Electric vehicle automatic charging device, method, system, electronic device and parking space

Abstract

The application discloses an automatic charging device, method, system, electronic device and parking space for an electric vehicle. The automatic charging device is applied to a mechanical three-dimensional parking space and comprises a charging box provided with a control module, a charging track, a charging mechanical arm, a charging gun head, a charging cable and a track moving mechanism. The automatic charging method comprises the following steps: when it is detected that the charging gun head is connected to a vehicle to be charged, the spatial coordinates of the charging gun head are acquired and stored, and charging is performed; the parking state of the parking space is judged, the automatic charging device is moved by a lifting and transverse moving method, the horizontally moving vehicle loading plate and / or the vertically moving vehicle loading plate are moved; when it is detected that the charging is completed, the charging gun head is moved to the preset spatial coordinates by an automatic homing method; the parking state of the parking space is further judged, and the horizontally moving vehicle loading plate and / or the vertically moving vehicle loading plate are moved by a vehicle loading plate homing method. The application can be moved in cooperation with the transfer of the vehicle loading plate to maintain the charging state of the vehicle, and can automatically withdraw the power and return to the position when the charging is completed.

Description

Technical Field

[0001] This invention relates to the field of new energy vehicle charging technology, and more specifically, to an automatic charging device, method, system, electronic device, and parking space for electric vehicles. Background Technology

[0002] Existing charging stations for new energy vehicles operate on a fixed-space basis. These spaces are frequently occupied by already charged vehicles or gasoline-powered vehicles, resulting in prolonged waste. Mechanical parking spaces suffer from the same problem; however, due to the significantly lower utilization rate of their charging equipment compared to conventional parking spaces, these issues are more pronounced and difficult to resolve. Furthermore, with the widespread adoption of new energy vehicles, these problems will only become more acute.

[0003] Existing mechanical parking space charging devices consist of a desktop charging unit and a charging receiving module on a vehicle carrier platform, with charging performed manually using the charging gun on the parking space. During charging, the parking space cannot be moved to accommodate other vehicle carrier platforms; it can only be moved after charging is complete and the device is disconnected, but the charging platform remains occupied by a vehicle. To enable charging for other vehicles, multiple vehicle carrier platforms need to be equipped with charging receiving devices.

[0004] Furthermore, existing automatic charging guns typically use visual sensors for positioning, enabling a robotic arm to move to a fixed parking space via a horizontal track or overhead crane track to plug and unplug the charging gun. However, horizontal tracks or overhead crane tracks are not suitable for the structure of automated parking systems, making it difficult to adapt to the retrofitting of existing automated parking systems, and the visual sensors have a high failure rate.

[0005] In view of this, it is necessary to design an automatic charging device, method, system, electronic device, and parking space for electric vehicles. During the charging process, the charging gun can move in coordination with the vehicle carrier platform, and after charging is completed, the charging gun can be automatically de-energized and returned to its original position. This, combined with the movement and transfer of the vehicle carrier platform, avoids the problem of the charging gun still being occupied after the vehicle is fully charged, as well as the problem of the charging space in a mechanical multi-level parking space still being occupied after the vehicle is fully charged. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic charging device, method, system, electronic device, and parking space for electric vehicles, in order to solve the problem that the charging device of the existing mechanical multi-level parking space cannot move in coordination with the movement and transfer of the vehicle platform, thereby causing the charging device or the charging parking space of the mechanical multi-level parking space to be occupied for a long time.

[0007] To achieve the objectives of this invention, this invention also provides an automatic charging method for electric vehicles, applied to a mechanical multi-level parking space, the multi-level parking space comprising:

[0008] At least one main frame, which includes support columns, beams and a base, with the beams mounted on the base via the support columns.

[0009] A horizontally movable vehicle platform is mounted on a base in a manner that allows for horizontal movement via a horizontally movable unit.

[0010] A vertically movable vehicle platform is mounted vertically on a crossbeam via a vertically movable unit; and,

[0011] An automatic charging device is positioned on the side away from the entrance of a mechanical automated parking space, corresponding to the vertically moving vehicle platform. The automatic charging device includes a charging box with a control module, a charging track, a charging robotic arm, and a charging nozzle. The charging nozzle is mounted on the charging robotic arm and connected to the charging box via a charging cable. The charging robotic arm is movably positioned on the charging track via a track-moving mechanism. The automatic charging method includes the following steps:

[0012] When the automatic charging device detects that the charging gun head is connected to the vehicle to be charged, it acquires and stores the spatial coordinates of the charging gun head relative to a preset spatial coordinate as the charging coordinate and then starts charging.

[0013] Determine the parking status of the mechanical automated parking space, and move the track moving mechanism of the automatic charging device, the horizontal moving vehicle platform and / or the vertical moving vehicle platform by lifting and traversing methods;

[0014] When the charging gun head is detected to be fully charged, the charging gun head is moved to the preset spatial coordinates by an automatic return method;

[0015] Further determine the parking status of the mechanical automated parking space, and move the horizontally moving vehicle platform and / or vertically moving vehicle platform using a vehicle platform repositioning method; wherein, the vehicle platform repositioning method further includes:

[0016] If the vehicle to be charged is parked on the horizontally moving vehicle platform, move the horizontally moving vehicle platform and vertically move the vertically moving vehicle platform onto the base; or...

[0017] If the vehicle to be charged is parked on the vertically moving vehicle platform, and the vertically moving vehicle platform is located at the top of the main frame, the horizontally moving vehicle platform is moved away from the vertically moving vehicle platform, and the vertically moving vehicle platform is moved onto the base; or,

[0018] If the vehicle to be charged is parked on the vertically moving vehicle platform and the vertically moving vehicle platform is located on the base, the vertically moving vehicle platform is moved to the top of the main frame, and the horizontally moving vehicle platform is moved to the bottom of the vertically moving vehicle platform.

[0019] The electric vehicle automatic charging method provided by this invention can control the electric vehicle automatic charging device to move in coordination with the vehicle carrier during the charging process. After charging is completed, the charging gun can be automatically de-energized and returned to its original position. In conjunction with the movement and transfer of the vehicle carrier, the charging gun is not occupied after the vehicle is fully charged, and the charging space in mechanical multi-level parking spaces is not occupied after the vehicle is fully charged.

[0020] The aforementioned automatic charging method for electric vehicles includes a charging robotic arm comprising a first rotary drive joint, a drive telescopic rod, and a second rotary drive joint. One end of the drive telescopic rod is mounted on a track moving mechanism via the first rotary drive joint, and the charging gun head is mounted on the other end of the drive telescopic rod via the second rotary drive joint. Furthermore, the charging track has a structure that allows the track moving mechanism to move in both horizontal and vertical directions.

[0021] The control module is electrically connected to the track moving mechanism, the first rotary drive joint, the drive telescopic rod, the second rotary drive joint, the horizontal moving unit, and the vertical moving unit. The first rotary drive joint and the second rotary drive joint each include multiple rotating mechanisms, and the drive telescopic rod includes multiple connecting rods.

[0022] In the aforementioned automatic charging method for electric vehicles, the rotation mechanism in the first rotary drive joint further includes:

[0023] The first rotating mechanism is mounted on the track moving mechanism;

[0024] The second rotating mechanism is mounted on the first rotating mechanism;

[0025] The connecting rod further includes:

[0026] The first connecting rod, with the end of the first connecting rod away from the charging gun head, is mounted on the second rotating mechanism;

[0027] The second connecting rod is movably mounted on the first connecting rod via the first transmission mechanism;

[0028] The third connecting rod is movably mounted on the second connecting rod via the second transmission mechanism; and,

[0029] In the second rotary drive joint, the rotation mechanism further includes:

[0030] The third rotating mechanism is located at the end of the third connecting rod that is furthest from the charging track.

[0031] The fourth rotating mechanism is mounted on the third rotating mechanism;

[0032] The fifth rotating mechanism is mounted on the fourth rotating mechanism; the charging gun head is mounted on the fifth rotating mechanism.

[0033] In the above-mentioned automatic charging method for electric vehicles, the rotation axes of the first and second rotating mechanisms are perpendicular to each other, and the rotation axes of the third, fourth, and fifth rotating mechanisms are also perpendicular to each other.

[0034] In the above-mentioned automatic charging method for electric vehicles, the first rotating mechanism, the second rotating mechanism, and the fourth rotating mechanism are electric rotating tables, and the third rotating mechanism and the fifth rotating mechanism respectively include an electric rotating table and a rotating head;

[0035] The first transmission mechanism includes a first gear and rack mechanism and a first drive element for driving the first gear and rack mechanism; and

[0036] The second transmission mechanism includes a second gear and rack mechanism and a second drive element for driving the second gear and rack mechanism.

[0037] The aforementioned automatic charging method for electric vehicles further includes a track-moving mechanism comprising a support base, at least one horizontal rotating mechanism, and / or at least one vertical rotating mechanism, wherein...

[0038] The first rotary drive joint is located on the side of the support away from the charging track, and the horizontal rotation mechanism and / or the vertical rotation mechanism are located on the side of the support close to the charging track; and,

[0039] The charging track has at least one guide rail, and a horizontal rotation mechanism and / or a vertical rotation mechanism are movably mounted on the guide rail.

[0040] In the aforementioned automatic charging method for electric vehicles, the support base is U-shaped; wherein,

[0041] The support includes a first ear plate, a second ear plate, and a connecting plate that connects the first ear plate and the second ear plate respectively;

[0042] The first rotary drive joint is mounted on the connecting plate, and the horizontal rotation mechanism and / or the vertical rotation mechanism are mounted on the first ear plate and / or the second ear plate.

[0043] The above-mentioned automatic charging method for electric vehicles has two horizontal rotating mechanisms and two vertical rotating mechanisms. The rotation axes of the horizontal and vertical rotating mechanisms are perpendicular to each other, and there are two guide rails, which are T-shaped guide rails.

[0044] The above-mentioned automatic charging method for electric vehicles includes a transverse rotating mechanism comprising a transverse gear and a third driving element for driving the transverse gear.

[0045] The vertical rotation mechanism includes a vertical gear, a fourth drive element for driving the vertical gear, and a support plate; and,

[0046] The guide rails are equipped with rack and pinion guide rails corresponding to the horizontal and vertical gears, and the charging rails have a U-shaped or elliptical structure.

