition unit.

[0018] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0019] In the embodiments of the present application, an automatic charging device installed on an electric vehicle is disclosed. Through the recognition unit provided at the front end of the charging interface, the position information of the power supply interface is detected in real time and sent to the control unit. The control unit outputs a driving signal to the robotic arm based on the position information to make the robotic arm move, and then drives the charging interface provided at the front end of the robotic arm to complete the docking with the power supply interface of the charging pile, so that current can be supplied to the battery of the electric vehicle through the charging interface after the docking of the charging interface and the power supply interface is completed. In this way, the search and docking of the power supply interface can be autonomously completed, and charging can be automatically realized. The charging process is safe and fast, and there is no need for the driver to get off the vehicle to pick up the charging gun, thus solving the technical problem that the charging pile equipment in the existing charging stations requires the driver to get off the vehicle to manually pick up the charging gun, which is neither safe nor convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a structural block diagram of an automatic charging device in the embodiments of the present application;

[0022] Figure 2 It is a schematic diagram of the positions of the second contact of the power supply interface and the reference light source in the embodiments of the present application;

[0023] Figure 3 It is an external structural diagram of the charging interface in the embodiments of the present application;

[0024] Figure 4 It is a schematic diagram of the structure of the robotic arm in the embodiments of the present application;

[0025] Figure 5 It is a schematic diagram of the structure of the first telescopic transmission mechanism in the embodiments of the present application;

[0026] Figure 6 Schematic diagram of the state where the telescopic arm in the embodiment of the present application is accommodated in the first groove;

[0027] Figure 7 Connection relationship diagram of the telescopic arm in the embodiment of the present application;

[0028] Figure 8 Schematic diagram of the internal structure of the charging interface in the embodiment of the present application;

[0029] Figure 9 Schematic diagram of the cooperation between the charging interface and the power supply interface in the embodiment of the present application;

[0030] Figure 10 Schematic diagram of the structure of an electric vehicle in the embodiment of the present application. Specific embodiments

[0031] In the embodiment of the present application, by providing an automatic charging device and an electric vehicle, the technical problem that the charging pile equipment of the existing charging station still requires the driver to get off the vehicle to manually pick up the charging gun, which is neither safe nor convenient, especially for thin people, the charging process is obviously unfriendly and the user experience is poor, is solved.

[0032] The technical solution of the embodiment of the present application is to solve the above technical problems, and the general idea is as follows:

[0033] In the embodiment of the present application, an automatic charging device installed on an electric vehicle is disclosed. Through an identification unit provided at the front end of the charging interface, the position information of the power supply interface is detected in real time, and the position information of the power supply interface is sent to the control unit. The control unit outputs a driving signal to the robotic arm based on the position information, so that the robotic arm moves, and then drives the charging interface provided at the front end of the robotic arm to complete docking with the power supply interface of the charging pile, so that current can be supplied to the battery of the electric vehicle through the charging interface after the charging interface and the power supply interface are docked. In this way, the search and docking of the power supply interface can be completed independently, and then charging can be automatically realized. The charging process is safe and fast, and there is no need for the driver to get off the vehicle to pick up the charging gun. Therefore, the technical problem that the charging pile equipment of the existing charging station requires the driver to get off the vehicle to manually pick up the charging gun, which is neither safe nor convenient, is solved.

[0034] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0035] Embodiment 1

[0036] As Figure 1 and 10As shown in the figure, this embodiment provides an automatic charging device 100, which is installed on an electric vehicle 200. The automatic charging device 100 includes: a robotic arm 2, a charging interface 3, an identification unit 4, and a control unit 1;

[0037] The end of the robotic arm 2 is arranged on the electric vehicle 200, and the front end of the robotic arm 2 is provided with a charging interface 3 for docking with the power interface 300 of the charging pile to form a current path.

[0038] The charging interface 2 is connected to the battery of the electric vehicle 200. In practical applications, the charging interface 2 is connected to the battery of the electric vehicle 200 through a charging cable, and is used to transmit the current input by the charging pile to the battery of the electric vehicle 200 for power supply. When laying this charging cable, it can be hidden inside the entire automatic charging device 100 or arranged outside along the entire robotic arm 2. There is no limitation here.

