Aerial charging robot based on guide rail

Abstract

The invention discloses an aerial charging robot based on a guide rail, and relates to the technical field of cable charging equipment.The aerial charging robot comprises a rail assembly and charging robots, the rail assembly comprises the guide rail arranged at the high position, and the charging robots are arranged and abut against the guide rail in a sliding mode; the moving platform is provided with a driving assembly, a charging assembly, a positioning assembly and an obstacle avoidance mechanism. The guide rails corresponding to the sub-rails are changed by moving the rail transfer mechanism, transfer and transposition of the two moving platforms are achieved, moving of the moving platforms in different paths on the guide rails is not affected, the moving platform in use of charging is not affected, multiple rails do not need to be arranged, and the guide rails of the whole device are arranged in a mode of being attached to a vehicle parking area. The overhead space is fully utilized, a charging pile does not need to be installed on the ground, meanwhile, the vehicle is conveniently and rapidly positioned through the positioning assembly, mutual conflicts between the mobile platforms are avoided through the obstacle avoidance mechanism, and the utilization rate of resources and space is greatly increased.

Description

Technical Field

[0001] The present invention relates to the technical field of cable charging equipment. Background Art

[0002] New energy vehicles have become an important current energy strategy. As an important foundation and guarantee for the development of new energy vehicles, most current charging infrastructures adopt the method of installing fixed charging piles in regional parking spaces. However, the charging spaces in non-fixed parking lots are often occupied by fuel vehicles, which extremely affects the use of charging infrastructures by new energy vehicle users. If charging piles are installed for all parking spaces, the investment cost is very high, and the utilization rate of charging facilities is relatively low.

[0003] Therefore, it is necessary to develop relevant solutions for the problem of insufficient utilization rate of charging piles caused by the mixed use of parking in public areas. Summary of the Invention

[0004] The purpose of the present invention is to provide an air charging robot based on a guide rail in order to solve the above technical problems.

[0005] The present invention specifically adopts the following technical solutions to achieve the above purpose: An air charging robot based on a guide rail, comprising a track assembly and a charging robot. The track assembly includes a guide rail arranged at a high position, and the distribution path of the guide rail passes through the vehicle parking area. The charging robot is provided with no less than 2 groups and all are in sliding contact with the guide rail. The charging robot includes a moving platform, and a driving component, a charging component, a positioning component, and an obstacle avoidance mechanism are arranged on the moving platform; Among them, the charging component includes a charging gun, a charging module, a sliding contact wire, and an electric winding roller arranged on the moving platform. The charging gun is electrically connected to the charging module, and the charging gun cable is wound through the electric winding roller; The driving component includes a driving roller arranged on the moving platform. The driving roller is driven by a servo motor, and adjacent driving rollers are hinged by a hinge. The cross-section of the guide rail is in a "C" shape, and the driving rollers are arranged in pairs and symmetrically arranged on both sides of the inner cavity and the lower end face of the guide rail. The moving platform is hoisted at the lower end of the guide rail through the driving roller; The positioning component includes a signal control sensor arranged on the moving platform, and a positioning sensor is correspondingly arranged in the vehicle parking area; The obstacle avoidance mechanism includes obstacle avoidance sensors arranged at both ends of the moving platform, and further includes a plurality of obstacle avoidance circuits arranged on the guide rail. The obstacle avoidance circuits are arranged in the vehicle parking area to be charged. The obstacle avoidance circuit includes two mutually perpendicular sub-tracks. A docking component is arranged between the guide rail and the end of the sub-track, and a moving track-changing mechanism for changing the orientation of the sub-track is arranged on the obstacle avoidance circuit.

