Automatic charging system and method

Abstract

The present invention relates to the field of vehicle charging technology, and in particular, to an automatic charging system and method. The automatic charging system may include a charging vehicle and a charging assembly. The charging vehicle includes a vehicle body, a battery box, and a second charging unit. The charging assembly includes a charger, a multi-axis robotic arm, and a first charging unit. The multi-axis robotic arm includes a fixed seat, a movable arm, and a terminal rotating arm. The first charging unit includes a first seat body and a first charging head. The axis of the first charging head is spaced apart from the rotation axis of the terminal rotating arm. The automatic charging system also includes a first charging posture and a second charging posture. From the first charging posture to the second charging posture, the multi-axis robotic arm drives the first charging head to rotate along the axis of the terminal rotating arm by an angle greater than or equal to 170°. This solves the problem that the automatic charging system has high requirements for parking accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle charging, and in particular to an automatic charging system and method. Background Art

[0002] The automatic charging system is a fixed device that can deliver electricity to plug-in hybrid vehicles or pure electric vehicles. It can usually be installed in home garages, workplaces, parking lots or public areas to facilitate charging of new energy vehicles. As vehicle autonomous driving technology matures, combined with automatic charging technology, an integrated travel solution for new energy vehicles with autonomous driving, automatic parking and automatic charging has become a reality, bringing more convenience to people's lives.

[0003] The automatic charging function of new energy vehicles often requires the help of a robotic arm. Due to the limited working range of the robotic arm, the parking range of the charging vehicle is small. At the same time, the driving skills of drivers vary, and it is difficult to park at the designated location or the parking time is long, which affects the efficiency of automatic charging. In the automatic driving solution, in order to park the new energy vehicle at the designated location, it is often necessary to use high-precision sensors and other components, which increases the cost of the vehicle. Summary of the invention

[0004] In order to solve the problem that the automatic charging system has high requirements for parking accuracy, the present invention provides an automatic charging system and method.

[0005] In a first aspect, the present invention provides an automatic charging system, the automatic charging system comprising:

[0006] A charging vehicle, the charging vehicle comprising a vehicle body, a battery box, and a second charging unit; the battery box is detachably connected to the vehicle body; the battery box is electrically connected to the vehicle body; the second charging unit is detachably connected to the vehicle body; the battery box is electrically connected to the second charging unit;

[0007] A charging assembly, the charging assembly comprising a charger, a multi-axis robot arm, and a first charging unit; the multi-axis robot arm comprises a fixed seat, a movable arm, and a terminal rotating arm; the fixed seat, the movable arm, and the terminal rotating arm are detachably connected in sequence; the first charging unit comprises a first seat body and a first charging head; the first seat body and the first charging head are detachably connected; the first seat body and the terminal rotating arm are detachably connected; the first charging head is electrically connected to the charger; the axis of the first charging head is spaced apart from the rotation axis of the terminal rotating arm;

[0008] The automatic charging system also includes a first charging posture and a second charging posture; from the first charging posture to the second charging posture, the multi-axis robotic arm drives the first charging head to rotate along the axis of the terminal rotating arm by an angle greater than or equal to 170°; wherein, the first charging posture includes the first charging head being electrically connected to the second charging unit; and the second charging posture includes the first charging head being electrically connected to the second charging unit.

[0009] In some embodiments, the charging assembly further includes an electrode exchanger; the electrode exchanger is detachably connected to the charger; the electrode exchanger is electrically connected to the charger; and the electrode exchanger exchanges the polarity of the electrodes in the first charging head.

[0010] In some embodiments, the first charging unit further includes a first movable cover and a first elastic portion; the first movable cover is slidably connected to the first base; one end of the first elastic portion is detachably connected to the first base, and the other end is detachably connected to the first movable cover.

[0011] In some embodiments, the first charging unit further comprises a second charging head; the second charging head is detachably connected to the first seat; the second charging head is electrically connected to the charger; the midpoint of the line connecting the axis of the second charging head and the axis of the first charging head and the rotation axis of the terminal rotating arm are arranged at intervals along the line;

[0012] From the first charging posture to the second charging posture, the multi-axis robotic arm drives the first charging head and the second charging head to rotate along the axis of the terminal rotating arm by an angle greater than or equal to 170°; the first charging posture also includes the second charging head being electrically connected to the second charging unit; the second charging posture also includes the second charging head being electrically connected to the second charging unit.

[0013] In some embodiments, the rotation axis of the terminal rotating arm is arranged on a side of the second charging head away from the first charging head.

[0014] In some embodiments, the second charging unit comprises a second seat, a first charging seat, and a second charging seat; the second seat is detachably connected to the vehicle body; the first charging seat is detachably connected to the second seat; the first charging seat is electrically connected to the battery box; the second charging seat is detachably connected to the second seat; the second charging seat is electrically connected to the battery box;

[0015] The first charging posture also includes the first charging head being electrically connected to the first charging base, and the second charging head being electrically connected to the second charging base; the second charging posture includes the first charging head being electrically connected to the second charging base, and the second charging head being electrically connected to the first charging base.