[0047] The above-mentioned automatic charging method for electric vehicles further includes the following lifting and lateral movement method:

[0048] If the vehicle to be charged is parked on the vertically moving vehicle platform, the system further determines whether a new vehicle has entered the mechanical automated parking space, and controls the movement of the automatic charging device's track movement mechanism, horizontally moving vehicle platform, and / or vertically moving vehicle platform; or,

[0049] If the vehicle to be charged is parked on the horizontally moving vehicle platform, the track moving mechanism, the horizontally moving vehicle platform, and / or the vertically moving vehicle platform controlling the automatic charging device will not move.

[0050] The above-mentioned automatic charging method for electric vehicles further includes the step of determining whether a new vehicle has entered the mechanical automated parking space in order to control the movement of the track moving mechanism, the horizontally moving vehicle platform, and / or the vertically moving vehicle platform of the automatic charging device, further comprising:

[0051] If a new vehicle enters, the coordinated mobile automatic charging device's track-moving mechanism, vertically moving vehicle platform, and horizontally moving vehicle platform will activate; or...

[0052] If no new vehicle enters, the track movement mechanism, horizontal moving platform and / or vertical moving platform of the automatic charging device will not move.

[0053] The aforementioned automatic charging method for electric vehicles further includes the following cooperative movement step:

[0054] Rotate the first and second rotary drive joints of the automatic charging device to move the track moving mechanism of the automatic charging device to the first position and adjust the length of the drive telescopic rod of the automatic charging device.

[0055] Rotate the first rotary drive joint and the second rotary drive joint to move the track moving mechanism to the second position and adjust the length of the drive telescopic rod.

[0056] Rotate the first rotary drive joint and the second rotary drive joint to move the track moving mechanism to the third position and simultaneously move the vertical moving car plate vertically to adjust the length of the drive telescopic rod;

[0057] Vertically move the vehicle platform to the end position, adjust the length of the drive telescopic rod, and rotate the first and second rotary drive joints; and...

[0058] The horizontally moving vehicle platform is positioned below the vertically moving vehicle platform; wherein,

[0059] The charging gun head remains relatively stationary with respect to the vehicle being charged.

[0060] The above-mentioned automatic charging method for electric vehicles, in the step of moving the track moving mechanism to the third position and simultaneously vertically moving the vehicle platform, further includes:

[0061] The track-moving mechanism remains relatively stationary with respect to the vertically moving vehicle platform.

[0062] The automatic homing method in the aforementioned automatic charging method for electric vehicles further includes:

[0063] Based on the charging coordinates and preset spatial coordinates, determine the relative position of the charging gun and the vehicle to be charged; and,

[0064] Based on the relative position, move the charging gun head to the preset spatial coordinates.

[0065] The above-mentioned automatic charging method for electric vehicles, further includes the step of moving the charging gun head to a preset spatial coordinate according to the relative position:

[0066] The track-moving mechanism of the automatic charging device is controlled to move a first distance away from the vehicle to be charged;

[0067] Adjust the length of the drive telescopic rod of the automatic charging device to a preset standby length;

[0068] Rotating the first and second rotary drive joints of the automatic charging device and moving the track moving mechanism causes the charging gun head to move to a preset spatial coordinate.

[0069] In the above-mentioned automatic charging method for electric vehicles, the first distance is the sum of the insertion distance of the charging gun head into the vehicle to be charged and a preset safety distance; and when the charging gun head is located at a preset spatial coordinate, there is a gap between the charging gun head and the main frame.

[0070] The aforementioned automatic charging method for electric vehicles includes a horizontal moving unit comprising rollers and a guide rail. The rollers are mounted on the bottom of the horizontally moving vehicle platform, and the guide rail is mounted on a base. The rollers are driven by a drive element.

[0071] The vertical moving unit includes a traction rope and a traction machine. The traction machine is mounted on a crossbeam, and the two ends of the traction rope are connected to the traction machine and the vertical moving vehicle platform, respectively.

[0072] To better achieve the objectives of this invention, the present invention also provides an automatic charging system for electric vehicles, applied to a mechanical automated parking system, employing the automatic charging method for electric vehicles as described above. The mechanical automated parking system includes:

[0073] At least one main frame, which includes support columns, beams and a base, with the beams mounted on the base via the support columns.

[0074] A horizontally movable vehicle platform is mounted on a base in a manner that allows for horizontal movement via a horizontally movable unit.

[0075] A vertically movable vehicle platform is mounted vertically on a crossbeam via a vertically movable unit; and,

[0076] An automatic charging device is positioned on the side away from the entrance of the mechanical automated parking system, corresponding to the vertically moving vehicle platform. The automatic charging device includes a charging box with a control module, a charging track, a charging robotic arm, and a charging nozzle. The charging nozzle is mounted on the charging robotic arm and connected to the charging box via a charging cable. The charging robotic arm is movably positioned on the charging track via a track-moving mechanism. The automatic charging system includes:

[0077] The first data acquisition and analysis module is used to acquire and store the spatial coordinates of the charging gun head relative to a preset spatial coordinate as the charging coordinates and to charge the vehicle when the charging gun head of the automatic charging device is detected to be connected to the vehicle to be charged.

[0078] The first analysis and control module is used to determine the parking status of the mechanical three-dimensional parking space and to move the track moving mechanism of the automatic charging device, the horizontal moving car platform and / or the vertical moving car platform by means of lifting and lateral movement.

[0079] The second analysis and control module is used to move the charging gun head to a preset spatial coordinate using an automatic homing method when charging of the charging gun head is detected to be complete; and,

[0080] The third analysis and control module is used to further determine the parking status of the mechanical automated parking space, and to move the horizontally moving vehicle platform and / or vertically moving vehicle platform through a vehicle platform repositioning method; wherein, the vehicle platform repositioning method further includes:

[0081] If the vehicle to be charged is parked on the horizontally moving vehicle platform, move the horizontally moving vehicle platform and vertically move the vertically moving vehicle platform onto the base; or...

[0082] If the vehicle to be charged is parked on the vertically moving vehicle platform, and the vertically moving vehicle platform is located at the top of the main frame, the horizontally moving vehicle platform is moved away from the vertically moving vehicle platform, and the vertically moving vehicle platform is moved onto the base; or,

[0083] If the vehicle to be charged is parked on the vertically moving vehicle platform and the vertically moving vehicle platform is located on the base, the vertically moving vehicle platform is moved to the top of the main frame, and the horizontally moving vehicle platform is moved to the bottom of the vertically moving vehicle platform.

[0084] To better achieve the objectives of the present invention, the present invention also provides a computer-readable storage medium having a computer program stored thereon, the computer program being configured to execute the electric vehicle automatic charging method as described above when running.

[0085] To better achieve the objectives of the present invention, the present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the electric vehicle automatic charging method as described above.

[0086] To better achieve the objectives of this invention, this invention also provides a mechanical three-dimensional parking space equipped with the electric vehicle automatic charging system described above.

[0087] Of course, the electric vehicle automatic charging system, readable storage medium, electronic device, and parking space provided by this invention correspond to the above-described automatic charging method, and have the same beneficial technical effects.

[0088] To provide a better understanding of the above and other aspects of the present invention, specific embodiments are described below in conjunction with the accompanying drawings, but these are not intended to limit the scope of protection of the present invention. Attached Figure Description

[0089] Figure 1 This is a side view of an electric vehicle automatic charging device installed in a mechanical parking space, according to an embodiment of the present invention.

[0090] Figure 2 for Figure 1 A front view of a mechanical automated parking system.

[0091] Figure 3 This is a schematic diagram of the structure of an automatic charging device for electric vehicles according to an embodiment of the present invention.

[0092] Figure 4 for Figure 3 A side view of an automatic charging device for electric vehicles.

[0093] Figure 5 This is a partial enlarged view of an automatic charging device for electric vehicles according to an embodiment of the present invention.

[0094] Figure 6 for Figure 5 A magnified view of a portion of the first rotational drive joint.

[0095] Figure 7 for Figure 5 A magnified view of a portion of the second rotational drive joint.

[0096] Figure 8 This is a schematic diagram of the track moving mechanism according to an embodiment of the present invention.

[0097] Figure 9 This is a side view of a track moving mechanism according to an embodiment of the present invention.

[0098] Figure 10 This is a flowchart of an automatic charging method for electric vehicles according to an embodiment of the present invention.

[0099] Figure 11 This is a flowchart of a lifting and lateral movement method according to an embodiment of the present invention.

[0100] Figure 12 This is a schematic diagram of the track moving mechanism moving to the third position according to an embodiment of the present invention.

[0101] Figure 13 This is a side view of the track moving mechanism of an embodiment of the present invention moving to a third position.

[0102] Figure 14 This is a structural block diagram of an electric vehicle automatic charging system according to an embodiment of the present invention.

[0103] In the attached figures, the following labels are used:

[0104] 1 - Mechanical automated parking system 11 - Main frame

[0105] 111 - Support column 112 - Beam

[0106] 113 - Base; 114 - Horizontal Moving Carrier Platform

[0107] 115 - Vertically moving vehicle platform 116 - Traction rope

[0108] 12 - Wall 2 - Automatic Charging Device

[0109] 21 - Charging box 22 - Charging track

[0110] 22A, 22E - Vertical rails; 22B, 22D - Curved rails

[0111] 22C - Horizontal rail; 221 - Guide rail

[0112] 2211 - Rack and pinion guide rail; 23 - Rechargeable robotic arm

[0113] 31 - First rotary drive joint 2311 - First rotation mechanism

[0114] 2312 - Second rotating mechanism; 232 - Drive telescopic rod

[0115] 2321 - First connecting rod; 2322 - Second connecting rod

[0116] 2323 - Third connecting rod; 233 - Second rotary drive joint

[0117] 2331 - Third Rotating Mechanism; 2331A - Electric Rotary Table

[0118] 2331B - Rotating head; 2332 - Fourth rotating mechanism

[0119] 2333 - Fifth Rotating Mechanism; 2333A - Electric Rotary Table

[0120] 2333B - Rotating Head 24 - Charging Gun Head

[0121] 25 - Track moving mechanism 251 - Support seat

[0122] 2511 - First Earplate 2512 - Second Earplate

[0123] 2513 - Connecting plate; 252 - Horizontal rotating mechanism

[0124] 2521 - Transverse gear; 2522 - Third drive element

[0125] 253 - Vertical Rotation Mechanism 2531 - Vertical Gear

[0126] 2532 - Fourth drive element; 2533 - Support plate

[0127] 3 - Vehicles waiting to be charged

[0128] S1 ~ S4, S21 ~ S22, S211 ~ S212 - Steps of the automatic charging method for electric vehicles

[0129] P1 - First position P2 - Second position

[0130] P3 - Third Position 100 - Automatic Charging System for Electric Vehicles

[0131] 101 - First Data Acquisition and Analysis Module; 102 - First Analysis and Control Module

[0132] 103 - Second Analysis and Control Module 104 - Third Analysis and Control Module Detailed Implementation

[0133] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that references to "an embodiment," "embodiment," "example embodiment," etc., in the specification refer to the described embodiment including specific features, structures, or characteristics, but not necessarily including these specific features, structures, or characteristics. Furthermore, such expressions do not refer to the same embodiment. Moreover, when describing specific features, structures, or characteristics in conjunction with embodiments, whether or not explicitly described, it is indicated that incorporating such features, structures, or characteristics into other embodiments is within the knowledge scope of those skilled in the art.