[0039] The identification unit 4 is arranged at the front end of the charging interface 3 and is used to detect the position information of the power interface 300. In practical applications, the identification unit 4 can be an image acquisition unit based on visual positioning, such as a camera, or an induction device based on signal induction. This induction device includes a signal generation part and a signal induction part, which are correspondingly arranged at the charging interface 3 and the power interface 300 of the charging pile. Of course, they can also be arranged in an exchanged manner. There is no limitation here. In addition, since the absolute position of the power interface 300 is fixed, the position information here is the information about the position of the charging interface 3 relative to the position where the power interface 300 is located.

[0040] The control unit 1 is connected to the identification unit 4 and is used to obtain the position information and output a driving signal based on the position information. The position information fed back by the identification unit 4 constitutes a feedback mechanism for the control unit 1. According to the position information obtained by the identification unit 4, the control unit 1 can know the orientation of the charging interface 3 relative to the power interface 300 at the current moment and the distance from the power interface 300 in this orientation. Furthermore, it can continuously adjust the output driving signal according to the real-time position information obtained by the identification unit 4 to adjust the relative position between the charging interface 3 and the power interface 300 until they are aligned; it should be noted that the control unit 1 can be arranged inside the robotic arm 2 or inside the electric vehicle 200. There is no limitation here.

[0041] The robotic arm 2 is also connected to the control unit 1 and is used to move according to the driving signal so that the charging interface 3 and the power interface 300 are docked. Specifically, there are multiple driving devices inside the robotic arm 2. The control unit 1 is connected to the driving devices, and the driving devices respond to the driving signal and then drive the robotic arm 2 to move.

[0042] As an optional embodiment, the recognition unit 4 includes: a camera unit;

[0043] The camera unit is configured to obtain a first image corresponding to the power interface 300. The first image includes N light source points, and position information is obtained according to the position distribution of the N light source points. The N light source points are generated by N reference light sources 310 provided on the power interface 300. The N reference light sources 310 are not on the same straight line, and N is a positive integer greater than 2.

[0044] In this embodiment, the first image of the power interface 300 obtained by the camera unit carries N light source points, indicating that the light generated by the reference light source 310 on the power interface 300 is light that the camera unit can identify and capture at any time. Considering the problem that the night light is not conducive to camera recognition, the reference light source 310 can adopt an artificially synthesized high-stability light source with strong anti-interference ability, rather than using a light source that is easily affected by the natural environment as a reference for positioning. As an example, the reference light source 310 can be a light source that generates infrared rays.

[0045] In the specific implementation process, reference light sources 310 are provided on the power interface 300 of the charging pile to generate light source points that the camera unit can clearly identify at night as identifiers. The camera unit can analyze the position distribution of the N light source points by capturing the first image carrying the N light source points and combining with the standard image (the image when the charging interface 3 is facing the power interface 300), and then the relative position between the charging interface 3 and the power interface 300 can be obtained.

[0046] As an example, when charging is required, the control unit 1 communicates with the charging pile through wireless communication to control the reference light source 310 on the power interface 300 to generate light.

[0047] As an optional embodiment, as Figure 2 shown, the camera unit includes a lens and an image processing module;

[0048] The lens 41 is configured to obtain the first image. To capture as much range as possible, the lens can be selected as an ultra-wide-angle lens;

[0049] The image processing module is configured to determine the position distribution of the N reference light sources according to the first image, and obtain position information based on the position distribution of the N reference light sources, where

[0050] As Figure 2 、 3 shown, the charging interface 3 includes a plurality of first contacts 32, and the plurality of first contacts 32 are equidistantly arranged on the charging interface 3 with the first position as the center;

[0051] The power interface 300 includes a plurality of second contacts 320, and the plurality of second contacts 320 are equidistantly arranged on the power interface 300 centered on the second position;

[0052] The lens 41 (the black area in the figure) is set at the first position. N reference light sources 310 are equidistantly arranged on the power interface 300 and form a regular polygon. The regular polygon is centered on the second position, and when the first position and the second position are on the same straight line, the first contact 32 and the second contact 320 are aligned.