[0016] In some embodiments, the second charging unit also includes a second movable cover and a second elastic part; the second movable cover is movably connected to the second seat body; one end of the second elastic part is detachably connected to the second seat body, and the other end is drivingly connected to the second movable cover; the second elastic part drives the second movable cover to move away from the first charging seat and the second charging seat.

[0017] In some embodiments, the first charging unit further comprises a guide rod; one end of the guide rod is detachably connected to the first base, and the other end of the guide rod extends in a direction away from the first base; the cross-sectional area of ​​the guide rod in the radial direction gradually decreases from one end to the other end of the guide rod;

[0018] The second charging unit further includes a positioning hole; the positioning hole is recessed from one side of the second seat body toward the other side.

[0019] In some embodiments, the charging assembly further includes a charging compartment; the charging compartment includes a compartment body, a first compartment door, and a second compartment door; the fixing seat is detachably connected to the compartment body; the fixing seat is disposed in a hollow cavity of the compartment body; the compartment body is a cavity with an opening at one end; the first compartment door is movably connected to one side of the opening of the compartment body along a horizontal direction; the second compartment door is movably connected to the top side of the opening of the compartment body along a vertical direction;

[0020] The automatic charging system includes an open state and a closed state; the open state includes that part of the movable arm, the terminal rotating arm, and the first charging unit are respectively located in the external space of the warehouse body; the closed state includes that the multi-axis robotic arm and the first charging unit are respectively located in the enclosed space formed by the warehouse body, the first warehouse door, and the second warehouse door.

[0021] In a second aspect, the present invention provides an automatic charging method, the automatic charging method is applied to any one of the automatic charging systems described in the first aspect, the automatic charging system comprising:

[0022] Step S11, based on the charging instruction trigger, obtaining the position of the second charging unit;

[0023] Step S12, based on the second charging unit being within the first set area, driving the first charging head to move toward the second charging unit;

[0024] Step S121, based on the second charging unit being in a second set area, obtaining a state of the first charging head; wherein the distance between the first set area and the fixing seat is smaller than the distance between the second set area and the fixing seat;

[0025] Step S122, based on the first charging head being at a first angle, driving the first charging head to move toward the second charging unit; wherein the first angle includes that the distance between the first charging head and the second setting area is smaller than the distance between the first charging head and the third setting area; the second setting area, the first setting area, and the third setting area are arranged in sequence; and the distance between the first setting area and the fixing seat is smaller than the distance between the third setting area and the fixing seat;

[0026] Step S1221, based on the first charging head being at a second angle, driving the first charging head to rotate along the axis of the last section rotating arm to a first angle; wherein the second angle includes a distance between the first charging head and the second set area being greater than a distance between the first charging head and the third charging area;

[0027] Step S1222: based on the first charging head being at the first angle, driving the first charging head to move toward the second charging unit;

[0028] Step S123, based on the second charging unit being within a third set area, acquiring a posture of the first charging head;

[0029] Step S124, based on the first charging head being at the second angle, driving the first charging head to move toward the second charging unit;

[0030] Step S1241, based on the first charging head being at the first angle, driving the first charging head to rotate along the axis of the last section rotating arm to a second angle;

[0031] Step S1242: based on the first charging head being at the second angle, driving the first charging head to move toward the second charging unit;

[0032] Step S13, starting charging based on the electrical connection between the first charging head and the second charging unit.

[0033] In some embodiments, step S13 includes:

[0034] Step S131, obtaining a rotation angle of the first charging head based on that the first charging head is electrically connected to the second charging unit;

[0035] Step S132, starting charging based on the fact that the first charging head rotates at an angle less than 170° along the axis of the last section rotating arm.

[0036] In some embodiments, step S13 further includes:

[0037] Step S133, based on the first charging head rotating along the axis of the last section rotating arm at an angle greater than or equal to 170° and less than or equal to 190°, the electrode exchanger exchanges the polarity of the electrodes in the first charging head; wherein the electrode exchanger is electrically connected to the charger;

[0038] Step S134, starting charging by exchanging the polarity of the electrodes in the first charging head based on the electrode exchanger.

[0039] In order to solve the problem that the automatic charging system requires high parking accuracy, the present invention has the following advantages:

[0040] By setting the charging vehicle to include a second charging unit, the charging assembly includes a first charging unit, and when the first charging unit is electrically connected to the second charging unit, the charging assembly can charge the charging vehicle. The charging assembly also includes a multi-axis mechanical arm, which can expand the connection range of the first charging unit and reduce the parking accuracy requirements for the charging vehicle.

[0041] By setting the axis of the first charging head of the first charging unit to be spaced apart from the rotation axis of the last section rotating arm of the multi-axis robot arm, the first charging head can rotate around the rotation axis of the last section rotating arm within a set range, further expanding the connection range of the first charging unit and reducing the parking accuracy requirements for the charging vehicle.