[0006] Through the above solution, the cross-section of the guide rail is in a "C" shape, which facilitates the moving platform to be hoisted at the lower end of the guide rail through the driving roller. When the vehicle is parked in the parking area, the moving platform can be moved to the designated area according to requirements. Its positioning adopts the cooperation of a positioning sensor and a signal control sensor, with accurate positioning. The sliding contact line supplies power to the device, and then the charging gun is controlled to fall by the electric winding roller, facilitating charging. After charging is completed, the charging gun is unplugged, and the charging gun can be controlled to rise by the electric winding roller to complete the reset. At the same time, by setting obstacle avoidance sensors and cooperating with the obstacle avoidance circuit set on the guide rail, that is, when it is sensed that there are conflicts in the moving paths of multiple charging robots, the track can be changed through the obstacle avoidance circuit, that is, the two moving platforms move to the branch rails, and the guide rails corresponding to the branch rails are changed through the moving track-changing mechanism, realizing the transfer and transposition of the two moving platforms, facilitating the movement of the moving platforms on different paths on the guide rail without being affected, and not affecting the moving platform that is being charged. There is no need to set multiple tracks, saving costs. The guide rail of the entire device is arranged to fit the vehicle parking area and makes full use of the space above. There is no need to install charging piles on the ground. At the same time, the vehicle can be quickly positioned through the positioning component, and the obstacle avoidance mechanism is used to avoid conflicts between moving platforms, greatly improving the utilization rate of resources and space.

[0007] Further, the moving track-changing mechanism includes a turntable arranged at the top end of the obstacle avoidance circuit. The branch rails are distributed on the lower end surface of the turntable. A base fixed to the wall is provided at the upper end of the turntable. A slewing assembly is provided between the turntable and the base. The slewing assembly includes a driven gear arranged on the rotating shaft of the turntable. A driving gear driven by a servo motor and meshing with the driven gear is provided on the base. A number of secondary auxiliary gears meshing with the driven gear are also provided on the base. The secondary auxiliary gears and the driving gear are evenly distributed on the outer periphery of the driven gear. Through the above solution, the driving gear is driven by the servo motor to rotate, then drive the driven gear to rotate, and rotate together with the turntable, thus realizing the separation of the branch rail and the track, prompting the next-level branch rail to rotate to the track. Through the rotation of the turntable, the commutation and dislocation of different moving platforms are realized, avoiding travel conflicts and not affecting the normal use of the moving platform that is being charged. At the same time, by setting secondary auxiliary gears, the rotation stability of the driven gear can be improved.

[0008] Further, the docking component includes a transceiver sensor corresponding to the signal control sensor arranged on the branch rail. There are four transceiver sensors and they correspond to the branch rails one by one. The docking component also includes an auxiliary alignment component arranged between the branch rail and the guide rail. Through the above scheme, a transceiver sensor is set on the sub-track to facilitate the signal control sensor on the transceiver mobile platform, and then sense the position of the mobile platform for signal docking, so as to facilitate the mobile platform that needs to adjust its position into the sub-track according to needs, and align the sub-track and guide rail through the auxiliary alignment component to improve the operation accuracy.

[0009] Furthermore, the auxiliary alignment component includes a receiving groove arranged at the end of the divided rail, an extension column is slidably provided in the receiving groove, an armature plate is provided at one end of the extension column facing the receiving groove, an electromagnet plate is provided in the receiving groove, a tensioning spring is provided between the electromagnet plate and the armature plate, the tensioning spring has a tendency to urge the armature plate away from the electromagnet plate and urge the extension column to extend out of the receiving groove, and an embedding groove is provided at the end of the guide rail facing the receiving groove, and the embedding groove is adapted to the extension column. Through the above scheme, when it is necessary to change the track, the mobile platforms on both sides slide into the split track, the electromagnet plate is started, the tensioning spring is compressed, and the extension column retracts from the embedded groove to the receiving groove, which is convenient for the turntable to rotate, thereby driving the mobile platform to move to the other side, completing the replacement of the mobile platforms on both sides, aligning the split track with the guide rail, closing the electromagnet plate, and resetting the tensioning spring to prompt the armature plate to drive the extension column to extend, and then prompting the extension column to insert into the embedded groove, thereby improving the accuracy and stability of the docking between the split track and the guide rail.