[0053] In this embodiment, the lens 41 is set at the first position, and N reference light sources 310 are equidistantly arranged on the power interface 300 to form a regular polygon. At the same time, the regular polygon is centered on the second position, and when the first position and the second position are on the same straight line, the first contact 32 and the second contact 320 are aligned. In this embodiment, the standard image of the first image should be: if the adjacent two points among the N light source points are connected by a line, the N light source points will form a regular polygon. Therefore, in the first image obtained when the lens 41 takes a picture of the power interface 300, if the polygon formed by the N light source points is not a regular polygon, for example: the standard image is a square, while the first image is a trapezoid, it indicates that the camera is not directly in front of the power interface 300, and the first contact 32 is not aligned with the second contact 320. In this embodiment, by optimizing the setting positions of the lens 41 and the N reference light sources 310, the calculation process of the image processing module to obtain the position information according to the position distribution of the N light source points is simplified.

[0054] As an example, in the process of the image processing module for obtaining the position information according to the position distribution of the N light source points, it can first be to determine whether the polygon formed by the N light source points is a regular polygon. If it is not a regular polygon, further determine the relative position of the charging interface 3 and the power interface 300 according to the principle that the nearer is larger and the farther is smaller. For example: if the polygon formed by the N light source points in the first image is an isosceles trapezoid with the upper part smaller and the lower part larger, it means that the current charging interface 3 is directly above the power interface 300.

[0055] In the actual implementation process, it is also possible to store in the database a large amount of associated data in one-to-one correspondence between various position distributions of the light source points and the position information of the power interface 300. After obtaining the first image, by analyzing the position distribution of the N light source points in the first image and comparing them in the data, the position information of the power interface 300 can be obtained; it is also possible to train a model between the position information of the power interface 300 and the position distribution of the N light source points by shooting a large number of images for model training. After obtaining the first image, by analyzing the position distribution of the N light source points in the first image and inputting it into the model, the position information of the power interface 300 can be obtained.

[0056] As an optional embodiment, such as Figure 4 and5 As shown in the figure, a charging cavity 210 is provided on the electric vehicle 200. The charging cavity 210 is similar to a U-shaped groove, and the opening of the U-shaped groove faces the width direction of the electric vehicle 200;

[0057] The robotic arm 2 includes: a first telescopic transmission mechanism, a guide rail 22, and a telescopic arm 23;

[0058] The guide rail 22 is arranged along the length direction of the electric vehicle 200. When not charging, the guide rail 22 is accommodated in the charging cavity 210 of the electric vehicle 200. When charging, the guide rail 22 can extend out of the charging cavity 210, and the opening of the charging cavity 210 of the electric vehicle 200 faces the direction of the power supply interface 300;

[0059] The first telescopic transmission mechanism is connected to the control unit 1 and the guide rail 22. The first telescopic transmission mechanism is used to drive the guide rail 22 to expand and contract along the width direction of the electric vehicle 200 under the control of the control unit 1, so as to extend out of or retract into the charging cavity 210. Specifically, when not charging, the guide rail 22 retracts into the charging cavity 210 of the electric vehicle 200 under the action of the first telescopic transmission mechanism. When charging, the guide rail 22 extends out of the charging cavity 210 under the action of the first telescopic transmission mechanism;

[0060] The charging interface 3 is provided at the front end of the telescopic arm 23. The end of the telescopic arm 23 is slidably arranged on the guide rail 22. The telescopic arm 23 is connected to the control unit 1. The telescopic arm 23 is used to drive the charging interface 3 to move towards the power supply interface 300 under the action of the control unit 1.

[0061] Specifically, the end of the telescopic arm 23 is slidably arranged on the guide rail 22 along the length direction of the electric vehicle 200. The telescopic arm 23 can adjust the distance between the charging interface 3 and the power supply interface 300 in the length direction of the electric vehicle 200 according to the position information fed back by the recognition unit 4. In this embodiment, the movement of the telescopic arm 23 in the length direction of the electric vehicle 200 is ensured by the guide rail 22. Compared with the prior art, it can avoid designing the freedom degree of the telescopic arm 23 in the length direction of the electric vehicle 200, reducing the design complexity and control difficulty of the telescopic arm 23.