[0042] By setting the automatic charging system to include a first charging posture and a second charging posture, when the automatic charging system changes from the first charging posture to the second charging posture, the rotation angle of the first charging head around the rotation axis of the last section rotating arm is greater than or equal to 170°, so that the first charging head can be electrically connected to the second charging unit in the first charging posture or the second charging posture, making it more convenient to dock the first charging head with the second charging unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of an automatic charging system according to an embodiment is shown;

[0044] Figure 2 A top view of an automatic charging system according to an embodiment is shown;

[0045] Figure 3 A schematic diagram of a second charging unit according to an embodiment is shown;

[0046] Figure 4 A cross-sectional view of a second charging unit according to an embodiment is shown;

[0047] Figure 5A schematic diagram of a second charging unit in another embodiment is shown;

[0048] Figure 6 A schematic diagram of a charging assembly according to an embodiment is shown;

[0049] Figure 7 A schematic diagram of a charging assembly according to another embodiment is shown;

[0050] Figure 8 A partial schematic diagram of an automatic charging system according to an embodiment is shown;

[0051] Fig. 9 A schematic diagram of a first charging unit according to an embodiment is shown;

[0052] Fig.10 A flow chart of an automatic charging method according to an embodiment is shown.

[0053] Figure numerals: 01 charging assembly; 11 charging compartment; 111 compartment body; 112 first compartment door; 113 second compartment door; 12 charger; 13 multi-axis robotic arm; 131 fixed seat; 132 movable arm; 133 terminal rotating arm; 14 first charging unit; 141 first seat body; 142 first movable cover; 143 first elastic part; 144 guide rod; 145 first charging head; 146 second charging head; 15 control unit; 151 controller; 152 first position sensor; 153 second position sensor; 02 charging vehicle; 21 vehicle body; 22 battery box; 23 second charging unit; 231 second seat body; 232 second movable cover; 233 second elastic part; 234 positioning hole; 235 first charging seat; 236 second charging seat. DETAILED DESCRIPTION

[0054] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0055] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0056] In this embodiment, the automatic charging system for new energy vehicles often needs to be implemented with the help of a robotic arm. Since the range of motion of the robotic arm is limited, high requirements are placed on the parking accuracy of the charging vehicle 02. In the automatic charging system, the first charging head 145 is moved by the multi-axis robotic arm 13, so that the charging vehicle 02 is charged by the first charging head 145. In the conventional manner, the end of the multi-axis robotic arm 13 is rotatably connected to the central axis of the first charging head 145. In order to further increase the range of motion of the robotic arm and reduce the parking accuracy requirements for the charging vehicle 02, an automatic charging system is proposed. Figure 1 , Figure 2 As shown, the automatic charging system may include a charging vehicle 02 and a charging component 01 .

[0057] like Figure 1As shown, the charging vehicle 02 may include a vehicle body 21, a battery box 22, and a second charging unit 23. The battery box 22 may be detachably connected to the vehicle body 21, and the battery box 22 may be electrically connected to the vehicle body 21, so that the battery box 22 can provide energy for the vehicle body 21 to travel. The second charging unit 23 may be detachably connected to the vehicle body 21. The battery box 22 is electrically connected to the second charging unit 23. The battery box 22 may be charged through the second charging unit 23.

[0058] like Figure 7 As shown, the charging assembly 01 may include a charger 12, a multi-axis robotic arm 13, and a first charging unit 14. The charger 12 can charge the battery box 22 of the charging vehicle 02 by docking the first charging unit 14 with the second charging unit 23. The multi-axis robotic arm 13 can expand the range of motion of the first charging unit 14, facilitate the docking of the first charging unit 14 with the second charging unit 23, and reduce the parking accuracy requirements of the automatic charging system for the charging vehicle 02. The multi-axis robotic arm 13 may include a fixed seat 131, a movable arm 132, and a terminal rotating arm 133. The fixed seat 131 can be used to support the movable arm 132, one end of the movable arm 132 can be detachably connected to the fixed seat 131, and the other end can be detachably connected to the terminal rotating arm 133. The movable arm 132 can be multi-sectioned, and the position and angle of the first charging unit 14 can be flexibly adjusted. As shown Figure 8 As shown, the end rotating arm 133 can be located at the end of the movable arm 132 and can be rotatably connected to the end of the movable arm 132, so that the end rotating arm 133 can rotate around its own axis within a set angle. Fig. 9 As shown, the first charging unit 14 may include a first seat 141 and a first charging head 145. The first seat 141 may be detachably connected to the first charging head 145. The first seat 141 may be detachably connected to the last section rotating arm 133, so that the first seat 141 may rotate around the axis of the last section rotating arm 133 together with the last section rotating arm 133. The first charging head 145 may be electrically connected to the charger 12, and the charger 12 may transmit electrical energy to the charging vehicle 02 through the first charging head 145. The axis of the first charging head 145 may be spaced apart from the rotation axis of the last section rotating arm 133, so as to further expand the range of motion of the first charging head 145 and reduce the parking accuracy requirements for the charging vehicle 02.