[0010] Furthermore, a central controller is provided, and the servo motor driving the driving gear, the servo motor driving the driving roller, the positioning sensor, the transceiver sensor, the obstacle avoidance sensor, the signal control sensor, and the electromagnet plate are all electrically connected to the central controller. Through the above scheme, a central controller is set up to facilitate the unified processing of information flow, including positioning the vehicle charging position, positioning the charging robot, and operating the mobile platform to move and control the status to complete track change, thereby improving the automation capability of the device.

[0011] Furthermore, the busbar is synchronously arranged with the guide rail, the busbar is connected to a power source, and the busbar is powered separately at the branch rail and the turntable. Through the above solution, a separate power supply is adopted to avoid affecting the movement and charging of the mobile platform.

[0012] Furthermore, the positioning sensor, the transceiver sensor, the obstacle avoidance sensor, the signal control sensor, and the central controller are all equipped with a built-in battery connected to a power source. Through the above scheme, the installation of batteries can locate each component in emergency situations such as power outages and tripping, grasp the specific position, and facilitate maintenance.

[0013] Furthermore, nylon limiting idler wheels are provided at the top of the movable platform and the top of the guide rail.

[0014] Through the above solution, a nylon limiting idler wheel is provided to maintain the stability of the mobile platform on the track and avoid the mobile platform losing power and sliding away and hitting in the event of a power outage.

[0015] Furthermore, an electrical cabinet adapted to the central controller and the sliding contact wire is provided, and an emergency stop button is provided on the electrical cabinet.

[0016] Through the above solution, the electrical cabinet is provided in cooperation with the emergency stop button, which is convenient for emergency stopping of the mobile platform and the guide rail in special cases.

[0017] Furthermore, a microswitch is provided at the lower end of the electric winding roller on the mobile platform. The microswitch is electrically connected to the charging module, and the microswitch is located within the moving track of the charging gun.

[0018] Through the above solution, the microswitch is provided. When the charging gun is lifted or lowered, the microswitch will be triggered, which is convenient for grasping whether the charging gun is reset and in use.

[0019] The beneficial effects of the present invention are as follows: 1. The present invention discloses an in-air charging robot based on a guide rail. The cross-section of the guide rail is in a "C" shape, which is convenient for the mobile platform to be hoisted at the lower end of the guide rail through a driving roller. When the vehicle is parked in the parking area, the mobile platform can be moved to the designated area according to requirements. Its positioning adopts the cooperation of a positioning sensor and a signal control sensor, with accurate positioning. The sliding contact wire supplies power to the device, and then the charging gun is controlled to fall by the electric winding roller for convenient charging. After charging is completed, the charging gun is unplugged, and the charging gun can be controlled to rise by the electric winding roller to complete the reset. At the same time, by setting an obstacle avoidance sensor and cooperating with an obstacle avoidance circuit provided on the guide rail, that is, when it is sensed that there is a conflict in the moving paths of multiple charging robots, the track can be changed through the obstacle avoidance circuit, that is, the two mobile platforms move to the branch track, and the guide rail corresponding to the branch track is changed through the moving track changing mechanism to realize the transfer and transposition of the two mobile platforms, which is convenient for the mobile platforms on different paths to move on the guide rail without being affected, and does not affect the mobile platform that is using charging. There is no need to set multiple tracks, saving costs. The entire device's guide rail is arranged in贴合 with the vehicle parking area and makes full use of the upper space. There is no need to install charging piles on the ground. At the same time, the vehicle can be quickly positioned through the positioning component, and the obstacle avoidance mechanism is used to avoid conflicts between mobile platforms, greatly improving the utilization rate of resources and space; 2. A transceiver sensor is provided on the branch track to facilitate the transceiver of the signal control sensor on the mobile platform, and then sense the position of the mobile platform for signal docking, which is convenient for the mobile platform that needs to adjust its position to be划入 into the branch track according to requirements, and the branch track and the guide rail are aligned through the auxiliary alignment component to improve the operation accuracy; 3. When it is necessary to change the track, the mobile platforms on both sides slide into the split track, start the electromagnet plate, compress the tension spring, and shrink the extension column from the embedded groove to the receiving groove, which is convenient for the turntable to rotate, thereby driving the mobile platform to move to the other side, completing the replacement of the mobile platforms on both sides, aligning the split track with the guide rail, closing the electromagnet plate, and resetting the tension spring to prompt the armature plate to drive the extension column to extend, and then prompt the extension column to insert into the embedded groove, thereby improving the accuracy and stability of the docking between the split track and the guide rail. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a cross-sectional structural schematic diagram of the present invention; Figure 3 It is a partial structural schematic diagram of the obstacle avoidance circuit of the present invention; Figure 4 yes Figure 3 The enlarged structural diagram of part A in the middle; Figure 5 1 is a schematic diagram of the split track from a top view of the present invention; Figure 6 It is a schematic side view of the guide rail and the driving roller portion of the present invention.