[0062] As an optional embodiment, as Figure 5 shown, the first telescopic transmission mechanism specifically includes a first driving device 211, a ball screw pair 212, a first support rod 213, a second support rod 214, a third support rod 215, and a support member 216;

[0063] The input end of the first driving device 211 is connected to the control unit 1;

[0064] The output end of the first driving device 211 (for example, the rotating shaft of the motor) is connected to the input end of the ball screw pair 212. Here, the input end of the ball screw pair 212 can be either the screw rod or the nut, and the output end of the ball screw pair 212 can be the other one of the screw rod or the nut. Figure 5 The case where the input end of the ball screw pair 212 is the screw rod and the output end of the ball screw pair 212 is the nut is shown;

[0065] The first end of the first support rod 213 is rotatably connected to the output end of the ball screw pair 212, and the second end of the first support rod 213 is rotatably connected to the side of the guide rail 22 close to the electric vehicle 200 (i.e., the back surface of the guide rail 22);

[0066] The first end of the second support rod 214 is hinged to the rear wall surface of the charging cavity 210 (i.e., the opposite surface of the back surface of the guide rail 22), and the second end of the second support rod 214 is rotatably connected to the side of the guide rail 22 close to the electric vehicle 200 (i.e., the back surface of the guide rail 22);

[0067] The first end of the third support rod 215 is hinged to the rear wall surface of the charging cavity 210 (i.e., the opposite surface of the back surface of the guide rail 22), and the second end of the third support rod 215 is rotatably connected to the side of the guide rail 22 close to the electric vehicle 200 (i.e., the back surface of the guide rail 22);

[0068] In this embodiment, the control unit 1 controls the first driving device 211 to drive the input end of the ball screw pair 212 to rotate, so as to drive the output end of the ball screw pair 212 to move in the vertical direction, and further drive the first support rod 213 to retract inward (the left side in the figure) or expand outward (the right side in the figure). During the expansion process, the guide rail 22 will be pushed outward by the first support rod 213, and at the same time, the second support rod 214 and the third support rod 215 will also assist the guide rail 22 to expand outward. During the retraction process, the guide rail 22 will be pulled back inward by the first support rod 213, and at the same time, the second support rod 214 and the third support rod 215 will also assist the guide rail 22 to retract.

[0069] The support member 216 is arranged between the bottom surface of the charging cavity 210 and the bottom surface of the guide rail 22 to support the self-weight of the guide rail 22, so as to ensure that the first support rod 213 can drive the guide rail 22 to move in the width direction of the electric vehicle 200, and avoid the effect that its self-weight causes it to be in a natural drooping state and cannot achieve the effect of driving the guide rail 22 to move in the width direction of the electric vehicle 200. In this embodiment, the rotatable connection can be a hinge connection.

[0070] As an alternative embodiment, as Figure 4 and 6 shown, a first groove 221 is provided along the length direction on the side surface of the guide rail 22;

[0071] When not charging, the telescopic arm 23 is accommodated in the first groove 221. When charging, the telescopic arm 23 can extend out of the first groove 221 and can drive the charging interface 3 to move towards the power interface 300.

[0072] In this embodiment, when not charging, the telescopic arm 23 is accommodated in the first groove 221 provided along the length direction on the side surface of the guide rail 22. When charging, the telescopic arm 23 can extend out of the first groove 221 and can drive the charging interface 3 to move towards the power interface 300, which can overall reduce the occupied space of the robotic arm 2.

[0073] As an alternative embodiment, as Figure 4 、 6 、7 shown, the robotic arm 2 further includes: a sliding member 24 and a main swing joint 25;

[0074] The sliding member 24 is slidably disposed on the guide rail 22 and is connected to the control unit 1;

[0075] The sliding member 24 is connected to the end of the telescopic arm 23 through the main swing joint 25. The sliding member 24 is used to drive the telescopic arm 23 to move along the length direction of the electric vehicle 200 under the control of the control unit 1;

[0076] The main swing joint 25 is connected to the control unit 1. The main swing joint 25 is used to drive the telescopic arm 23 to swing around the end of the telescopic arm 23 under the control of the control unit 1, so that the telescopic arm 23 extends out of or retracts into the first groove 221. Specifically, the main swing joint 25 can drive the telescopic arm 23 to swing around the end of the telescopic arm 23 in the horizontal direction. The main swing joint 25 is connected to the control unit 1 and performs rotational swinging under the control of the control unit 1.

[0077] Specifically, the sliding member 24 includes a slider and a slider driving device. Among them, the slider is sleeved on the guide rail 22. The end of the telescopic arm 23 is connected to the slider through the main swing joint 25. The slider driving device is connected to the control unit 1. The slider driving device is used to drive the slider to move on the guide rail 22 under the control of the control unit 1, and further drive the telescopic arm 23 connected to the slider to move along the length direction of the electric vehicle 200.