[0059] The automatic charging system may also include a first charging posture and a second charging posture. From the first charging posture to the second charging posture, the multi-axis robot 13 drives the first charging head 145 to rotate along the axis of the end rotating arm 133 at an angle greater than or equal to 170°. Among them, the first charging posture may include the first charging head 145 being electrically connected to the second charging unit 23. The second charging posture may include the first charging head 145 being electrically connected to the second charging unit 23. When the automatic charging system changes from the first charging posture to the second charging posture, or from the second charging posture to the first charging posture, the positive and negative polarities in the charging head can be interchanged, so that the first charging head 145 can charge the charging vehicle 02 in both the first charging posture and the second charging posture. The rotation angle can be the absolute value of the rotation angle of the first charging head 145 relative to the horizontal plane when the first charging head 145 is electrically connected to the second charging unit 23.

[0060] In other embodiments, the range of the rotation angle of the first charging head 145 can be flexibly selected according to actual conditions. For example, the range of the rotation angle of the first charging head 145 in the first charging posture can be 0 to 10°, and the range of the rotation angle of the first charging head 145 in the second charging posture can be 170° to 190°.

[0061] In this embodiment, the charging assembly 01 may further include an electrode exchanger. The electrode exchanger may be detachably connected to the charger 12. The electrode exchanger may be electrically connected to the charger 12. The electrode exchanger may exchange the polarity of the electrodes in the first charging head 145. When the automatic charging system switches between the first charging posture and the second charging posture, the electrode exchanger may exchange the polarity of the positive and negative electrodes so that the positive and negative electrodes of the first charging unit 14 always correspond to the positive and negative electrodes of the second charging unit 23, thereby smoothly charging the charging vehicle 02.

[0062] In other embodiments, the electrode exchanger may also be detachably connected to the first charging unit 14 and move along with the first charging unit 14 , and the positive and negative poles of the first charging unit 14 may also be adjusted.

[0063] In this embodiment, if Fig. 9As shown, the first charging unit 14 may also include a first movable cover 142 and a first elastic part 143. The first movable cover 142 is slidably connected to the first seat body 141. When the first charging unit 14 is docked with the second charging unit 23 to charge the charging vehicle 02, the first movable cover 142 can slide in a direction away from the second charging unit 23 to avoid; when the first charging unit 14 is in an idle state and is not docked with the second charging unit 23, the first movable cover 142 can surround the first charging head 145 to prevent rain or foreign objects from contacting the first charging head 145. One end of the first elastic part 143 is detachably connected to the first seat body 141, and the other end is detachably connected to the first movable cover 142. When the first charging unit 14 and the second charging unit 23 are separated from the docking state, the first elastic part 143 can drive the first movable cover 142 back to the initial position to protect the first charging head 145.

[0064] The first charging unit 14 may include a first state and a second state. The first state may include the first charging head 145 being located in the space surrounded by the first movable cover 142, and the length of the first elastic portion 143 is the first length; the second state may include the first charging head 145 being located outside the space surrounded by the first movable cover 142, and the length of the first elastic portion 143 is the second length; wherein the value of the first length is greater than the second length.

[0065] In this embodiment, if Fig. 9 As shown, the first charging unit 14 may further include a second charging head 146. The second charging head 146 may be detachably connected to the first seat body 141. The second charging head 146 may be electrically connected to the charger 12. The midpoint of the line connecting the axis of the second charging head 146 and the axis of the first charging head 145 may be spaced along the line connecting the axis of rotation of the last section rotating arm 133. Compared with the coincidence of the midpoint of the line connecting the axis of the second charging head 146 and the axis of the first charging head 145 with the axis of rotation of the last section rotating arm 133, the interval setting may further expand the range of activities of the first charging unit 14 and reduce the parking accuracy requirements for the charging vehicle 02.

[0066] From the first charging posture to the second charging posture, the multi-axis robot arm 13 drives the first charging head 145 and the second charging head 146 to rotate along the axis of the end rotating arm 133 by an angle greater than or equal to 170°. The first charging posture may also include the second charging head 146 being electrically connected to the second charging unit 23. The second charging posture also includes the second charging head 146 being electrically connected to the second charging unit 23. By providing the first charging head 145 and the second charging head 146, it is beneficial to increase the charging speed of the charging vehicle 02 and improve the charging efficiency.

[0067] In this embodiment, if Figure 7As shown, the rotation axis of the last rotating arm 133 can be set on the side of the second charging head 146 away from the first charging head 145, so as to expand the activity range of the first charging head 145 and the second charging head 146 and reduce the parking accuracy requirements for the charging vehicle 02.

[0068] In other embodiments, the rotation axis of the last section rotating arm 133 can be set on the side of the first charging head 145 away from the second charging head 146, which can also expand the activity range of the first charging head 145 and the second charging head 146 and reduce the parking accuracy requirements for the charging vehicle 02.