[0134] It should be noted that in this specification, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Certain terms are used in the specification and subsequent claims to refer to specific modules, components, or parts. Those skilled in the art will understand that users or manufacturers may use different names or terms to refer to the same module, component, or part. This specification and subsequent claims do not distinguish modules, components, or parts by differences in name, but rather by differences in function. The terms "comprising" and "including" used throughout the specification and subsequent claims are open-ended and should be interpreted as "including but not limited to." Furthermore, the term "connection" here includes any direct and indirect electrical connection means. Indirect electrical connection means include connections via other means.

[0135] Furthermore, in the following description and claims, numerous terms will be referenced, which should be defined as having the following meanings. The singular forms “a” and “the” include plural referents, unless the context clearly specifies otherwise. “Optional” or “optionally” indicates that an event or situation subsequently described may or may not occur, and the description includes both the scenario where the event occurs and the scenario where the event does not occur.

[0136] The core of this invention is to provide an automatic charging device, method, system, electronic device, and parking space for electric vehicles. During the charging process, it can move in coordination with the movement and transfer of the vehicle carrier platform. After charging is completed, it can automatically disconnect the power and return the charging gun to its original position. In conjunction with the movement and transfer of the vehicle carrier platform, it avoids the problem that the charging gun is still occupied after the vehicle is fully charged, as well as the problem that the charging space of a mechanical multi-level parking space is still occupied after the vehicle is fully charged.

[0137] Please see Figures 1 to 5 , Figure 1This is a schematic diagram of an electric vehicle automatic charging device 2 installed in a mechanical multi-level parking space 1 according to an embodiment of the present invention. Figure 2 for Figure 1 A front view of a mechanical automated parking system. Figure 3 This is a schematic diagram of the structure of an automatic charging device 2 for electric vehicles according to an embodiment of the present invention. Figure 4 for Figure 3 Side view of the electric vehicle automatic charging device 2. Figure 5 This is a partial enlarged view of an electric vehicle automatic charging device 2 according to an embodiment of the present invention.

[0138] The automatic charging device 2 for electric vehicles provided by this invention is applied to a mechanical multi-level parking space 1. The multi-level parking space 1 includes: at least one main frame 11, which further includes a support column 111, a crossbeam 112, and a base 113. The crossbeam 112 is positioned above the base 113 via the support column 111; a horizontally movable vehicle platform 114, which is horizontally movable on the base 113 via a horizontal moving unit; and a vertically movable vehicle platform 115, which is vertically movable on the crossbeam 112 via a vertical moving unit. The automatic charging device 2 is positioned on the side away from the entrance of the mechanical multi-level parking space 1, corresponding to the vertically movable vehicle platform 115. The automatic charging device 2 includes a charging box 21 with a control module, a charging track 22, a charging robotic arm 23, and a charging gun head 24. The charging gun head 24 is mounted on the charging robotic arm 23 and connected to the charging box 21 via a charging cable (not shown). The charging robotic arm 23 is movably positioned on the charging track 22 via a track moving mechanism 25.

[0139] The charging robotic arm 23 includes a first rotary drive joint 231, a drive telescopic rod 232, and a second rotary drive joint 233. One end of the drive telescopic rod 232 is mounted on the track moving mechanism 25 via the first rotary drive joint 231, and the charging gun head 24 is mounted on the other end of the drive telescopic rod 232 via the second rotary drive joint 233. The charging track 22 has a structure that allows the track moving mechanism 25 to move horizontally and vertically. The control module is electrically connected to the track moving mechanism 25, the first rotary drive joint 231, the drive telescopic rod 232, the second rotary drive joint 233, the horizontal moving unit, and the vertical moving unit.

[0140] In a preferred embodiment, the horizontal moving unit includes rollers and guide rails. The rollers are mounted on the bottom of the horizontal moving vehicle platform 114, and the guide rails are mounted on the base 113. The rollers are driven by a driving element. The vertical moving unit includes a traction rope 116 and a traction machine. The traction machine is mounted on the crossbeam 112, and the two ends of the traction rope 116 are connected to the traction machine and the vertical moving vehicle platform 115, respectively.

[0141] In one specific embodiment, a mechanical automated parking system 1 is equipped with an automatic charging device 2. The mechanical automated parking system 1 includes a main frame 11. The main frame 11 consists of support columns 111, crossbeams 112, and a base 113. The base 113 is placed on the ground, and four support columns 111 are vertically arranged on the ground and arranged around the base 113. Two crossbeams 112 are arranged above the base 113 via the support columns 111 and are located on both sides of the automatic charging device 2. The internal space of the main frame 11 forms the parking spaces of the mechanical automated parking system 1. According to the transfer of the horizontally moving vehicle platform 114 and the vertically moving vehicle platform 115, the upper and lower layers of the main frame 11 can serve as upper and lower parking spaces, respectively. The mechanical automated parking system 1 also includes a horizontally movable vehicle carrier 114 and a vertically movable vehicle carrier 115. The horizontally movable vehicle carrier 114 can move horizontally along the X-axis direction on a guide rail (not shown) on a base 113 via rollers (not shown) mounted at its bottom, thereby moving electric vehicles into or out of the lower parking space of the mechanical automated parking system 1. The vertically movable vehicle carrier 115 can move vertically along the Y-axis direction within the main frame 11 via a traction machine (not shown) mounted on a crossbeam 112, driving a traction rope 116, thereby lifting or lowering electric vehicles onto the base 113 for transfer between the upper and lower parking spaces of the mechanical automated parking system 1. An automatic charging device 2 is installed on a wall 12 away from the entrance of the mechanical automated parking system 1 and is positioned corresponding to the vertically movable vehicle carrier 115 in the X-axis direction. Figure 1 and Figure 2 As shown, the entrance of the mechanical automated parking space 1 is located in the positive direction of the Z-axis, and the automatic charging device 2 is located in the negative direction of the Z-axis relative to the entrance of the mechanical automated parking space 1. However, the automatic charging device 2 can also be located around the main frame 11, and the present invention is not limited thereto. It should be noted that the driving element of the horizontal moving unit is a servo motor, the number of traction motors of the vertical moving unit is two and they are respectively installed on two crossbeams 112, the number of traction ropes 116 is four and they are respectively located at the four corners of the vertical moving vehicle platform 115, and the traction ropes 116 are steel wire ropes. The automatic charging device 2 can also be installed on the ground through a fixed bracket. The main frame 11 of the mechanical automated parking space 1 can also be more, and the number of automatic charging devices 2 can also be multiple and set corresponding to the main frame 11. The present invention is not limited thereto.

[0142] In this embodiment of the invention, by setting up a charging track 22, a charging robotic arm 23, and a track moving mechanism 25, and by controlling the track moving mechanism 25, the charging robotic arm 23, the horizontal moving unit, and the vertical moving unit to work together through a control module, the charging gun head 24 can move vertically along with the vertically moving vehicle platform 115 during vehicle charging, ensuring that the charging gun head 24 remains inserted into the vehicle for charging. Furthermore, when the vehicle finishes charging, the charging gun head 24 is automatically de-energized and returned to its original position via the charging robotic arm 23 and the track moving mechanism 25, preventing the charging gun head 24 from being occupied for extended periods.

[0143] In a preferred embodiment, the first rotary drive joint 231 and the second rotary drive joint 233 each include a plurality of rotation mechanisms, and the drive telescopic rod 232 includes a plurality of connecting rods.

[0144] Furthermore, in the first rotary drive joint 231, the rotation mechanism further includes a first rotation mechanism 2311 disposed on the track moving mechanism 25, and a second rotation mechanism 2312 disposed on the first rotation mechanism 2311. The connecting rod further includes a first connecting rod 2321, one end of which is disposed away from the charging gun head 24 and is disposed on the second rotation mechanism 2312; a second connecting rod 2322, which is movably disposed on the first connecting rod 2321 via a first transmission mechanism (not shown); and a third connecting rod 2323, which is movably disposed on the second connecting rod 2322 via a second transmission mechanism (not shown). Furthermore, in the second rotary drive joint 233, the rotation mechanism further includes a third rotation mechanism 2331, which is disposed at the end of the third connecting rod 2323 away from the charging track 22; a fourth rotation mechanism 2332, which is disposed on the third rotation mechanism 2331; and a fifth rotation mechanism 2333, which is disposed on the fourth rotation mechanism 2332, wherein the charging gun head 24 is disposed on the fifth rotation mechanism 2333.

[0145] Please refer to the following: Figure 6 and Figure 7 , Figure 6 for Figure 5 A partial enlarged view of the first rotary drive joint 231. Figure 7 for Figure 5A partially enlarged view of the second rotary drive joint 233. In one specific embodiment, the first rotary drive joint 231 includes a first rotation mechanism 2311 and a second rotation mechanism 2312. The first rotation mechanism 2311 is mounted on the track moving mechanism 25 and can rotate about the Z-axis. There are two second rotation mechanisms 2312, which are mounted on the first rotation mechanism 2311 and can rotate about the X-axis. The rotation axes of the first rotation mechanism 2311 and the second rotation mechanism 2312 are perpendicular to each other. The first rotation mechanism 2311 and the second rotation mechanism 2312 are electric rotary tables, but the present invention is not limited thereto.