[0078] In this embodiment, if the longitudinal direction of the electric vehicle 200 is the X-axis direction of the three-dimensional coordinate, the width direction of the electric vehicle 200 is the Y-axis direction of the three-dimensional coordinate, and the height direction is the Z-axis direction of the three-dimensional coordinate, the center of rotation of the main swing joint 25 is parallel to the Y-axis, thereby driving the telescopic arm 23 to rotate and swing in the XOZ plane, so that the telescopic arm 23 extends out of or retracts into the first groove 221.

[0079] In the specific implementation process, the main swing joint 25 may include a servo motor, a connecting plate connected to the output shaft of the servo motor, and a servo motor bracket. The servo motor is connected to the slider through the servo motor bracket, and the connecting plate is connected to the telescopic arm 23.

[0080] As an optional embodiment, as Figure 7 shown, the telescopic arm 23 includes a plurality of joints 231 connected in sequence. Each joint 231 at least includes: a servo motor (not shown in the figure), a rolling bearing 2311, and a joint arm 2312. The servo motor is connected to the control unit 1. The rolling bearing 2311 is sleeved on the rotating shaft of the servo motor, and the end of the joint arm 2312 is connected to the inner ring of the rolling bearing 2311.

[0081] Among the plurality of joints, the outer ring of the rolling bearing 2311 of the first joint is fixedly connected to the main swing joint 25, the front end of the joint arm of the last joint is connected to the charging interface 3, and the front end of the joint arm 2312 in other joints is connected to the outer ring of the rolling bearing 2311 of the next joint.

[0082] As an example, the number of joints is 4, namely the first joint, the second joint, the third joint, and the fourth joint.

[0083] The first joint includes a first servo motor, a first rolling bearing, and a first joint arm. The inner ring of the first rolling bearing is connected to the end of the first joint arm, and the outer ring of the first rolling bearing is fixedly connected to the main swing joint 25 to realize the connection between the telescopic arm 23 and the main swing joint 25.

[0084] The second joint includes a second servo motor, a second rolling bearing, and a second joint arm. The inner ring of the second rolling bearing is connected to the end of the second joint arm, and the outer ring of the second rolling bearing is fixedly connected to the front end of the first joint arm to realize the connection between the second joint and the first joint.

[0085] The third joint includes a third servo motor, a third rolling bearing, and a third joint arm. The inner ring of the third rolling bearing is connected to the end of the third joint arm, and the outer ring of the third rolling bearing is fixedly connected to the front end of the second joint arm to realize the connection between the third joint and the second joint.

[0086] The fourth joint includes a fourth servo motor, a fourth rolling bearing and a fourth joint arm. The inner ring of the fourth rolling bearing is connected to the end of the fourth joint arm, and the outer ring of the fourth rolling bearing is fixedly connected to the front end of the third joint arm to achieve the connection between the fourth joint and the third joint. The front end of the fourth joint arm is connected to the charging interface 3.

[0087] The above-mentioned first servo motor, second servo motor, third servo motor and fourth servo motor are all connected to the control unit 1 and rotate under the control of the control unit 1, so that the first joint arm, second joint arm, third joint arm and fourth joint arm swing to form a broken line or a straight line, so as to change the length of the telescopic arm 23 and the position of the charging interface 3. In this embodiment, the first joint arm, second joint arm, third joint arm and fourth joint arm swing within the plane where the width and height of the electric vehicle 200 are located. If the length direction of the electric vehicle 200 is the X-axis direction of the three-dimensional coordinate, the width direction of the electric vehicle 200 is the Y-axis direction of the three-dimensional coordinate, and the height direction is the Z-axis direction of the three-dimensional coordinate, the first joint arm, second joint arm, third joint arm and fourth joint arm can swing within the YOZ plane. This embodiment does not require complex degrees of freedom, thereby simplifying the design difficulty and control difficulty of the telescopic arm 23.

[0088] In the specific implementation process, each joint can also be provided with mechanisms such as a guard plate, a base, a bracket, an auxiliary connecting member, etc. on the basis of this embodiment, so as to better achieve the connection between joints and between internal components of the joint, or for a more beautiful and stable perspective. There is no limitation here.