[0021] Figure numerals: 11, guide rail; 12, mobile platform; 13, charging gun; 14, bus bar; 15, electric winding roller; 16, driving roller; 17, signal control sensor; 18, positioning sensor; 19, obstacle avoidance sensor; 20, split track; 21, micro switch; 22, turntable; 23, base; 24, driven gear; 25, driving gear; 26, secondary auxiliary gear; 27, transceiver sensor; 28, storage slot; 29, extension column; 30, armature plate; 31, electromagnet plate; 32, tensioning spring; 33, embedded groove; 34, electrical cabinet; 35, emergency stop button; 36, nylon limit idler wheel. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Example 1 As Figures 1 to 6 shown, this embodiment provides an in-air charging robot based on a guide rail, including an orbital assembly and a charging robot. The orbital assembly includes a guide rail 11 installed at a high place, which can generally be set at the top of a garage or on the frame of an open-air garage. If it is an open-air garage, rain-proof facilities need to be installed. The distribution path of the guide rail 11 passes through the vehicle parking area, and the guide rail 11 can be bent according to the position of the garage to facilitate fitting the charging parking space. The charging robot is provided with no less than 2 groups and all are in sliding contact with the guide rail 11. The charging robot includes a moving platform 12, and a driving assembly, a charging assembly, a positioning assembly, and an obstacle avoidance mechanism are arranged on the moving platform 12; Among them, the charging assembly includes a charging gun 13, a charging module, a sliding contact wire 14, and an electric winding roller 15 arranged on the moving platform 12. The charging gun 13 is electrically connected to the charging module. The charging module is a common charging pile configuration and will not be elaborated here. The cable of the charging gun 13 is wound by the electric winding roller 15; The driving assembly includes a driving roller 16 arranged on the moving platform 12. The driving roller 16 is driven by a servo motor. Adjacent driving rollers 16 are hinged by hinge parts. The cross-section of the guide rail 11 is in a "C" shape. The driving rollers 16 are arranged in pairs and symmetrically on both sides of the inner cavity and the lower end face of the guide rail 11. The moving platform 12 is hoisted at the lower end of the guide rail 11 by the driving rollers 16. The track of the sliding contact wire 14 is laid on the back side of the opening of the guide rail 11; The positioning assembly includes a signal control sensor 17 arranged on the moving platform 12, and a positioning sensor 18 is correspondingly arranged in the vehicle parking area; The obstacle avoidance mechanism includes obstacle avoidance sensors 19 arranged at both ends of the moving platform 12, and also includes a number of obstacle avoidance circuits arranged on the guide rail 11. The obstacle avoidance circuits are arranged in the vehicle parking area waiting for charging. The obstacle avoidance circuit includes two mutually perpendicular sub-tracks 20. A docking assembly is arranged between the guide rail 11 and the end of the sub-track 20. A moving track-changing mechanism for changing the orientation of the sub-track 20 is arranged on the obstacle avoidance circuit.