[0146] The connecting rods include a first connecting rod 2321, a second connecting rod 2322, and a third connecting rod 2323. The end of the first connecting rod 2321 furthest from the charging gun head 24 is positioned between two second rotating mechanisms 2312. The second rotating mechanisms 2312 rotate the first connecting rod 2321, causing the charging robotic arm 23 to rotate around the X-axis. The second connecting rod 2322 is mounted on the inner wall of the first connecting rod 2321 via a first transmission mechanism (not shown), and the third connecting rod 2323 is mounted on the inner wall of the second connecting rod 2322 via a second transmission mechanism (not shown). Specifically, the first transmission mechanism includes a first gear and rack mechanism and a first driving element for driving the first gear and rack mechanism. The rack of the first gear and rack mechanism is mounted on the inner wall of the first connecting rod 2321, and the gear of the first gear and rack mechanism is mounted on the second connecting rod 2322 corresponding to the rack and engaging with the rack. The first driving element drives the gear to move on the rack, causing the second connecting rod 2322 to extend or retract from the first connecting rod 2321. The second transmission mechanism includes a second gear and rack mechanism and a second driving element for driving the second gear and rack mechanism. The rack of the second gear and rack mechanism is disposed on the inner wall of the second connecting rod 2322, and the gear of the second gear and rack mechanism is disposed on the third connecting rod 2323 corresponding to the rack and engaging with the rack. The second driving element drives the gear to move on the rack, causing the third connecting rod 2323 to extend or retract from the second connecting rod 2322. The first and second driving elements are servo motors, but the invention is not limited thereto.

[0147] The second rotary drive joint 233 includes a third rotary mechanism 2331, a fourth rotary mechanism 2332, and a fifth rotary mechanism 2333. The third rotary mechanism 2331 includes an electric rotary table 2331A and a rotating head 2331B. The electric rotary table 2331A is located at the end of the third connecting rod 2323 away from the charging track 22. The rotating head 2331B is located on the electric rotary table 2331A, and the electric rotary table 2331A can drive the rotating head 2331B to rotate around the Z-axis. The fourth rotary mechanism 2332 is located on one side of the rotating head 2331B and is connected to the fifth rotary mechanism 2333. The fourth rotary mechanism 2332 is an electric rotary table and can drive the fifth rotary mechanism 2333 to rotate around the X-axis. The fifth rotating mechanism 2333 includes an electric rotary table 2333A and a rotating head 2333B. The rotating head 2333B is connected to the fourth rotating mechanism 2332. The electric rotary table 2333A is located at the bottom of the rotating head 2333B and connected to the charging gun head 24. The electric rotary table 2333A can drive the charging gun head 24 to rotate around the Y-axis. The rotation axes of the third rotating mechanism 2331, the fourth rotating mechanism 2332, and the fifth rotating mechanism 2333 are perpendicular to each other. The control module is electrically connected to the electric rotary tables of the multiple rotating mechanisms, as well as the first drive element and the second drive element, to control the rotation of the first rotating drive joint 231 and the second rotating drive joint 233, and to drive the extension and retraction of the telescopic rod 232. It should be noted that the number of rotating mechanisms and connecting rods in the first rotary drive joint 231, the second rotary drive joint 233, and the drive telescopic rod 232 can be more or less. The first rotating mechanism 2311, the second rotating mechanism 2312, the third rotating mechanism 2331, the fourth rotating mechanism 2332, and the fifth rotating mechanism 2333 can also be other mechanisms that can achieve rotation. The first transmission mechanism and the second transmission mechanism can also be other mechanisms that can achieve transmission. This invention is not limited to these.

[0148] In this embodiment of the invention, by controlling the rotation of the first rotary drive joint 231 and the second rotary drive joint 233, as well as the extension and retraction of the telescopic rod 232, the relative position and angle of the charging gun head 24 with the vehicle can be adjusted when the track moving mechanism 25 moves with the vertically moving vehicle platform 115, ensuring that the charging gun head is always inserted for charging. Furthermore, when the vehicle finishes charging, the charging gun head 24 automatically disconnects power and returns to its original position through the rotation of the first rotary drive joint 231 and the second rotary drive joint 233, and the extension and retraction of the telescopic rod 232, preventing the charging gun head 24 from being occupied for extended periods.

[0149] In a preferred embodiment, the track moving mechanism 25 further includes a support 251, at least one horizontal rotating mechanism 252, and / or at least one vertical rotating mechanism 253. A first rotary drive joint 231 is disposed on the side of the support 251 away from the charging track 22, and the horizontal rotating mechanism 252 and / or the vertical rotating mechanism 253 are disposed on the side of the support 251 close to the charging track 22. The charging track 22 has at least one guide rail 221, and the horizontal rotating mechanism 252 and / or the vertical rotating mechanism 253 are movably disposed on the guide rail 221.

[0150] Furthermore, the support 251 is U-shaped and includes a first ear plate 2511, a second ear plate 2512, and a connecting plate 2513 that connects the first ear plate 2511 and the second ear plate 2512 respectively. A first rotary drive joint 231 is disposed on the connecting plate 2513, and a horizontal rotation mechanism 252 and / or a vertical rotation mechanism 253 are disposed on the first ear plate 2511 and / or the second ear plate 2512.

[0151] Please refer to the following: Figure 8 and Figure 9 , Figure 8 This is a schematic diagram of the structure of the track moving mechanism 25 according to an embodiment of the present invention. Figure 9 This is a side view of a track moving mechanism 25 according to an embodiment of the present invention.

[0152] In one specific embodiment, the top and bottom of the charging track 22 are respectively provided with guide rails 221 for the track moving mechanism 25 to move. The guide rails 221 are T-shaped guide rails, and U-shaped support seats 251 are arranged on the charging track 221 corresponding to the guide rails 221. Specifically, the first ear plate 2511 is located above the top guide rail 221 of the charging track 22, and the second ear plate 2512 is located below the bottom guide rail 221 of the charging track 22. The connecting plate 2513 is located on the side of the charging track 22 near the charging robotic arm 23. The bottom of the first ear plate 2511 is provided with a horizontal rotating mechanism 252 and a vertical rotating mechanism 253, which are movably installed in the top guide rail 221. In addition, a horizontal rotating mechanism 252 and a vertical rotating mechanism 253 are provided on the top of the second ear plate 2512. The horizontal rotating mechanism 252 and the vertical rotating mechanism 253 are movably mounted in the guide rail 221 at the bottom. The first rotary drive joint 231 is located on the side of the connecting plate 2513 away from the charging track 22. Furthermore, the rotation axes of the horizontal rotating mechanism 252 and the vertical rotating mechanism 253 are perpendicular to each other. The horizontal rotating mechanism 252 can rotate around the Y-axis, and the vertical rotating mechanism 253 can rotate around the Z-axis, thereby causing the track moving mechanism 25 to move horizontally or vertically along the guide rail 221 and driving the mechanical charging arm 23 to move. It should be noted that the guide rail 221 can also be a concave guide rail or other structures that enable the moving mechanism 25 to move, and the support 251 can also be a U-shaped structure or a rectangular structure. The number of horizontal rotating mechanisms 252 and vertical rotating mechanisms 253 can also be more or less. Specifically, the first ear plate 2511 is provided with only one horizontal rotation mechanism 252, and the second ear plate 2512 is not provided with a horizontal rotation mechanism 252 and a vertical rotation mechanism 253; the first ear plate 2511 is not provided with a horizontal rotation mechanism 252 and a vertical rotation mechanism 253, and the second ear plate 2512 is provided with only one vertical rotation mechanism 253; the first ear plate 2511 is provided with two horizontal rotation mechanisms 252, and the second ear plate 2512 is provided with two vertical rotation mechanisms 253. This invention is not limited to these.

[0153] In this embodiment of the invention, by setting a horizontal rotation mechanism 252 and a vertical rotation mechanism 253, the track moving mechanism 25 can move horizontally and vertically on the charging track 22, thereby driving the charging robotic arm 23 to move during car charging so that the charging gun head 24 remains relatively stationary with respect to the vehicle, and driving the charging robotic arm 23 to return to its original position after the car is fully charged.

[0154] In a preferred embodiment, the horizontal rotation mechanism 252 includes a horizontal gear 2521 and a third drive element 2522 for driving the horizontal gear 2521. The vertical rotation mechanism 253 includes a vertical gear 2531, a fourth drive element 2532 for driving the vertical gear 2531, and a support plate 2533. The guide rail 221 is provided with a rack guide rail 2211 corresponding to the horizontal gear 2521 and the vertical gear 2531, and the charging track 22 has a U-shaped or elliptical structure.

[0155] Please refer to this again. Figure 3 , Figure 8 and Figure 9 In one specific embodiment, the horizontal gear 2521 is a horizontally arranged gear, and the third drive element 2522 is a servo motor; the vertical gear 2531 is a vertically arranged gear and is disposed between two support plates 2533, and the fourth drive element 2532 is a servo motor equipped with a bevel gear. Furthermore, the charging track 22 is U-shaped and further includes vertical tracks 22A and 22E, curved tracks 22B and 22D, and a horizontal track 22C. The control module is electrically connected to the third drive element 2522 and the fourth drive element 2532 to control the track moving mechanism 25 to move horizontally or vertically on the U-shaped charging track 22. The structures of the third drive element 2522, the fourth drive element 2532, and the charging track 22 can also be other than those described herein, and the present invention is not limited thereto.

[0156] The electric vehicle automatic charging device 2 provided by this invention enables the automatic charging device 2 to move horizontally and vertically by setting a charging track 22 and a track moving mechanism 25. Furthermore, by setting a first rotary drive joint 231 and a second rotary drive joint 233 with multiple rotating mechanisms, and a drive telescopic rod 232 with multiple connecting rods, the position and angle of the charging gun head 24 can be adjusted. In contrast, existing charging devices are not suitable for the structure of mechanical multi-level parking spaces, and cannot achieve coordinated movement of the charging device while maintaining charging as the vehicle platform moves. Therefore, the electric vehicle automatic charging device of this invention can move in coordination with the movement and transfer of the vehicle platform during the charging process, and can automatically disconnect and return the charging gun after charging is completed. Simultaneously, by coordinating with the movement and transfer of the vehicle platform, it avoids the problem of the charging gun remaining occupied after the vehicle is fully charged, and the problem of charging spaces in mechanical multi-level parking spaces remaining occupied after the vehicle is fully charged.

[0157] Please see Figure 10 , Figure 10This is a flowchart of an automatic charging method for electric vehicles according to an embodiment of the present invention. The present invention also provides an automatic charging method for electric vehicles applied to a mechanical multi-level parking space 1. The automatic charging method for electric vehicles is implemented using an automatic charging device 2 as described above. The multi-level parking space 1 includes: at least one main frame 11, the main frame 11 further including support columns 111, crossbeams 112, and a base 113. The crossbeams 112 are disposed above the base 113 via the support columns 111; a horizontally movable vehicle carrier 114, which is horizontally movable on the base 113 via a horizontally movable unit; and a vertically movable vehicle carrier 115, which is vertically movable on the crossbeams 112 via a vertically movable unit. The automatic charging device 2 is disposed on the side away from the entrance of the mechanical multi-level parking space 1, corresponding to the vertically movable vehicle carrier 115.