[0089] As an optional embodiment, as Figure 8 、 9 shown, the charging interface 3 includes: a plug base 31, a pin 32, a support handle 33, a mounting shaft 34 and a second telescopic transmission mechanism;

[0090] The front end face of the plug base 31 is provided with the identification unit 4 and the pin 32 (the first contact 32 is the pin 32 in this embodiment). The end of the plug base 31 is connected to the front end of the robotic arm 2. The mounting shaft 34 and the second telescopic transmission mechanism are both arranged in the plug base 31;

[0091] The end of the mounting shaft 34 is connected to the second telescopic transmission mechanism. The second telescopic transmission mechanism is connected to the control unit 1. The second telescopic transmission mechanism is used to drive the mounting shaft 34 to extend or retract axially under the control of the control unit 1. Specifically, the second telescopic transmission mechanism specifically includes: a telescopic member 351 and a brake motor 352. The brake motor is connected to the control unit 1 and drives the telescopic member to perform telescopic operation axially under the control of the control unit 1, so that the pin 32 extends or retracts axially from the shell body into the shell body;

[0092] A second groove 311 is provided on the side surface of the plug base 31. The support handle 33 is hinged to the side of the plug base 31. A first flange 341 and a second flange 342 are provided on the peripheral surface of the mounting shaft 34. One end of the support handle 33 is clamped between the first flange 341 and the second flange 342. As Figure 8 shown, when the mounting shaft 34 extends out, the support handle 33 can rotate around the hinge point in the direction of retracting into the second groove 311. As Figure 9 shown, when the mounting shaft 34 retracts, the support handle 33 can rotate around the hinge point in the direction of exiting the second groove 311.

[0093] In the specific implementation process, the recognition unit 4 is arranged at the center of the front end face of the housing. The pins 32 are arranged on the front end face of the plug base 31 at equal intervals along a circle with the center of the front end face of the plug base 31 as the center. Correspondingly, as Figure 3 shown, jacks 320 corresponding to the pins 32 (the second contacts 320 are jacks 320 in this embodiment) should be provided on the power interface 300. The pins 32 and the jacks 320 arranged at equal intervals along a circle can be easily aligned and inserted in any direction.

[0094] Correspondingly, as Figure 9 shown, a docking chamber 330 for accommodating the charging interface 3 is provided at the front end of the power interface 300. A boss 340 extends vertically in the central direction at the front end (the end close to the charging interface 3) of the docking chamber 330. Jacks 320 corresponding to the pins 32 are provided on the rear wall surface of the docking chamber 330.

[0095] In this embodiment, when the charging interface 3 is docked with the power interface 300 (that is, the plug base 31 part or all of the charging interface 3 is inserted into the docking chamber 330 of the power interface 300) and charging is required, the second telescopic transmission mechanism is used to drive the mounting shaft 34 to retract axially (that is, move downward in the figure) under the control of the control unit 1. The support handle 33 expands, and the end of the support handle 33 supports on the boss 340 at the front end of the docking chamber 330 to ensure the stable connection between the charging interface 3 and the power interface 300 and prevent it from falling off easily. When charging is completed, the second telescopic transmission mechanism is used to drive the mounting shaft 34 to retract axially (that is, move upward in the figure) under the control of the control unit 1. The support handle 33 retracts, and the support handle 33 returns to the second groove 311. At this time, the charging interface 3 can be withdrawn from the power interface 300 under the drive of the telescopic arm 23.

[0096] In practical applications, the second telescopic transmission mechanism can be composed of a brake motor 352 and a ball screw pair. The output shaft of the brake motor 352 is connected to the nut of the ball screw pair 212, driving the nut to perform a revolving motion, and further driving the screw rod of the ball screw pair to perform a linear reciprocating motion axially.

[0097] As an alternative embodiment, as shown in Figure 2 , 8 , 9, an elastic contact pin 36 may also be provided on the front end face of the plug base 31. The elastic contact pin 36 is connected to the control unit 1. When the charging interface 3 is docked well in the docking chamber 330 of the power supply interface 300, the end of the elastic contact pin 36 is compressed by the pressure of the rear wall surface of the power supply interface 300 and sends a docking completion signal. The control unit 1 controls the action of the second telescopic transmission mechanism according to the docking completion signal, and then expands the support handle 33.