[0025] The guide rail 11 is an aluminum alloy guide rail. The sliding contact wire 14 is an HFP56 conduit type sliding contact wire, which is used to realize safe and efficient power supply from the charging station to the charging end.

[0026] Therefore, the cross-section of the guide rail 11 is in a "C" shape, which facilitates the hoisting of the mobile platform 12 at the lower end of the guide rail 11 through the driving roller 16. When the vehicle is parked in the parking area, the mobile platform 12 can be moved to the designated area according to the demand. Its positioning is achieved by the cooperation of the positioning sensor 18 and the signal control sensor 17, with accurate positioning. The sliding contact wire 14 supplies power to the device, and then the charging gun 13 is controlled to fall by the electric winding roller 15 for convenient charging. After charging is completed, the charging gun 13 is unplugged, and then the charging gun 13 can be controlled to rise by the electric winding roller 15 to complete the reset. At the same time, by setting the obstacle avoidance sensor 19 and cooperating with the obstacle avoidance circuit set on the guide rail 11, that is, when it is sensed that there are conflicts in the moving paths of multiple charging robots, the track can be changed through the obstacle avoidance circuit, that is, the two mobile platforms 12 move to the sub-rail 20, and the guide rail 11 corresponding to the sub-rail 20 is changed through the mobile track-changing mechanism to realize the transfer and transposition of the two mobile platforms 12, facilitating the movement of the mobile platforms 12 on different paths on the guide rail 11 without being affected and without affecting the mobile platform 12 that is charging. There is no need to set multiple tracks, saving costs. The entire device's guide rail 11 is arranged to fit the vehicle parking area and makes full use of the overhead space. There is no need to install charging piles on the ground. At the same time, the vehicle can be quickly positioned through the positioning component, and the obstacle avoidance mechanism is used to avoid conflicts between the mobile platforms 12, greatly improving the utilization rate of resources and space.

[0027] Referring to Figure 1 and Figure 2 , in order to monitor the operation status of the device, a microswitch 21 is provided at the lower end of the electric winding roller 15 on the mobile platform 12. The microswitch 21 is set for the charging gun 13 and is electrically connected to the charging module. The microswitch 21 is located within the moving track of the charging gun 13. By setting the microswitch 21, when the charging gun 13 moves up and down, it will trigger the microswitch 21, thus facilitating the control of whether the charging gun 13 is reset and in use.

[0028] Referring to Figure 3 and Figure 4 and Figure 5 , the mobile track-changing mechanism includes a turntable 22 provided at the top of the obstacle avoidance circuit. The sub-rails 20 are distributed on the lower end surface of the turntable 22. A base 23 fixed to the wall is provided at the upper end of the turntable 22. A rotary assembly is provided between the turntable 22 and the base 23. The rotary assembly includes a driven gear 24 provided on the rotating shaft of the turntable 22. A driving gear 25 driven by a servo motor and meshing with the driven gear 24 is provided on the base 23. A number of secondary auxiliary gears 26 meshing with the driven gear 24 are also provided on the base 23. The secondary auxiliary gears 26 and the driving gear 25 are evenly distributed on the outer periphery of the driven gear 24. The docking assembly includes a transceiver sensor 27 corresponding to the signal control sensor 17 provided on the sub-rail 20. Four transceiver sensors 27 are provided and correspond to the sub-rails 20 one by one. The docking assembly also includes an auxiliary alignment assembly provided between the sub-rail 20 and the guide rail 11.