[0069] In this embodiment, if Figure 5 As shown, the second charging unit 23 may include a second seat 231, a first charging seat 235, and a second charging seat 236. The second seat 231 may be detachably connected to the vehicle body 21. The first charging seat 235 may be detachably connected to the second seat 231. The first charging seat 235 may be electrically connected to the battery box 22. The second charging seat 236 may be detachably connected to the second seat 231. The second charging seat 236 may be electrically connected to the battery box 22. The first charging seat 235 and the second charging seat 236 are fixed to the vehicle body 21 through the second seat 231, and the first charging unit 14 may charge the charging vehicle 02 through the first charging seat 235 and the second charging seat 236. The first charging seat 235 and the second charging seat 236 may be arranged inside the second seat 231, and a part of the second seat 231 may extend outward, thereby protecting the first charging seat 235 and the second charging seat 236 from rain.

[0070] The first charging posture may further include the first charging head 145 being electrically connected to the first charging seat 235 and the second charging head 146 being electrically connected to the second charging seat 236. The second charging posture may include the first charging head 145 being electrically connected to the second charging seat 236 and the second charging head 146 being electrically connected to the first charging seat 235.

[0071] In this embodiment, if Figure 3 , Figure 4As shown, the second charging unit 23 may also include a second movable cover 232 and a second elastic portion 233. The shape of the second movable cover 232 may be adapted to the opening shape of the second seat body 231. When the charging vehicle 02 is not charging, the second elastic portion 233 may drive the second movable cover 232 to maintain a closed state with the second seat body 231, thereby protecting the first charging seat 235 and the second charging seat 236. The second movable cover 232 may be movably connected to the second seat body 231, and the second movable cover 232 may rotate within a set range around the movable connection. One end of the second elastic portion 233 may be detachably connected to the second seat body 231, and the other end may be drivably connected to the second movable cover 232. The second elastic portion 233 may drive the second movable cover 232 to move away from the first charging seat 235 and the second charging seat 236. The second charging unit 23 may include a third state and a fourth state. As shown Figure 8 As shown, the third state may include that the first charging unit 14 is electrically connected to the second charging unit 23, at which time the second elastic portion 233 is compressed, and the second movable cover 232 avoids the first charging unit 14. The fourth state may include that the first charging unit 14 is separated from the second charging unit 23, that is, the charging vehicle 02 has not yet been charged or the charging has been completed, at which time the second elastic portion 233 can drive the second movable cover 232 to move to a set position in a direction away from the first charging seat 235 and the second charging seat 236, so that the first charging seat 235 and the second charging seat 236 can be surrounded by the second seat body 231 and the second movable cover 232 to protect the first charging seat 235 and the second charging seat 236.

[0072] In this embodiment, if Fig. 9 As shown, the first charging unit 14 may further include a guide rod 144. One end of the guide rod 144 may be detachably connected to the first base 141, and the other end may extend in a direction away from the first base 141. The cross-sectional area of ​​the guide rod 144 along the radial direction may gradually decrease from one end of the guide rod 144 to the other end.

[0073] The second charging unit 23 may further include a positioning hole 234. The positioning hole 234 may be recessed from one side of the second seat 231 toward the other side. By providing the guide rod 144 and the positioning hole 234, during the docking process between the first charging unit 14 and the second charging unit 23, the guide rod 144 and the positioning hole 234 may cooperate to guide the first charging unit 14 and the second charging unit 23 to dock, thereby reducing the requirements of the automatic charging system for positioning accuracy and reducing costs. The number of the guide rod 144 and the positioning hole 234 may both be 2, and the guide rod 144 may be symmetrically distributed on the central axis on the first seat 141, and the position of the positioning hole 234 on the second seat 231 corresponds to the guide rod 144, so as to facilitate the smooth cooperation between the guide hole and the positioning hole 234. The third state may further include that the inner peripheral wall of the positioning hole 234 is sleeved on the outer peripheral side of the guide rod 144; the fourth state may include that the positioning hole 234 and the guide rod 144 are arranged at intervals.

[0074] In some other embodiments, the charging assembly 01 may include a control unit 15, and the control unit 15 may include a controller 151, a first position sensor 152, and a second position sensor 153. Figure 7 As shown, the controller 151 may be located inside the charging compartment 11 to control the movement of the multi-axis robot 13 and the first charging unit 14. Figure 8 , Fig. 9 As shown, the first position sensor 152 can be located on the upper side and the lower side of the first seat body 141. When the first charging unit 14 is docked with the second charging unit 23, the first position sensor 152 can detect the distance between the first seat body 141 and the second seat body 231. When the first seat body 141 and the second seat body 231 reach the set distance, they stop approaching in time to avoid damage. The second position sensor 153 can be detachably connected to the first movable cover 142, and can obtain the position information between the first charging unit 14 and the second charging unit 23. The controller 151 can adjust the position and state of the first charging unit 14 through the multi-axis robot 13 according to the position information of the second position sensor 153. The second position sensor 153 can also detect whether the guide rod 144 is aligned with the positioning hole 234. When the guide rod 144 enters the set range, the multi-axis robot 13 can drive the first seat body 141 to move in the direction close to the second seat body 231, and the first charging unit 14 is guided and matched with the guide rod 144 and the positioning hole 234 to achieve docking of the first charging unit 14 and the second charging unit 23.