[0098] As an alternative embodiment, as shown in Figure 2 , 8 , 9, an elastic member 37 may also be provided on the front end face of the plug base 31. The length of the elastic member 37 in the natural state is greater than the length of the plug pin 32. When the charging interface 3 is docked well with the power supply interface 300, the elastic member 37 is in a compressed state. When charging is not required, during the process of the elastic member 37 recovering its deformation, it can assist the charging interface 3 to withdraw from the docking chamber 330 of the power supply interface 300.

[0099] The technical solutions in the above embodiments of the present application at least have the following technical effects or advantages:

[0100] In the embodiment of the present application, an automatic charging device installed on an electric vehicle is disclosed. Through the identification unit provided at the front end of the charging interface, the position information of the power supply interface is detected in real time and sent to the control unit. The control unit outputs a driving signal to the robotic arm based on the position information to make the robotic arm move, and then drives the charging interface provided at the front end of the robotic arm to complete docking with the power supply interface of the charging pile, so that current can be supplied to the battery of the electric vehicle through the charging interface after the charging interface and the power supply interface are docked. In this way, it can autonomously complete the search and docking of the power supply interface, and then automatically achieve charging. The charging process is safe and fast, and there is no need for the driver to get off the vehicle to pick up the charging gun. Therefore, it solves the technical problem that the charging pile equipment in the existing charging station requires the driver to get off the vehicle to manually pick up the charging gun, which is neither safe nor convenient.

[0101] Embodiment 2

[0102] As shown in Figure 10 , this embodiment provides an electric vehicle 200. A charging cavity 210 is provided on the electric vehicle 200. The electric vehicle 200 further includes:

[0103] The automatic charging device 100 according to any one of Embodiment 1, wherein

[0104] When the automatic charging device 100 is in a non-working state, the automatic charging device 100 is accommodated in the charging cavity 210;

[0105] When the automatic charging device 100 is in the working state, the automatic charging device 100 extends out from the charging chamber 210 under the control of the control unit, and completes the docking of the charging interface with the power interface with the assistance of the identification unit.

[0106] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0107] In an embodiment of the present application, an automatic charging device installed on an electric vehicle is disclosed. The identification unit provided at the front end of the charging interface detects the position information of the power interface in real time and sends the position information of the power interface to a control unit. The control unit outputs a drive signal to a robotic arm based on the position information to move the robotic arm, thereby driving the charging interface provided at the front end of the robotic arm to complete docking with the power interface of the charging pile, so that the current can be supplied to the battery of the electric vehicle through the charging interface after the charging interface and the power interface are docked. In this way, the power interface can be found and docked autonomously, and charging can be automatically realized. The charging process is safe and fast, and there is no need for the driver to get off the vehicle to take the charging gun. Therefore, the technical problem of the charging pile equipment in the existing charging station, which requires the driver to get off the vehicle manually to take the charging gun, is solved.

[0108] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0109] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. An automatic charging device, characterized in that: Installed on an electric vehicle, the automatic charging device includes: a robotic arm, a charging interface, an identification unit, and a control unit; The end of the robotic arm is arranged on the electric vehicle, and the front end of the robotic arm is provided with the charging interface, which is connected to the battery of the electric vehicle; The identification unit is provided at the front end of the charging interface and is used to detect the position information of the power interface of the charging pile; The control unit is connected to the recognition unit and is configured to obtain the position information and output a driving signal based on the position information; The robotic arm is further connected to the control unit and is configured to move according to the driving signal so as to dock the charging interface with the power interface; The electric vehicle is provided with a charging chamber, and the opening of the charging chamber faces the width direction of the electric vehicle; The robotic arm comprises: a first telescopic transmission mechanism, a guide rail and a telescopic arm; The guide rail is arranged along the length direction of the electric vehicle; The first telescopic transmission mechanism is connected to the control unit and the guide rail, and is used to drive the guide rail to extend and retract along the width direction of the electric vehicle under the control of the control unit, so as to extend from or retract into the charging chamber; The charging port is provided at the front end of the telescopic arm, and the distal end of the telescopic arm is slidably provided on the guide rail. The telescopic arm is connected to the control unit, and the telescopic arm is configured to drive the charging port to move toward the power port under the action of the control unit; The first telescopic transmission mechanism includes: a first driving device, a ball screw pair, a first support rod, a second support rod, a third support rod and a support member; The input end of the first driving device is connected to the control unit; The output end of the first driving device is connected to the input end of the ball screw pair; The first end of the first support rod is rotatably connected to the output end of the ball screw pair, and the second end of the first support rod is rotatably connected to the guide rail; The first end of the second support rod is hinged to the charging chamber, and the second end of the second support rod is rotatably connected to the guide rail; The first end of the third support rod is hinged to the charging chamber, and the second end of the third support rod is rotatably connected to the guide rail; The support member is arranged between the bottom surface of the charging chamber and the bottom surface of the guide rail; A first groove is provided on the side surface of the guide rail along the length direction; When not charging, the telescopic arm is accommodated in the first groove; when charging, the telescopic arm can be extended from the first groove and can drive the charging interface to move toward the power interface; The charging interface includes: a plug base, a pin, a support handle, a mounting shaft and a second telescopic transmission mechanism; The front end surface of the plug base is provided with the identification unit and the pin, the end of the plug base is connected to the front end of the mechanical arm, and the mounting shaft and the second telescopic transmission mechanism are both provided in the plug base; The end of the installation shaft is connected to the second telescopic transmission mechanism, which is connected to the control unit. The second telescopic transmission mechanism is used to drive the installation shaft to extend or retract in the axial direction under the control of the control unit; A second groove is provided on the side of the plug base, the support handle is hinged to the side of the plug base, and a first flange and a second flange are provided on the circumference of the mounting shaft. One end of the support handle is clamped between the first flange and the second flange. When the mounting shaft is extended, the support handle can rotate around the hinge point in the direction of retracting into the second groove. When the mounting shaft is retracted, the support handle can rotate around the hinge point in the direction of exiting the second groove.