[0029] Therefore, a transceiver sensor 27 is provided on the sub-track 20 to facilitate the transceiver signal control sensor 17 on the mobile platform 12, and then sense the position of the mobile platform 12 for signal docking, so as to facilitate the mobile platform 12 that needs to be adjusted to be placed in the sub-track 20 according to the needs, and the driving gear 25 is driven by the servo motor to rotate, and then the driven gear 24 is driven to rotate, and the turntable 22 is rotated together, and then the sub-track 20 is separated from the track, so that the next level of sub-track 20 is rotated to the track, and the reversing and misalignment of different mobile platforms 12 are realized by the rotation of the turntable 22, so as to avoid travel conflicts and not affect the normal use of the mobile platform 12 being charged. At the same time, a secondary auxiliary gear 26 is provided to improve the rotation stability of the driven gear 24. Then, the sub-track 20 and the guide rail 11 are aligned by the auxiliary alignment component to improve the operation accuracy.

[0030] Further, see Figure 3 and Figure 4 and Figure 5 The auxiliary alignment component includes a receiving groove 28 arranged at the end of the divided rail 20, an extension column 29 is slidably arranged in the receiving groove 28, an armature plate 30 is arranged at one end of the extension column 29 facing the receiving groove 28, an electromagnet plate 31 is arranged in the receiving groove 28, a tensioning spring 32 is arranged between the electromagnet plate 31 and the armature plate 30, the tensioning spring 32 has a tendency to urge the armature plate 30 away from the electromagnet plate 31 and urge the extension column 29 to extend out of the receiving groove 28, and an embedding groove 33 is arranged at the end of the guide rail 11 facing the receiving groove 28, and the embedding groove 33 is adapted to the extension column 29. When it is necessary to change tracks, the mobile platforms 12 on both sides slide into the sub-track 20, and the electromagnet plate 31 is started, causing the tensioning spring 32 to be compressed, and the extension column 29 retracts from the embedding groove 33 to the receiving groove 28, which is convenient for the turntable 22 to rotate, thereby driving the mobile platform 12 to move to the other side, completing the position change of the mobile platforms 12 on both sides, and the sub-track 20 is aligned with the guide rail 11. The electromagnet plate 31 is closed, and the tensioning spring 32 is reset to cause the armature plate 30 to drive the extension column 29 to extend, and then cause the extension column 29 to be inserted into the embedding groove 33, thereby improving the accuracy and stability of the docking between the sub-track 20 and the guide rail 11.

[0031] Reference Figure 3 and Figure 4 and Figure 5 and Figure 6 In order to solve the power supply problem of the device, the busbar 14 is synchronously set with the guide rail 11, the busbar 14 is connected to the power supply, and the busbar 14 is powered separately at the sub-rail 20 and the turntable 22. There is a certain distance between the guide rail 11 and the sub-rail 20, which is convenient for the sub-rail 20 to rotate, and a separate power supply is used to avoid affecting the movement and charging of the mobile platform 12.

[0032] Furthermore, in order to improve the automation of the operation of the device and improve the efficiency of monitoring the operation of the device, a central controller is provided. The servo motor driving the active gear 25, the servo motor driving the driving roller 16, the positioning sensor 18, the transceiver sensor 27, the obstacle avoidance sensor 19, the signal control sensor 17, and the electromagnet plate 31 are all electrically connected to the central controller. The central controller is provided to facilitate unified processing of information flow, including positioning the vehicle charging position, positioning the charging robot, and operating the mobile platform 12 to move and control the status to complete the track change, thereby improving the automation capability of the device.

[0033] Furthermore, the positioning sensor 18, the transceiver sensor 27, the obstacle avoidance sensor 19, the signal control sensor 17, and the central controller are all equipped with a battery connected to a power source. An electrical cabinet 34 adapted to the central controller and the busbar 14 is also provided, and an emergency stop button 35 is provided on the electrical cabinet 34. At the same time, the battery is electrically connected to the servo motor driving the driving roller 16. The battery can be provided to locate each component in an emergency such as a power outage and tripping, and the specific position can be grasped for easy maintenance. At the same time, the driving roller 16 can be temporarily driven to rotate, so that the mobile platform 12 can pass through the junction of the guide rail 11 and the sub-rail 20. The electrical cabinet 34 is provided with an emergency stop button 35, so that the mobile platform 12 and the guide rail 11 can be stopped in an emergency under special circumstances.