[0158] In a preferred embodiment, the horizontal moving unit includes rollers and guide rails. The rollers are mounted on the bottom of the horizontal moving vehicle platform 114, and the guide rails are mounted on the base 113. The rollers are driven by a driving element. The vertical moving unit includes a traction rope 116 and a traction machine. The traction machine is mounted on the crossbeam 112, and both ends of the traction rope 116 are connected to the traction machine and the vertical moving vehicle platform 115, respectively. The structure, specific implementation, and beneficial technical effects of the mechanical multi-level parking space 1 and the electric vehicle automatic charging device 2 are as described in the electric vehicle automatic charging device 2 section above, and will not be repeated here.

[0159] The automatic charging method for electric vehicles specifically includes the following steps:

[0160] S1: When the charging gun head 24 of the automatic charging device 2 is detected to be connected to the vehicle 3 to be charged, the spatial coordinates of the charging gun head 24 relative to a preset spatial coordinate are acquired and stored as the charging coordinates and charging is performed.

[0161] S2: Determine the parking status of the mechanical multi-level parking space 1, and move the automatic charging device 2, the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115 by lifting and traversing.

[0162] In one specific embodiment, such as Figure 3 and Figure 4As shown, the preset spatial coordinates of the charging gun head 24 are that the charging gun head 24 is located to the right of the transverse track 22C of the charging track 22, and directly below the charging track 22. When the user pulls the charging gun head 24 to connect to the vehicle 3 to be charged, the sensor installed on the vehicle 3 to be charged can detect that the charging gun head 24 has been connected. At the same time, the spatial coordinates of the charging gun head 24 relative to the preset spatial coordinates are obtained by the position sensor installed on the charging gun head 24, and the spatial coordinates are stored as the charging coordinates for charging. Depending on the parking state of the vehicle 3 to be charged on the vertical moving vehicle platform 115 or the horizontal moving vehicle platform 114, the automatic charging device 2, the horizontal moving vehicle platform 114 and / or the vertical moving vehicle platform 115 are further controlled to move in coordination. The preset spatial coordinates can also be other positions, and the present invention is not limited thereto.

[0163] In a preferred embodiment, step S2 further includes:

[0164] S21: If the vehicle 3 to be charged is parked on the vertically moving vehicle platform 115, further determine whether a new vehicle has entered the mechanical parking space 1, and control the movement of the automatic charging device 2, the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115; or,

[0165] S22: If the vehicle 3 to be charged is parked on the horizontally moving vehicle platform 114, control the automatic charging device 2, the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115 not to move.

[0166] Please see Figure 11 , Figure 11This is a flowchart of a lifting and lateral movement method according to an embodiment of the present invention. In a specific embodiment, if the vehicle 3 to be charged is parked on the vertically moving vehicle carrier 115 for charging, the positional relationship between the vertically moving vehicle carrier 115 and the horizontally moving vehicle carrier 114 in the mechanical parking space 1 is as follows: the horizontally moving vehicle carrier 114 has been moved out of the lower level of the mechanical parking space 1, and the vertically moving vehicle carrier 115 has been lowered to the base 113 and is located in the lower level of the mechanical parking space 1. At this time, it is necessary to further determine whether a new vehicle has entered and parked in the mechanical parking space 1, so as to control the automatic charging device 2, the horizontally moving vehicle carrier 114 and / or the vertically moving vehicle carrier 115 to move or not move. If the vehicle 3 to be charged is parked on the horizontally moving vehicle platform 114 for charging, the positional relationship between the vertically moving vehicle platform 115 and the horizontally moving vehicle platform 114 in the mechanical multi-level parking space 1 is as follows: the vertically moving vehicle platform 115 has risen to the upper level of the main frame 11, and the horizontally moving vehicle platform 114 is located in the lower level within the main frame 11. At this time, the automatic charging device 2, the horizontally moving vehicle platform 114, and the vertically moving vehicle platform 115 remain stationary until charging is complete. The determination of whether a new vehicle has entered is implemented by sensors installed on the main frame 11; however, this invention is not limited to this method.

[0167] In this embodiment of the invention, when the vehicle 3 to be charged is charging, the automatic charging device 2, the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115 are further controlled to move or not move according to the parking position of the vehicle 3 to be charged and the usage of the mechanical multi-level parking space 1. Then, the automatic charging method is implemented according to the actual situation of the mechanical multi-level parking space 1, realizing the intelligent implementation of the automatic charging method, so that the automatic charging method of the present invention is applicable to a variety of mechanical multi-level parking spaces with different parking states.

[0168] In a preferred embodiment, step S21, which involves further determining whether a new vehicle has entered the mechanical automated parking space 1, and controlling the movement of the automatic charging device 2, the horizontally moving vehicle platform 114, and / or the vertically moving vehicle platform 115, further includes:

[0169] S211: If a new vehicle enters, the automatic charging device 2, the vertically moving vehicle platform 115, and the horizontally moving vehicle platform 114 will coordinate; or...

[0170] S212: If no new vehicle enters, control the automatic charging device 2, the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115 to remain stationary.

[0171] Furthermore, in step S211, the cooperative movement step further includes:

[0172] Rotate the first rotary drive joint 231 and the second rotary drive joint 233 of the automatic charging device 2, move the track moving mechanism 25 of the automatic charging device 2 to the first position P1, and adjust the length of the drive telescopic rod 232 of the automatic charging device 2.

[0173] Rotate the first rotary drive joint 231 and the second rotary drive joint 233 to move the track moving mechanism 25 to the second position P2 and adjust the length of the drive telescopic rod 232.

[0174] Rotate the first rotary drive joint 231 and the second rotary drive joint 233, move the track moving mechanism 25 to the third position P3 and simultaneously move the vertical moving vehicle plate 115 vertically, and adjust the length of the drive telescopic rod 232.

[0175] Vertically move the vehicle platform 115 to the end position, adjust the length of the drive telescopic rod 232, and rotate the first rotary drive joint 231 and the second rotary drive joint 233; and...

[0176] The horizontally moving vehicle platform 114 is moved to below the vertically moving vehicle platform 115; wherein the charging gun head 24 remains relatively stationary with respect to the vehicle 3 to be charged.

[0177] In one specific embodiment, when the vehicle 3 to be charged is parked on the vertically moving vehicle platform 115 for charging and no new vehicle enters the mechanical parking space 1, the automatic charging device 2, the horizontally moving vehicle platform 114, and the vertically moving vehicle platform 115 are kept stationary until charging is complete. Furthermore, when the vehicle 3 to be charged is parked on the vertically moving vehicle platform 115 for charging and a new vehicle enters the mechanical parking space 1, to fully utilize both the upper and lower parking spaces of the mechanical parking space 1, the vertically moving vehicle platform 115 needs to be raised to the upper level of the main frame 11 for parking, while the horizontally moving vehicle platform 114 is moved into the lower level within the main frame 11 for the new vehicle to enter and park. Simultaneously, the automatic charging device 2 is controlled to move in coordination, so that multiple vehicles can be parked in the mechanical parking space 1 while the vehicle 3 to be charged is being charged.

[0178] Specifically, when a new vehicle is detected entering, the first rotating mechanism 2311 and the third rotating mechanism 2331 are first controlled to rotate in opposite directions to make the second rotating mechanism 2312 parallel to the ground, that is, the rotation axis of the second rotating mechanism 2312 is perpendicular to the ground. The track moving mechanism 25 is then controlled to move to the first position P1, while the second rotating mechanism 2312 and the fifth rotating mechanism 2333 are controlled to rotate in opposite directions and the second connecting rod 2322 is extended to compensate for the distance difference, so that the charging gun head 24 and the vehicle 3 to be charged remain relatively stationary during this process, and the horizontal moving vehicle platform 114 and the vertical moving vehicle platform 115 remain stationary. The first position P1 is the connection point of the transverse track 22C and the curved track 22D of the charging track 22, but the present invention is not limited thereto.

[0179] After the track moving mechanism 25 moves to the first position P1, the first rotating mechanism 2311 and the third rotating mechanism 2331 are controlled to rotate in opposite directions to keep the second rotating mechanism 2312 parallel to the ground. The track moving mechanism 25 is then moved to the second position P2, while the second rotating mechanism 2312 and the fifth rotating mechanism 2333 are controlled to rotate in opposite directions, the fourth rotating mechanism 2332 is controlled to rotate in the direction of the vehicle 3 to be charged, and the second connecting rod 2322 is controlled to extend to compensate for the distance difference, keeping the charging gun head 24 and the vehicle 3 to be charged relatively stationary during this process. The horizontally moving vehicle platform 114 and the vertically moving vehicle platform 115 remain stationary. The second position P2 is the connection point between the curved rail 22D and the vertical rail 22E of the charging track 22, but the invention is not limited to this.

[0180] After the track moving mechanism 25 moves to the second position P2, the first rotating mechanism 2311 and the third rotating mechanism 2331 are first controlled to rotate in opposite directions until the second rotating mechanism 2312 is perpendicular to the ground, that is, the rotation axis of the second rotating mechanism 2312 is parallel to the ground. During this process, the horizontal moving vehicle platform 114 and the vertical moving vehicle platform 115 are kept stationary. Then, the vertical moving vehicle platform 115 is controlled to rise and the track moving mechanism 25 is controlled to move to the third position P3. At the same time, the second rotating mechanism 2312 and the fourth rotating mechanism 2332 are controlled to rotate in opposite directions, and the second connecting rod 2322 is controlled to extend or retract in coordination to compensate for the distance difference caused by the different moving speeds or different starting times of the vertical moving vehicle platform 115 and the track moving mechanism 25. This keeps the charging gun head 24 and the vehicle 3 to be charged relatively stationary during this process, while the horizontal moving vehicle platform 114 remains stationary. In another specific embodiment, the track moving mechanism 25 and the vertical moving vehicle platform 115 remain relatively stationary during the upward movement. The third position P3 is the highest point that the track moving mechanism 25 can move to on the vertical track 22E of the charging track 22, but the present invention is not limited thereto.