2. The automatic charging device according to claim 1, characterized in that: The recognition unit includes: a camera unit; The camera unit is used to obtain a first image corresponding to the power interface, the first image includes N light source points, and the position information is obtained based on the position distribution of the N light source points. The N light source points are generated by N reference light sources arranged on the power interface, and the N reference light sources are not on the same straight line. N is a positive integer greater than 2.

3. The automatic charging device according to claim 2, characterized in that: The camera unit includes a lens and an image processing module; The lens is used to acquire the first image; The image processing module is configured to determine the position distribution of the N reference light sources according to the first image, and obtain the position information based on the position distribution of the N reference light sources; in, The charging interface includes a plurality of first contacts, and the plurality of first contacts are arranged on the charging interface at equal intervals with a first position as the center; The power interface includes a plurality of second contacts, and the plurality of second contacts are arranged on the power interface at equal intervals with the second position as the center; The lens is set at the first position, the N reference light sources are arranged at equal intervals on the power interface and form a regular polygon, the regular polygon is centered on the second position, and when the first position and the second position are on the same straight line, the first contact and the second contact are aligned.

4. The automatic charging device according to claim 1, wherein: The robotic arm further comprises: a sliding member and a main swing joint; The sliding member is arranged on the guide rail and connected to the control unit, and the sliding member can slide on the guide rail; The sliding member is connected to the end of the telescopic arm through the main swing joint, and the sliding member is used to drive the telescopic arm to move along the length direction of the electric vehicle under the control of the control unit; The main swing joint is connected to the control unit, and the main swing joint is used to drive the telescopic arm to swing around the end of the telescopic arm under the control of the control unit, so that the telescopic arm extends from or retracts into the first groove.

5. The automatic charging device according to claim 4, characterized in that: The telescopic arm includes a plurality of joints connected in sequence, each of the joints including at least: a steering gear, a rolling bearing, and a joint arm, the steering gear is connected to the control unit, the rolling bearing is sleeved on the rotating shaft of the steering gear, and the end of the joint arm is connected to the inner ring of the rolling bearing; Among the multiple joints, the outer ring of the rolling bearing of the first joint is fixedly connected to the main swing joint, the front end of the joint arm of the last joint is connected to the charging interface, and the front end of the joint arm in the other joints is connected to the outer ring of the rolling bearing of the next joint.

6. An electric vehicle, characterized in that: The electric vehicle is provided with a charging chamber, and the electric vehicle further comprises: The automatic charging device according to any one of claims 1 to 5, wherein: When the automatic charging device is in a non-working state, the automatic charging device is accommodated in the charging cavity; When the automatic charging device is in working state, the automatic charging device extends out from the charging chamber under the control of the control unit, and completes the docking of the charging interface and the power interface with the assistance of the identification unit.

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