[0075] In this embodiment, the charging component 01 may also include a charging bin 11. The charging bin 11 may be used to store components such as a charger 12, a multi-axis robotic arm 13, and a first charging unit 14. The charging bin 11 may include a bin body 111, a first bin door 112, and a second bin door 113. The fixing seat 131 may be detachably connected to the bin body 111. The fixing seat 131 may be disposed in a hollow cavity inside the bin body 111. The bin body 111 may be a cavity with an opening at one end. The first bin door 112 may be movably connected to one side of the opening of the bin body 111 in the horizontal direction. The second bin door 113 may be movably connected to the top side of the opening of the bin body 111 in the vertical direction. By cooperating with the first bin door 112 and the second bin door 113, the environment inside and outside the charging bin 11 may be separated to protect the structure and components inside the charging bin 11.

[0076] The automatic charging system may include an open state and a closed state. The open state may include that part of the movable arm 132, the end rotating arm 133, and the first charging unit 14 are respectively located in the external space of the warehouse body 111, and the charging operation can be performed at this time. The closed state may include that the multi-axis robot arm 13 and the first charging unit 14 are respectively located in a closed space surrounded by the warehouse body 111, the first warehouse door 112, and the second warehouse door 113, and the multi-axis robot arm 13, the first charging unit 14, etc. are protected by the charging warehouse 11.

[0077] In this embodiment, an automatic charging method is disclosed. The automatic charging method is applied to an automatic charging system of any of the above embodiments, such as Fig.10 As shown, the automatic charging method may include:

[0078] Step S11, based on the charging instruction trigger, the position of the second charging unit 23 can be obtained.

[0079] Step S12, based on the second charging unit 23 being in the first set area, the first charging head 145 can be driven to move toward the second charging unit 23, that is, the first charging head 145 is driven to move to the second set area. Among them, the first set area can be the area that the central axis of the end rotating arm 133 can reach. When the second charging unit 23 is located in the first set area, the multi-axis robot 13 can drive the first charging head 145 to dock with the second charging unit 23, and there is no need to further expand the charging range by rotating the first charging head 145 around the axis of the end rotating arm 133.

[0080] Step S121, based on the second charging unit 23 being in the second set area, the state of the first charging head 145 can be obtained. Among them, the first set area is adjacent to the second set area, and the distance between the first set area and the fixing seat 131 is less than the distance between the second set area and the fixing seat 131. The state of the first charging head 145 may include a first angle and a second angle. At the first angle and the second angle, the first charging head 145 can dock with the second charging unit 23 to charge the charging vehicle 02. In the initial state, the central axis of the terminal rotating arm 133 may coincide with the center line of the first set area.

[0081] Step S122, based on the first charging head 145 being at the first angle, the first charging head 145 can be driven to move toward the direction close to the second charging unit 23. When the first charging head 145 is at the first angle, the charging range of the first charging head 145 can be expanded from the first setting area to include the second setting area. Among them, the first angle can include that the distance between the first charging head 145 and the second setting area in the initial state is less than the distance between the first charging head 145 and the third setting area, that is, the axis of the first charging head 145 in the initial state is located between the end rotating arm 133 and the second setting area. The second setting area, the first setting area, and the third setting area are arranged adjacent to each other in sequence. The second setting area and the third setting area can be axially symmetrically distributed with respect to the first setting area. The distance between the first setting area and the fixing seat 131 is less than the distance between the third setting area and the fixing seat 131.

[0082] Step S1221: Based on the first charging head 145 being at the second angle, the first charging head 145 can be driven to rotate to the first angle along the axis of the last rotating arm 133. The second angle may include that the distance between the first charging head 145 and the second setting area in the initial state is greater than the distance between the first charging head 145 and the third charging area, that is, the axis of the first charging head 145 is located between the last rotating arm 133 and the third setting area in the initial state.

[0083] In step S1222 , based on the first charging head 145 being at the first angle, the first charging head 145 can be driven to move toward the second charging unit 23 , that is, the first charging head 145 is driven to move to the second set area, so as to charge the second charging unit 23 smoothly.

[0084] In step S123, based on the second charging unit 23 being in the third setting area, the state of the first charging head 145 can be obtained. Only when the first charging head 145 is at the second angle, the charging range of the first charging head 145 can be expanded from the first setting area to include the third setting area, so as to smoothly charge the second charging unit 23 in the third setting area.

[0085] In step S124 , based on the first charging head 145 being at the second angle, the first charging head 145 is driven to move toward the second charging unit 23 , that is, the first charging head 145 is driven to move to the third set area, so as to charge the second charging unit 23 .

[0086] In step S1241, based on the first charging head 145 being at the first angle, the first charging head 145 can be driven to rotate to a second angle along the axis of the last rotating arm 133. At the second angle, the charging range of the first charging head 145 can be expanded from the first setting area to include the third setting area, thereby smoothly charging the second charging unit 23 in the third setting area.

[0087] In step S1242 , based on the first charging head 145 being at the second angle, the first charging head 145 may be driven to move toward the second charging unit 23 , that is, the first charging head 145 may be driven to move to the third set area, so as to charge the second charging unit 23 .