[0034] Reference Figure 1 Nylon limit idler wheels 36 are provided at the top of the mobile platform 12 and the top of the guide rail 11. The nylon limit idler wheels 36 can maintain the stability of the mobile platform 12 on the track and prevent the mobile platform 12 from losing power and sliding and colliding in the event of a power outage.

[0035] Example 2 The structure of Example 2 is basically the same as that of Example 1, except that Example 2 is suitable for smaller garages or garages with complex structures. In Example 2, the top of the mobile platform 12 is matched with the guide rail 11 set on the corresponding parking space. According to the number of parking spaces, the guide rail 11 is divided into a corresponding number of sections and installed in each vehicle section. The mobile platform 12 moves in a small range on each charging parking space without the need to set up an obstacle avoidance mechanism.

[0036] Implementation principle: The present invention discloses an in-air charging robot based on a guide rail. The cross-section of the guide rail 11 is in a "C" shape, facilitating the mobile platform 12 to be hoisted at the lower end of the guide rail 11 through the driving rollers 16. When the vehicle is parked in the parking area, the mobile platform 12 can be moved to the designated area according to requirements. Its positioning uses the cooperation of a positioning sensor 18 and a signal control sensor 17, with accurate positioning. The trolley wire 14 supplies power to the device, and then the charging gun 13 is controlled to drop by the electric winding roller 15 for convenient charging. After charging is completed, the charging gun 13 is unplugged, and then the charging gun 13 can be controlled to rise by the electric winding roller 15 to complete the reset. At the same time, by setting an obstacle avoidance sensor 19 and cooperating with the obstacle avoidance circuit provided on the guide rail 11, that is, when it is sensed that there are conflicts in the moving paths of multiple charging robots, the track can be changed through the obstacle avoidance circuit, that is, the two mobile platforms 12 move to the branch rail 20, and the guide rail 11 corresponding to the branch rail 20 is changed through the mobile track-changing mechanism to realize the transfer and transposition of the two mobile platforms 12, facilitating the movement of the mobile platforms 12 on different paths on the guide rail 11 without being affected and without affecting the mobile platform 12 that is in use for charging. There is no need to set multiple tracks, saving costs. The entire device's guide rail 11 is arranged to fit the vehicle parking area and makes full use of the overhead space. There is no need to install charging piles on the ground. At the same time, the vehicle can be quickly positioned conveniently through the positioning component, and the use of the obstacle avoidance mechanism avoids conflicts between the mobile platforms 12, greatly improving the utilization rate of resources and space.

Claims

1. A rail-based aerial charging robot, characterized in that: It includes an orbital assembly and a charging robot. The orbital assembly includes a guide rail (11) installed at a high position, and the distribution path of the guide rail (11) passes through the vehicle parking area. The charging robot is provided with no less than 2 groups and all are in sliding contact with the guide rail (11). The charging robot includes a mobile platform (12), and a driving assembly, a charging assembly, a positioning assembly, and an obstacle avoidance mechanism are arranged on the mobile platform (12). Among them, the charging assembly includes a charging gun (13), a charging module, a sliding contact wire (14), and an electric winding roller (15) arranged on the mobile platform (12). The charging gun (13) is electrically connected to the charging module, and the cable of the charging gun (13) is wound through the electric winding roller (15). The driving assembly includes a driving roller (16) arranged on the mobile platform (12). The driving roller (16) is driven by a servo motor. Adjacent driving rollers (16) are hinged by hinge parts. The cross-section of the guide rail (11) is in the shape of "匚". The driving rollers (16) are arranged in pairs and symmetrically arranged on both sides of the inner cavity and the lower end face of the guide rail (11). The mobile platform (12) is hoisted at the lower end of the guide rail (11) through the driving rollers (16). The positioning assembly includes a signal control sensor (17) arranged on the mobile platform (12), and a positioning sensor (18) is correspondingly arranged in the vehicle parking area. The obstacle avoidance mechanism includes obstacle avoidance sensors (19) arranged at both ends of the mobile platform (12), and also includes several obstacle avoidance circuits arranged on the guide rail (11). The obstacle avoidance circuits are arranged in the vehicle parking area to be charged. The obstacle avoidance circuit includes two mutually perpendicular sub-tracks (20). A docking assembly is arranged between the guide rail (11) and the end of the sub-track (20). A mobile track-changing mechanism for changing the orientation of the sub-track (20) is arranged on the obstacle avoidance circuit.