[0181] Please refer to the following: Figure 12 and Figure 13 , Figure 12 This is a schematic diagram of the track moving mechanism 25 moving to the third position P3 according to an embodiment of the present invention. Figure 13 This is a side view of the track moving mechanism 25 moving to the third position P3 according to an embodiment of the present invention. After the track moving mechanism 25 moves to the third position P3, it stops moving upward and controls the vertical moving vehicle platform 115 to continue moving upward to the end position. At the same time, the second rotating mechanism 2312 and the fourth rotating mechanism 2332 are controlled to rotate in opposite directions, and the second connecting rod 2322 and the third connecting rod 2323 are controlled to extend in coordination to compensate for the distance difference caused by the continued upward movement of the vertical moving vehicle platform 115, so that the charging gun head 24 and the vehicle 3 to be charged remain relatively stationary during this process, and the horizontal moving vehicle platform 114 remains stationary. The end position is the highest point that the vertical moving vehicle platform 115 can rise to in the main frame 11, but the present invention is not limited thereto. After the vertically moving vehicle platform 115 moves to the end position, the horizontally moving vehicle platform 114 is controlled to move into the main frame 11 and below the vertically moving vehicle platform 115, so that the horizontally moving vehicle platform 114 is in the lower parking space.

[0182] In this embodiment of the invention, when the vehicle 3 to be charged is parked on the vertically moving vehicle platform 115 and a new vehicle needs to park, the vertically moving vehicle platform 115 needs to be moved to the upper parking space to free up the lower parking space for the new vehicle. Therefore, while the vehicle 3 to be charged is charging and moving upward with the vertically moving vehicle platform 115, the automatic charging device 2 is controlled to move horizontally or vertically on the charging track 22, and multiple rotating mechanisms of the charging robotic arm 23 are controlled to rotate in coordination, as well as multiple connecting rods to extend and retract in coordination. This keeps the charging gun head 24 and the vehicle 3 to be charged relatively stationary during this process, until the vertically moving vehicle platform 115 moves to the upper parking space, and then the horizontally moving vehicle platform 114 moves into the lower parking space for the new vehicle to park. In this way, while the vehicle platform of the mechanical parking space 1 is moving, the vehicle 3 to be charged can continue to be charged, thereby improving charging efficiency and increasing the utilization rate of the mechanical parking space 1.

[0183] As a preferred embodiment, the automatic charging method for electric vehicles further includes:

[0184] S3: When the charging gun head 24 is detected to be fully charged, the charging gun head 24 is moved to the preset spatial coordinates by an automatic return method.

[0185] In a preferred embodiment, step S3 further includes:

[0186] S31: Determine the relative position of the charging gun head 24 and the vehicle 3 to be charged based on the charging coordinates and preset spatial coordinates; and,

[0187] S32: Move the charging gun head 24 to the preset spatial coordinates according to the relative position.

[0188] Furthermore, in step S32, the step of moving the charging gun head 24 to the preset spatial coordinates according to the relative position further includes:

[0189] S321: Control the track moving mechanism 25 of the automatic charging device 2 to move a first distance away from the vehicle 3 to be charged;

[0190] S322: Adjust the length of the drive telescopic rod 232 of the automatic charging device 2 to a preset standby length;

[0191] S323: Rotate the first rotary drive joint 231 and the second rotary drive joint 233 of the automatic charging device 2, and move the track moving mechanism 25 to move the charging gun head 24 to the preset spatial coordinates.

[0192] In one specific embodiment, such as Figure 3 and Figure 4As shown, the preset spatial coordinates of the charging gun head 24 are that the charging gun head 24 is located on the right side of the transverse track 22C of the charging track 22, and directly below the charging track 22. When the sensor installed on the vehicle 3 to be charged detects that the charging gun head 24 has completed charging, by comparing the charging coordinates and the preset spatial coordinates in the X-axis direction, it can be determined whether the charging gun head 24 is charging on the right side of the vehicle 3 to be charged, or charging on the left side of the vehicle 3 to be charged. If the charging gun head 24 is on the right side of the vehicle 3 to be charged, the track moving mechanism 25 is controlled to move a first distance in the positive X-axis direction; if the charging gun head 24 is on the left side of the vehicle to be charged, the track moving mechanism 25 is controlled to move a first distance in the negative X-axis direction. The first distance is the sum of the insertion distance of the charging gun head 24 into the vehicle 3 to be charged and a preset safety distance, wherein the insertion distance is detected by the sensor, and the preset safety distance is obtained based on big data analysis of new energy vehicles or adjusted and set as needed. This invention is not limited to this. After the track moving mechanism 25 moves a first distance, the length of the drive telescopic rod 232 is adjusted to a preset standby length, where the preset length is the length of the drive telescopic rod 232 when fully retracted, but the present invention is not limited thereto. The second rotating mechanism 2312 is rotated to make the charging robotic arm 23 rotate downwards, while the fifth rotating mechanism 2333 is rotated to make the charging gun head 24 face the ground. Then, the track moving mechanism 25 is moved to move the charging gun head 24 to a preset spatial coordinate. When the charging gun head 24 is at the preset spatial coordinate, there is a gap between the main frames 11 of the charging gun head 24 to prevent collisions and damage when the vehicle 3 to be charged leaves or a new vehicle enters.

[0193] In this embodiment of the invention, by determining the relative position of the charging gun head 24 and the vehicle 3 to be charged, and controlling the charging gun head 24 to move to a preset spatial coordinate according to the relative position, a preset first distance and a preset standby length, the charging gun head 24 is automatically de-energized and automatically returned to its original position, thus avoiding collision between the charging gun head 24 and the vehicle 3 to be charged or the main frame 11. This further improves the safety of the vehicle 3 after charging is completed, and allows the charging gun head 24 to continue to be used for charging new vehicles after it returns to its original position.

[0194] As a preferred embodiment, the automatic charging method for electric vehicles further includes:

[0195] S4: Further determine the parking status of the mechanical automated parking space 1, and move the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115 by the vehicle platform repositioning method.

[0196] Furthermore, in step S4, the method for returning the vehicle platform to its original position further includes:

[0197] S41: If the vehicle 3 to be charged is parked on the horizontally movable vehicle platform 114, move the horizontally movable vehicle platform 114 horizontally and the vertically movable vehicle platform 115 vertically onto the base 113; or...

[0198] S42: If the vehicle 3 to be charged is parked on the vertically movable vehicle platform 115, and the vertically movable vehicle platform 115 is located on top of the main frame 11, the horizontally movable vehicle platform 114 is moved away from the vertically movable vehicle platform 115, and the vertically movable vehicle platform 115 is moved vertically onto the base 113; or,

[0199] S43: If the vehicle 3 to be charged is parked on the vertically movable vehicle platform 115 and the vertically movable vehicle platform 115 is located on the base 113, the vertically movable vehicle platform 115 is moved vertically to the top of the main frame 11, and the horizontally movable vehicle platform 114 is moved horizontally to below the vertically movable vehicle platform 115.

[0200] In one specific embodiment, if the vehicle 3 to be charged is parked on the horizontally movable vehicle platform 114 after charging is completed, then the horizontally movable vehicle platform 114 and the vertically movable vehicle platform 115 do not move during the charging process. After the automatic charging device 2 moves to the preset spatial coordinates to disconnect the power and return to its original position, the horizontally movable vehicle platform 114 moves the vehicle 3 to be charged out of the lower parking space of the main frame 11, and then moves the vertically movable vehicle platform 115 to the base 113. At this time, the vertically movable vehicle platform 115 is located in the lower parking space for new vehicles to drive in, park, and charge. If the vehicle 3 to be charged is parked on the vertically movable vehicle platform 115 after charging is completed, and the vertically movable vehicle platform 115 is located in the upper layer of the main frame 11, then during the charging process, the vertically movable vehicle platform 115 has moved from the lower layer to the upper layer of the main frame 11, and the horizontally movable vehicle platform 114 has moved into the lower layer of the main frame 11 and is located below the vertically movable vehicle platform 115. After the automatic charging device 2 moves to its preset spatial coordinates, the horizontal moving vehicle platform 114 is moved horizontally out of the lower layer of the main frame 11, and then the vertical moving vehicle platform 115 is moved onto the base 113 to allow the vehicle 3 to drive out and new vehicles to enter. If the vehicle 3 to be charged is parked on the vertical moving vehicle platform 115 after charging is completed, and the vertical moving vehicle platform 115 is located on the base 113, then the horizontal moving vehicle platform 114 and the vertical moving vehicle platform 115 do not move during the charging process. After the automatic charging device 2 moves to its preset spatial coordinates, the vertical moving vehicle platform 115 is moved to the upper layer of the main frame 11, while the horizontal moving vehicle platform 114 is moved into the lower layer of the main frame 11 and located below the vertical moving vehicle platform 115. In this way, the vehicle 3 that has finished charging moves to the upper level of the main frame 11 along with the vertically moving vehicle carrier 115, while the horizontally moving vehicle carrier 114 moves to the lower parking space for new vehicles to drive in and charge.

[0201] In this embodiment of the invention, by determining the parking status of the vehicle 3 after charging is completed, different vehicle platform moving methods are used for different situations, so that the automatic charging device 2 is not occupied for a long time and the parking space of the mechanical multi-level parking space 1 is not occupied for a long time, thereby improving the utilization rate of the automatic charging device 2 and the mechanical multi-level parking space 1.

[0202] The automatic charging method for electric vehicles provided by this invention is based on the parking position of the vehicle 3 to be charged in the mechanical parking space 1. It achieves automatic power disconnection and return of the automatic charging device 2, as well as the transfer of the vehicle and parking space within the mechanical parking space 1, through coordinated control of the movement of the automatic charging device 2, the horizontally moving vehicle platform 114, and the vertically moving vehicle platform 115. In contrast, the automatic charging device 2 in the prior art is not suitable for mechanical parking spaces 1, cannot transfer the vehicle or parking space while charging, and has a high failure rate, resulting in the automatic charging device 2 or the parking space in the mechanical parking space 1 being occupied for extended periods. Therefore, the automatic charging method for electric vehicles provided by this invention can move in coordination with the movement and transfer of the vehicle platform during the charging process, and can achieve automatic power disconnection and return of the charging gun after charging is completed. Simultaneously, it coordinates with the movement and transfer of the vehicle platform, thereby avoiding the problem of the charging gun remaining occupied after the vehicle is fully charged, and the problem of the charging space in the mechanical parking space remaining occupied after the vehicle is fully charged.

[0203] Please see Figure 14 , Figure 14 This is a structural block diagram of an automatic electric vehicle charging system 100 according to an embodiment of the present invention. Another embodiment of the present invention provides an automatic electric vehicle charging system 100 applied to a mechanical multi-level parking space 1, employing the automatic electric vehicle charging method described above. The mechanical multi-level parking space 1 includes: at least one main frame 11, the main frame 11 further including support columns 111, crossbeams 112, and a base 113. The crossbeams 112 are disposed above the base 113 via the support columns 111; a horizontally movable vehicle carrier 114, horizontally movable and mounted on the base 113 via a horizontally movable unit; and a vertically movable vehicle carrier 115, vertically movable and mounted on the crossbeams 112 via a vertically movable unit. An automatic charging device 2 is disposed on the side away from the entrance of the mechanical multi-level parking space 1, corresponding to the vertically movable vehicle carrier 115.