[0088] In step S13 , based on the electrical connection between the first charging head 145 and the second charging unit 23 , the first charging head 145 may start charging the charging vehicle 02 .

[0089] In other embodiments, the value range of the rotation angle of the first charging head 145 at the first angle and the second angle can be flexibly selected according to actual conditions. For example, the value range of the rotation angle of the first charging head 145 at the first angle can be 0 to 10°, and the value range of the rotation angle of the first charging head 145 at the second angle can be 170° to 190°. The rotation angle can be the absolute value of the rotation angle of the first charging head 145 relative to the horizontal plane, and the rotation angle of the first charging head 145 in the initial state can be 0.

[0090] In this embodiment, step S13 may include:

[0091] Step S131, based on the electrical connection between the first charging head 145 and the second charging unit 23, the rotation angle of the first charging head 145 can be obtained. The rotation angle can be the absolute value of the rotation angle of the first charging head 145 relative to the horizontal plane, and the rotation angle of the first charging head 145 in the initial state is 0. The rotation angle of the first charging head 145 at the first angle can range from 0 to 10°, and the rotation angle of the first charging head 145 at the second angle can range from 170° to 190°.

[0092] Step S132, based on the fact that the rotation angle of the first charging head 145 along the axis of the last section rotating arm 133 is less than 170°, that is, the rotation angle of the first charging head 145 is 0 to 10°, at this time the first charging head 145 is at the first angle, corresponding to the positive and negative poles of the first charging seat 235, and there is no need to exchange the positive and negative poles, so charging can start.

[0093] In this embodiment, step S13 may further include:

[0094] Step S133, based on the first charging head 145 rotating along the axis of the last rotating arm 133 at an angle greater than or equal to 170° and less than or equal to 190°, the first charging head 145 is at a second angle, and the positive and negative electrodes of the first charging head 145 do not correspond to the positive and negative electrodes of the first charging seat 235. The electrode exchanger can exchange the polarity of the electrodes in the first charging head 145. The electrode exchanger is electrically connected to the charger 12, and can change the polarity of the current output by the charger 12.

[0095] In step S134, the electrode exchanger exchanges the polarity of the electrodes in the first charging head 145. At this time, the first charging head 145 changes from the second angle to the first angle, and the positive and negative poles of the first charging head 145 correspond to the positive and negative poles of the first charging seat 235, and charging can begin.

[0096] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present disclosure, and in actual applications, various changes may be made thereto in form and detail without departing from the scope of the present disclosure.

Claims

1. An automatic charging system, characterized in that: The automatic charging system comprises: A charging vehicle, the charging vehicle comprising a vehicle body, a battery box, and a second charging unit; the battery box is detachably connected to the vehicle body; the battery box is electrically connected to the vehicle body; the second charging unit is detachably connected to the vehicle body; the battery box is electrically connected to the second charging unit; A charging assembly, the charging assembly comprising a charger, a multi-axis robot arm, and a first charging unit; the multi-axis robot arm comprises a fixed seat, a movable arm, and a terminal rotating arm; the fixed seat, the movable arm, and the terminal rotating arm are detachably connected in sequence; the terminal rotating arm rotates around its own axis within a set angle; the first charging unit comprises a first seat body and a first charging head; the first seat body and the first charging head are detachably connected; the first seat body and the terminal rotating arm are detachably connected; the first charging head is electrically connected to the charger; the axis of the first charging head is spaced apart from the rotation axis of the terminal rotating arm; The automatic charging system also includes a first charging posture and a second charging posture; from the first charging posture to the second charging posture, or from the second charging posture to the first charging posture, the multi-axis robot drives the first charging head to rotate along the axis of the terminal rotating arm by an angle greater than or equal to 170°; the second setting area, the first setting area, and the third setting area are arranged in sequence; the distance between the first setting area and the fixing seat is smaller than the distance between the third setting area and the fixing seat; the distance between the first setting area and the fixing seat is smaller than the distance between the second setting area and the fixing seat; wherein, the first charging posture includes the first charging head and the second charging unit being electrically connected in the second setting area; the second charging posture includes the first charging head and the second charging unit being electrically connected in the third setting area; The charging assembly also includes an electrode exchanger; the electrode exchanger is detachably connected to the charger; the electrode exchanger is electrically connected to the charger; when the automatic charging system switches between the first charging posture and the second charging posture, the electrode exchanger exchanges the polarity of the electrodes in the first charging head.

2. An automatic charging system according to claim 1, characterized in that: The first charging unit further comprises a first movable cover and a first elastic part; the first movable cover is slidably connected to the first seat body; one end of the first elastic part is detachably connected to the first seat body, and the other end is detachably connected to the first movable cover.

3. An automatic charging system according to claim 2, characterized in that: The first charging unit further includes a second charging head; the second charging head is detachably connected to the first seat; the second charging head is electrically connected to the charger; the midpoint of the line connecting the axis of the second charging head and the axis of the first charging head and the rotation axis of the terminal rotating arm are arranged at intervals along the line; From the first charging posture to the second charging posture, or from the second charging posture to the first charging posture, the multi-axis robotic arm drives the first charging head and the second charging head to rotate along the axis of the terminal rotating arm by an angle greater than or equal to 170°; the first charging posture also includes the second charging head and the second charging unit being electrically connected in the second set area; the second charging posture also includes the second charging head and the second charging unit being electrically connected in the third set area.