2. The rail-based aerial charging robot according to claim 1, characterized in that: The mobile track-changing mechanism includes a turntable (22) arranged at the top of the obstacle avoidance circuit. The sub-tracks (20) are distributed on the lower end face of the turntable (22). A base (23) fixed to the wall is arranged at the upper end of the turntable (22). A rotary assembly is arranged between the turntable (22) and the base (23). The rotary assembly includes a driven gear (24) arranged on the rotating shaft of the turntable (22). A driving gear (25) driven by a servo motor and meshing with the driven gear (24) is arranged on the base (23). Several secondary auxiliary gears (26) meshing with the driven gear (24) are also arranged on the base (23). The secondary auxiliary gears (26) and the driving gear (25) are evenly distributed on the outer periphery of the driven gear (24).

3. The rail-based aerial charging robot according to claim 2, characterized in that: The docking assembly includes a transceiver sensor (27) arranged on the sub-track (20) corresponding to the signal control sensor (17). Four transceiver sensors (27) are arranged and correspond to the sub-tracks (20) one by one. The docking assembly also includes an auxiliary alignment assembly arranged between the sub-track (20) and the guide rail (11).

4. The rail-based aerial charging robot according to claim 3, characterized in that: The auxiliary alignment component comprises a receiving groove (28) arranged at the end of the branch rail (20), an extension column (29) is slidably arranged in the receiving groove (28), an armature plate (30) is arranged at one end of the extension column (29) facing the receiving groove (28), an electromagnet plate (31) is arranged in the receiving groove (28), a tensioning spring (32) is arranged between the electromagnet plate (31) and the armature plate (30), the tensioning spring (32) has a tendency to urge the armature plate (30) away from the electromagnet plate (31) and urge the extension column (29) to extend out of the receiving groove (28), and an embedding groove (33) is arranged at the end of the guide rail (11) facing the receiving groove (28), and the embedding groove (33) is adapted to the extension column (29).

5. The rail-based aerial charging robot according to claim 4, characterized in that: A central controller is also provided, and the servo motor driving the driving gear (25), the servo motor driving the driving roller (16), the positioning sensor (18), the transceiver sensor (27), the obstacle avoidance sensor (19), the signal control sensor (17), and the electromagnet plate (31) are all electrically connected to the central controller.

6. The rail-based aerial charging robot according to claim 4, characterized in that: The busbar (14) is synchronously arranged with the guide rail (11), the busbar (14) is connected to a power source, and the busbar (14) is independently powered at the sub-rail (20) and the turntable (22).

7. The rail-based aerial charging robot according to claim 5, characterized in that: The positioning sensor (18), the transceiver sensor (27), the obstacle avoidance sensor (19), the signal control sensor (17), and the central controller are all equipped with a storage battery connected to a power source.

8. The rail-based aerial charging robot according to claim 1, characterized in that: Nylon limiting idler wheels (36) are provided at the top of the mobile platform (12) and the top of the guide rail (11).

9. The rail-based aerial charging robot according to claim 5, characterized in that: An electrical cabinet (34) adapted to the central controller and the busbar (14) is also provided, and an emergency stop button (35) is provided on the electrical cabinet (34).

10. The rail-based aerial charging robot according to claim 1, characterized in that: A micro switch (21) is provided on the mobile platform (12) at the lower end of the electric winding roller (15); the micro switch (21) is electrically connected to the charging module; and the micro switch (21) is located within the moving track of the charging gun (13).

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