[0204] In a preferred embodiment, the horizontal moving unit includes rollers and guide rails. The rollers are mounted on the bottom of the horizontal moving vehicle platform 114, and the guide rails are mounted on the base 113. The rollers are driven by a driving element. The vertical moving unit includes a traction rope 116 and a traction machine. The traction machine is mounted on the crossbeam 112, and both ends of the traction rope 116 are connected to the traction machine and the vertical moving vehicle platform 115, respectively. The structure, specific implementation, and beneficial technical effects of the mechanical multi-level parking space 1 and the electric vehicle automatic charging device 2 are as described in the electric vehicle automatic charging device 2 section above, and will not be repeated here.

[0205] The automatic charging system 100 includes:

[0206] The first data acquisition and analysis module 101 is used to acquire and store the spatial coordinates of the charging gun head 24 relative to a preset spatial coordinate as the charging coordinates and to charge when the charging gun head 24 of the automatic charging device 2 is detected to be connected to the vehicle 3 to be charged.

[0207] The first analysis and control module 102 is used to determine the parking status of the mechanical three-dimensional parking space 1 and move the automatic charging device 2, the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115 by lifting and traversing methods.

[0208] The second analysis and control module 103 is used to move the charging gun head 24 to a preset spatial coordinate by an automatic homing method when the charging of the charging gun head 24 is detected to be complete; and,

[0209] The third analysis and control module 104 is used to further determine the parking status of the mechanical multi-level parking space 1, and to move the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115 by means of the vehicle platform repositioning method.

[0210] In a preferred embodiment, the lifting and lateral movement method in the first analysis and control module 102 further includes:

[0211] If the vehicle 3 to be charged is parked on the vertically moving vehicle platform 115, the system further determines whether a new vehicle has entered the mechanical parking space 1, and controls the movement of the automatic charging device 2, the horizontally moving vehicle platform 114, and / or the vertically moving vehicle platform 115; or,

[0212] If the vehicle 3 to be charged is parked on the horizontally moving vehicle platform 114, the automatic charging device 2, the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115 shall not move.

[0213] In a preferred embodiment, the step of further determining whether a new vehicle has entered the mechanical automated parking space 1 in the first analysis and control module 102, in order to control the movement of the automatic charging device 2, the horizontally moving vehicle platform 114, and / or the vertically moving vehicle platform 115, further includes:

[0214] S211: If a new vehicle enters, the automatic charging device 2, the vertically moving vehicle platform 115, and the horizontally moving vehicle platform 114 will coordinate; or...

[0215] S212: If no new vehicle enters, control the automatic charging device 2, the horizontally moving vehicle platform 114 and / or the vertically moving vehicle platform 115 to remain stationary.

[0216] Furthermore, in the first analysis and control module 102, the cooperative movement step further includes:

[0217] Rotate the first rotary drive joint 231 and the second rotary drive joint 233 of the automatic charging device 2, move the track moving mechanism 25 of the automatic charging device 2 to the first position P1, and adjust the length of the drive telescopic rod 232 of the automatic charging device 2.

[0218] Rotate the first rotary drive joint 231 and the second rotary drive joint 233 to move the track moving mechanism 25 to the second position P2 and adjust the length of the drive telescopic rod 232.

[0219] Rotate the first rotary drive joint 231 and the second rotary drive joint 233, move the track moving mechanism 25 to the third position P3 and simultaneously move the vertical moving vehicle plate 115 vertically, and adjust the length of the drive telescopic rod 232.

[0220] Vertically move the vehicle platform 115 to the end position, adjust the length of the drive telescopic rod 232, and rotate the first rotary drive joint 231 and the second rotary drive joint 233; and...

[0221] The horizontally moving vehicle platform 114 is moved to below the vertically moving vehicle platform 115; wherein the charging gun head 24 remains relatively stationary with respect to the vehicle 3 to be charged.

[0222] In a preferred embodiment, the step of moving the track moving mechanism 25 to the third position P3 and simultaneously moving the vertical moving vehicle plate 115 vertically in the first analysis and control module 102 further includes: the track moving mechanism 25 and the vertical moving vehicle plate 115 remaining relatively stationary.

[0223] The specific implementation methods and beneficial technical effects of the first data acquisition and analysis module 101 and the first analysis and control module 102 are as described in the above-mentioned electric vehicle automatic charging methods S1 ~ S2, S21 ~ S22, S211 ~ S212, and will not be repeated here.

[0224] In a preferred embodiment, the automatic homing method in the second analysis and control module 103 further includes:

[0225] Based on the charging coordinates and preset spatial coordinates, determine the relative position of the charging gun head 24 and the vehicle 3 to be charged; and,

[0226] Based on the relative position, move the charging gun head 24 to the preset spatial coordinates.

[0227] Furthermore, in the second analysis and control module 103, the step of moving the charging gun head 24 to a preset spatial coordinate according to the relative position further includes:

[0228] The track moving mechanism 25 of the automatic charging device 2 is controlled to move a first distance away from the vehicle 3 to be charged;

[0229] Adjust the length of the drive telescopic rod 232 of the automatic charging device 2 to a preset standby length;

[0230] Rotating the first rotary drive joint 231 and the second rotary drive joint 233 of the automatic charging device 2 causes the moving track moving mechanism 25 to move the charging gun head 24 to a preset spatial coordinate.

[0231] In a preferred embodiment, in the second analysis and control module 103, the first distance is the sum of the insertion distance of the charging gun head 24 into the vehicle 3 to be charged and a preset safety distance; and when the charging gun head 24 is located at a preset spatial coordinate, there is a gap between the charging gun head 24 and the main frame 11.

[0232] The specific implementation method and beneficial technical effects of the second analysis and control module 103 are as described in the above-mentioned electric vehicle automatic charging method S3, S31 ~ S32, S321 ~ S323, and will not be repeated here.

[0233] In a preferred embodiment, the vehicle platform repositioning method in the third analysis and control module 104 further includes:

[0234] If the vehicle 3 to be charged is parked on the horizontally movable vehicle platform 114, the horizontally movable vehicle platform 114 is moved horizontally, and the vertically movable vehicle platform 115 is moved vertically onto the base 113; or...

[0235] If the vehicle 3 to be charged is parked on the vertically movable vehicle platform 115, and the vertically movable vehicle platform 115 is located on top of the main frame 11, the horizontally movable vehicle platform 114 is moved away from the vertically movable vehicle platform 115, and the vertically movable vehicle platform 115 is moved vertically onto the base 113; or,

[0236] If the vehicle 3 to be charged is parked on the vertically movable vehicle platform 115 and the vertically movable vehicle platform 115 is located on the base 113, the vertically movable vehicle platform 115 is moved vertically to the top of the main frame 11, and the horizontally movable vehicle platform 114 is moved horizontally to below the vertically movable vehicle platform 115.

[0237] The specific implementation method and beneficial technical effects of the third analysis and control module 104 are as described in the above-mentioned electric vehicle automatic charging method S4, S41 to S43, and will not be repeated here.

[0238] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, which will not be repeated here. It should be noted that the system proposed above can also be implemented in other ways. For example, the system embodiments described above are merely illustrative, and the division of the modules described above is merely a logical functional division. In actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. This invention is not limited to these.

[0239] An embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, the computer program being configured to execute the electric vehicle automatic charging method as described above when running.

[0240] An embodiment of the present invention also provides an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the electric vehicle automatic charging method as described above.

[0241] An embodiment of the present invention also provides a mechanical three-dimensional parking space equipped with an electric vehicle automatic charging system 100 as described above.

[0242] The above provides a detailed description of the automatic charging device, method, system, electronic device, and parking space for electric vehicles. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems, storage media, electronic devices, and parking spaces disclosed in the embodiments, since they correspond to the devices and methods disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the device and method sections.

[0243] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. An automatic charging method for electric vehicles, applied to a mechanical multi-level parking space, wherein the multi-level parking space comprises: At least one main frame, the main frame including a support column, a crossbeam and a base, the crossbeam being mounted above the base via the support column; A horizontally movable vehicle platform is mounted on the base via a horizontally movable unit; A vertically movable vehicle platform is mounted vertically on the crossbeam via a vertically movable unit; and, An automatic charging device is positioned on the side away from the entrance of the mechanical automated parking space, corresponding to the vertically moving vehicle platform. The automatic charging device includes a charging box with a control module, a charging track, a charging robotic arm, and a charging gun. The charging gun is mounted on the charging robotic arm and connected to the charging box via a charging cable. The charging robotic arm is movably mounted on the charging track via a track moving mechanism. The automatic charging method comprises the following steps: When the automatic charging device detects that the charging gun head is connected to the vehicle to be charged, it acquires and stores the spatial coordinates of the charging gun head relative to a preset spatial coordinate as the charging coordinates and performs charging. Determine the parking status of the mechanical three-dimensional parking space, and move the track moving mechanism, the horizontal moving vehicle plate and / or the vertical moving vehicle plate of the automatic charging device by lifting and traversing. When the charging gun head is detected to be fully charged, the charging gun head is moved to the preset spatial coordinates by an automatic return method; Further determine the parking state of the mechanical automated parking space, and move the horizontally moving vehicle platform and / or the vertically moving vehicle platform using a vehicle platform repositioning method; wherein, the vehicle platform repositioning method further includes: If the vehicle to be charged is parked on the horizontally movable vehicle platform, the horizontally movable vehicle platform is moved horizontally, and the vertically movable vehicle platform is moved vertically onto the base; or... If the vehicle to be charged is parked on the vertically movable vehicle platform, and the vertically movable vehicle platform is located at the top of the main frame, the horizontally movable vehicle platform is moved horizontally away from the vertically movable vehicle platform, and the vertically movable vehicle platform is moved vertically onto the base; or, If the vehicle to be charged is parked on the vertically movable vehicle platform and the vertically movable vehicle platform is located on the base, the vertically movable vehicle platform is moved vertically to the top of the main frame, and the horizontally movable vehicle platform is moved horizontally to below the vertically movable vehicle platform.