4. An automatic charging system according to claim 3, characterized in that: The rotation axis of the last section rotation arm is arranged on a side of the second charging head away from the first charging head.

5. An automatic charging system according to claim 3, characterized in that: The second charging unit comprises a second seat, a first charging seat, and a second charging seat; the second seat is detachably connected to the vehicle body; the first charging seat is detachably connected to the second seat; the first charging seat is electrically connected to the battery box; the second charging seat is detachably connected to the second seat; the second charging seat is electrically connected to the battery box; The first charging posture also includes the first charging head being electrically connected to the first charging base, and the second charging head being electrically connected to the second charging base; the second charging posture includes the first charging head being electrically connected to the second charging base, and the second charging head being electrically connected to the first charging base.

6. An automatic charging system according to claim 5, characterized in that: The second charging unit further comprises a second movable cover and a second elastic part; the second movable cover is movably connected to the second seat body; one end of the second elastic part is detachably connected to the second seat body, and the other end is drivingly connected to the second movable cover; The second elastic portion drives the second movable cover to move in a direction away from the first charging seat and the second charging seat.

7. An automatic charging system according to claim 6, characterized in that: The first charging unit further includes a guide rod; one end of the guide rod is detachably connected to the first base, and the other end of the guide rod extends in a direction away from the first base; the cross-sectional area of ​​the guide rod in the radial direction gradually decreases from one end to the other end of the guide rod; The second charging unit further includes a positioning hole; the positioning hole is recessed from one side of the second seat body toward the other side.

8. An automatic charging system according to claim 1, characterized in that: The charging assembly also includes a charging bin; the charging bin includes a bin body, a first bin door, and a second bin door; the fixing seat is detachably connected to the bin body; the fixing seat is arranged in a hollow cavity of the bin body; the bin body is a cavity with an opening at one end; the first bin door is movably connected to one side of the opening of the bin body along the horizontal direction; the second bin door is movably connected to the top side of the opening of the bin body along the vertical direction; The automatic charging system includes an open state and a closed state; the open state includes that part of the movable arm, the terminal rotating arm, and the first charging unit are respectively located in the external space of the warehouse body; the closed state includes that the multi-axis robotic arm and the first charging unit are respectively located in the enclosed space formed by the warehouse body, the first warehouse door, and the second warehouse door.

9. An automatic charging method, characterized in that: The automatic charging method is applied to an automatic charging system according to any one of claims 1 to 8, and the automatic charging method comprises: Step S11, based on the charging instruction trigger, obtaining the position of the second charging unit; Step S12, based on the second charging unit being within the first set area, driving the first charging head to move toward the second charging unit; Step S121, based on the second charging unit being in a second set area, obtaining a state of the first charging head; wherein the distance between the first set area and the fixing seat is smaller than the distance between the second set area and the fixing seat; Step S122, based on the first charging head being at a first angle, driving the first charging head to move toward the second charging unit; wherein the first angle includes that the distance between the first charging head and the second setting area is smaller than the distance between the first charging head and the third setting area; the second setting area, the first setting area, and the third setting area are arranged in sequence; and the distance between the first setting area and the fixing seat is smaller than the distance between the third setting area and the fixing seat; Step S1221, based on the first charging head being at a second angle, driving the first charging head to rotate along the axis of the last section rotating arm to a first angle; wherein the second angle includes a distance between the first charging head and the second set area being greater than a distance between the first charging head and the third set area; Step S1222: based on the first charging head being at the first angle, driving the first charging head to move toward the second charging unit; Step S123, based on the second charging unit being within a third set area, acquiring a posture of the first charging head; Step S124, based on the first charging head being at the second angle, driving the first charging head to move toward the second charging unit; Step S1241, based on the first charging head being at the first angle, driving the first charging head to rotate along the axis of the last section rotating arm to a second angle; Step S1242: based on the first charging head being at the second angle, driving the first charging head to move toward the second charging unit; Step S13, starting charging based on the electrical connection between the first charging head and the second charging unit.

10. An automatic charging method according to claim 9, characterized in that: The step S13 comprises: Step S131, obtaining a rotation angle of the first charging head based on that the first charging head is electrically connected to the second charging unit; Step S132, starting charging based on the fact that the first charging head rotates at an angle less than 170° along the axis of the last section rotating arm.

11. An automatic charging method according to claim 10, characterized in that: The step S13 further includes: Step S133, based on the first charging head rotating along the axis of the last section rotating arm at an angle greater than or equal to 170° and less than or equal to 190°, the electrode exchanger exchanges the polarity of the electrodes in the first charging head; wherein the electrode exchanger is electrically connected to the charger; Step S134, starting charging by exchanging the polarity of the electrodes in the first charging head based on the electrode exchanger.

Images