2. The automatic charging method of an electric vehicle according to claim 1, wherein The charging robotic arm includes a first rotary drive joint, a drive telescopic rod, and a second rotary drive joint. One end of the drive telescopic rod is mounted on the track moving mechanism via the first rotary drive joint, and the charging gun head is mounted on the other end of the drive telescopic rod via the second rotary drive joint. The charging track has a structure that allows the track moving mechanism to move in both horizontal and vertical directions. The control module is electrically connected to the track moving mechanism, the first rotary drive joint, the drive telescopic rod, the second rotary drive joint, the horizontal moving unit, and the vertical moving unit. The first rotary drive joint and the second rotary drive joint each include multiple rotating mechanisms, and the drive telescopic rod includes multiple connecting rods.

3. The automatic charging method of the electric vehicle according to claim 2, wherein In the first rotary drive joint, the rotation mechanism further includes: The first rotating mechanism is mounted on the track moving mechanism; The second rotating mechanism is disposed on the first rotating mechanism; The connecting rod further includes: A first connecting rod, with one end of the first connecting rod away from the charging gun head disposed on the second rotating mechanism; The second connecting rod is movably mounted on the first connecting rod via the first transmission mechanism; The third connecting rod is movably mounted on the second connecting rod via the second transmission mechanism; and, In the second rotary drive joint, the rotation mechanism further includes: The third rotating mechanism is located at the end of the third connecting rod away from the charging track; The fourth rotating mechanism is disposed on the third rotating mechanism; A fifth rotating mechanism is disposed on the fourth rotating mechanism; wherein the charging gun head is disposed on the fifth rotating mechanism.

4. The automatic charging method for electric vehicles according to claim 3, characterized in that, The rotation axes of the first rotating mechanism and the second rotating mechanism are perpendicular to each other, and the rotation axes of the third rotating mechanism, the fourth rotating mechanism and the fifth rotating mechanism are perpendicular to each other.

5. The automatic charging method for electric vehicles according to claim 3, characterized in that, The first rotating mechanism, the second rotating mechanism, and the fourth rotating mechanism are electric rotary tables, and the third rotating mechanism and the fifth rotating mechanism each include an electric rotary table and a rotating head; The first transmission mechanism includes a first gear and rack mechanism and a first drive element for driving the first gear and rack mechanism; and, The second transmission mechanism includes a second gear and rack mechanism and a second drive element for driving the second gear and rack mechanism.

6. The automatic charging method for electric vehicles according to claim 2, characterized in that, The track moving mechanism further includes a support base, at least one horizontal rotating mechanism and / or at least one vertical rotating mechanism, wherein, The first rotary drive joint is disposed on the side of the support away from the charging track, and the horizontal rotation mechanism and / or the vertical rotation mechanism is disposed on the side of the support close to the charging track; and, The charging track has at least one guide rail, and the horizontal rotation mechanism and / or the vertical rotation mechanism are movably mounted on the guide rail.

7. The automatic charging method for electric vehicles according to claim 6, characterized in that, The support base is U-shaped; wherein, The support includes a first ear plate, a second ear plate, and a connecting plate that connects the first ear plate and the second ear plate respectively. The first rotary drive joint is disposed on the connecting plate, and the horizontal rotation mechanism and / or the vertical rotation mechanism are disposed on the first ear plate and / or the second ear plate.

8. The automatic charging method for electric vehicles according to claim 7, characterized in that, There are two horizontal rotating mechanisms and two vertical rotating mechanisms. The rotation axes of the horizontal and vertical rotating mechanisms are perpendicular to each other. There are two guide rails, which are T-shaped guide rails.

9. The automatic charging method for electric vehicles according to claim 6, characterized in that, The transverse rotation mechanism includes a transverse gear and a third drive element for driving the transverse gear. The vertical rotation mechanism includes a vertical gear, a fourth driving element for driving the vertical gear, and a support plate; and, The guide rail is provided with a rack guide rail corresponding to the horizontal gear and the vertical gear, and the charging track has a U-shaped or elliptical structure.

10. The automatic charging method for electric vehicles according to claim 2, 3, 4, 5, 6, 7, 8 or 9, characterized in that, The lifting and lateral movement method further includes: If the vehicle to be charged is parked on the vertically moving vehicle platform, the system further determines whether a new vehicle has entered the mechanical parking space, and controls the movement of the track moving mechanism, the horizontally moving vehicle platform, and / or the vertically moving vehicle platform of the automatic charging device; or, If the vehicle to be charged is parked on the horizontally moving vehicle platform, the track moving mechanism, the horizontally moving vehicle platform, and / or the vertically moving vehicle platform controlling the automatic charging device shall not move.

11. The automatic charging method for electric vehicles according to claim 10, characterized in that, The step of further determining whether a new vehicle has entered the mechanical automated parking space, and controlling the movement of the track moving mechanism, the horizontally moving vehicle platform, and / or the vertically moving vehicle platform of the automatic charging device, further includes: If a new vehicle enters, the track-moving mechanism, the vertically moving vehicle platform, and the horizontally moving vehicle platform of the automatic charging device will move in coordination; or... If no new vehicle enters, the track moving mechanism, the horizontal moving vehicle platform, and / or the vertical moving vehicle platform controlling the automatic charging device will not move.

12. The automatic charging method for electric vehicles according to claim 11, characterized in that, The cooperative mobility step further includes: Rotate the first rotary drive joint and the second rotary drive joint of the automatic charging device to move the track moving mechanism of the automatic charging device to the first position and adjust the length of the drive telescopic rod of the automatic charging device; Rotate the first rotary drive joint and the second rotary drive joint to move the track moving mechanism to the second position and adjust the length of the drive telescopic rod; Rotate the first rotary drive joint and the second rotary drive joint to move the track moving mechanism to the third position and simultaneously move the vertical moving vehicle plate vertically, and adjust the length of the drive telescopic rod; The vertically moving vehicle platform is moved vertically to the end position; the length of the drive telescopic rod is adjusted; and the first rotary drive joint and the second rotary drive joint are rotated. The horizontally movable vehicle platform is moved horizontally to a position below the vertically movable vehicle platform; wherein, The charging gun head remains relatively stationary with respect to the vehicle to be charged.

13. The automatic charging method for electric vehicles according to claim 12, characterized in that, The step of moving the track moving mechanism to the third position and simultaneously moving the vertical moving vehicle platform vertically further includes: The track moving mechanism remains relatively stationary with respect to the vertically moving vehicle platform.

14. The automatic charging method for electric vehicles according to claim 2, 3, 4, 5, 6, 7, 8 or 9, characterized in that, The automatic repositioning method further includes: Based on the charging coordinates and the preset spatial coordinates, determine the relative position of the charging gun and the vehicle to be charged; and, Based on the relative position, move the charging gun head to the preset spatial coordinates.

15. The automatic charging method for electric vehicles according to claim 14, characterized in that, The step of moving the charging gun head to the preset spatial coordinates according to the relative position further includes: The track-moving mechanism of the automatic charging device is controlled to move a first distance away from the vehicle to be charged. Adjust the length of the drive telescopic rod of the automatic charging device to a preset standby length; Rotate the first and second rotary drive joints of the automatic charging device to move the track moving mechanism so that the charging gun head moves to the preset spatial coordinates.

16. The automatic charging method for electric vehicles according to claim 15, characterized in that, The first distance is the sum of the insertion distance of the charging gun head into the vehicle to be charged and a preset safety distance; and, when the charging gun head is located at the preset spatial coordinates, there is a gap between the charging gun head and the main frame.

17. The automatic charging method for electric vehicles according to claim 1, characterized in that, The horizontal moving unit includes rollers and guide rails. The rollers are mounted on the bottom of the horizontally moving vehicle platform, and the guide rails are mounted on the base. The rollers are driven by a drive element. The vertical moving unit includes a traction rope and a traction machine. The traction machine is mounted on the crossbeam, and the two ends of the traction rope are connected to the traction machine and the vertical moving vehicle platform, respectively.

18. An automatic charging system for electric vehicles, applied to a mechanical automated parking space, employing the automatic charging method for electric vehicles as described in any one of claims 1-17, wherein the mechanical automated parking space comprises: At least one main frame, the main frame including a support column, a crossbeam and a base, the crossbeam being mounted above the base via the support column; A horizontally movable vehicle platform is mounted on the base via a horizontally movable unit; A vertically movable vehicle platform is mounted vertically on the crossbeam via a vertically movable unit; and, An automatic charging device is positioned on the side away from the mechanical automated parking space entrance, corresponding to the vertically moving vehicle platform. The automatic charging device includes a charging box with a control module, a charging track, a charging robotic arm, and a charging nozzle. The charging nozzle is mounted on the charging robotic arm and connected to the charging box via a charging cable. The charging robotic arm is movably mounted on the charging track via a track-moving mechanism. The automatic charging system comprises: The first data acquisition and analysis module is used to acquire and store the spatial coordinates of the charging gun head relative to a preset spatial coordinate as the charging coordinates and perform charging when the charging gun head of the automatic charging device is detected to be connected to the vehicle to be charged. The first analysis and control module is used to determine the parking status of the mechanical three-dimensional parking space and move the track moving mechanism, the horizontal moving vehicle plate and / or the vertical moving vehicle plate of the automatic charging device by lifting and traversing methods. The second analysis and control module is used to move the charging gun head to the preset spatial coordinates by an automatic homing method when the charging of the charging gun head is detected to be complete; and, The third analysis and control module is used to further determine the parking status of the mechanical automated parking space, and to move the horizontally moving vehicle platform and / or the vertically moving vehicle platform through a vehicle platform repositioning method; wherein, the vehicle platform repositioning method further includes: If the vehicle to be charged is parked on the horizontally movable vehicle platform, the horizontally movable vehicle platform is moved horizontally, and the vertically movable vehicle platform is moved vertically onto the base; or... If the vehicle to be charged is parked on the vertically movable vehicle platform, and the vertically movable vehicle platform is located at the top of the main frame, the horizontally movable vehicle platform is moved horizontally away from the vertically movable vehicle platform, and the vertically movable vehicle platform is moved vertically onto the base; or, If the vehicle to be charged is parked on the vertically movable vehicle platform and the vertically movable vehicle platform is located on the base, the vertically movable vehicle platform is moved vertically to the top of the main frame, and the horizontally movable vehicle platform is moved horizontally to below the vertically movable vehicle platform.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program is configured to execute the electric vehicle automatic charging method as described in any one of claims 1-17 when it is run.

20. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the electric vehicle automatic charging method according to any one of claims 1-17.

21. A mechanical three-dimensional parking space, characterized in that, It is equipped with the electric vehicle automatic charging system as described in claim 18.

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