Rod type charging robot, automobile charging system and charging method

Abstract

The invention discloses a rod type charging robot, an automobile charging system and a charging method. The rod type charging robot comprises a wrist joint assembly and a charging gun. A six-degree-of-freedom rod type robot configuration scheme is adopted, and a wrist joint assembly is composed of a three-degree-of-freedom wrist joint, a rod type moving pair and a two-degree-of-freedom wrist joint. The wrist joint design has more excellent sealing performance, the occupied space is smaller, and the wrist joint can adapt to more complex use environments. The rod type moving pair is connected between the two-degree-of-freedom wrist joint and the three-degree-of-freedom wrist joint, and interference of the two wrist joints in movement can be avoided. When the vehicle is driven into the charging area of the parking space, the system uses the second camera to determine the model, brand and charging port orientation of the vehicle. And the rod type charging robot moves to the charging port side, the first camera continuously carries out visual recognition, and the robot is guided to adjust the posture in real time. Through cooperation of the visual identification system and the rod type charging robot body, accurate butt joint of the charging gun and the charging port is ensured, and the intelligence and automation level of the charging process is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic charging of new energy vehicles, and in particular to a rod-type charging robot, a charging system, and a charging method. Background Art

[0002] Currently, existing full-vehicle charging systems typically use the following process: First, the recognition system completes vehicle identity authentication and initiates the charging protocol; then, under the guidance of the recognition system, the collaborative robot accurately docks the charging interface; during the charging process, the charging station monitors the charging status in real time; when charging is complete, the system sends a termination command, the robot automatically performs the gun retraction operation, and then the electric hatch automatically closes, completing the entire charging process.

[0003] This charging technology still has two major limitations: first, it lacks versatility. Its recognition system often only supports specific models and is dedicated to specific vehicles, making it difficult to be compatible with new energy vehicles of different brands and models; second, the robot structure has poor adaptability. Due to the existence of the elbow joint, this type of robot is prone to motion interference, increasing the risk of collision. Summary of the Invention

[0004] In response to the above-mentioned defects in the existing technology, a pole-type charging robot, a vehicle charging system, and a charging method are provided, which are compatible with new energy vehicles of different brands and models and have improved structural adaptability.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: The first aspect is the rod-type charging robot, which is used in the car charging system; it includes a wrist joint assembly and a charging gun; The wrist joint assembly includes a two-degree-of-freedom wrist joint, a rod-type moving pair, and a three-degree-of-freedom wrist joint connected in sequence; The charging gun is fixedly connected to one end of the wrist joint assembly.

[0006] According to the above technical solution, both the two-degree-of-freedom wrist joint and the three-degree-of-freedom wrist joint include multiple rotating motion units, and the rotating axis unit includes a driving unit as a fixed part and a rotating axis as a rotating part, and the driving unit drives the rotation of the rotating axis; The two-degree-of-freedom wrist joint includes two rotation axis units, wherein the rotation axis of the first rotation axis unit and the rotation axis of the second rotation axis unit are perpendicular to each other; The three-degree-of-freedom wrist joint includes three rotation axis units, and the rotation axis axes between the third rotation axis unit, the fourth rotation axis unit, and the fifth rotation axis unit are perpendicular to each other.

[0007] According to the above technical solution, the three-degree-of-freedom wrist joint includes a first fixed base, a first rotating shaft fixed to the first fixed base, a first sleeve, a second sleeve, and a third sleeve sequentially sleeved on the first rotating shaft from the inside to the outside, first, second, and third motor gear drive units connected between the sleeve and the first fixed base, a first disc support base fixedly connected to the charging gun or the rod-type moving pair, and first, second, and third rotating arm rocker units connected between the sleeve and the first disc support base; the first disc support base is jointly driven to rotate by the three motor gear drive units, and the axis of the first rotating shaft passes through the center of the sphere of the rotation trajectory of the first disc support base; The two-degree-of-freedom wrist joint includes a second fixed base, a second rotating shaft fixed to the second fixed base, a fourth sleeve and a fifth sleeve sequentially sleeved on the second rotating shaft from the inside to the outside, a fourth and fifth motor gear drive units connected between the sleeve and the second fixed base, a first disc support base fixedly connected to a charging gun or a rod-type moving pair, and first, second, and third rotating arm rocker units connected between the sleeve and the second disc support base; the first disc support base is driven to rotate by the two motor gear drive units, and the axis of the second rotating shaft passes through the center of the sphere of the rotation trajectory of the second disc support base; The rod-type moving pair is connected between the first fixed seat and the first disc supporting seat, or between the second fixed seat and the second disc supporting seat.

[0008] According to the above technical solution, a snap bracket is provided between the wrist joint assembly and the charging gun, and the snap bracket realizes a detachable fixed connection between the two.

[0009] According to the above technical solution, the rod-type charging robot also includes a mounting bracket, which is a counterweight block, or a side mounting bracket, or a hanging bracket, or a gantry frame; the other end of the wrist joint assembly is fixedly connected to the above mounting bracket.

[0010] According to the above technical solution, the rod-type charging robot also includes a mobile carrier, which includes a ground rail and a slider slidably connected to the ground rail; the ground rail is laid at the edge of the parking space, and the other end of the wrist joint assembly is fixedly mounted on the slider.

[0011] In a second aspect, a vehicle charging system is provided at a parking space, comprising a pole-type charging robot as described above, a first camera provided on the pole-type robot, a charging cabinet located at a side of the parking space, and a plurality of second cameras provided on the charging cabinet or an external bracket; A pole-type charging robot is installed at the edge of the parking space.

[0012] In a third aspect, a charging method is provided, using any of the above-described vehicle charging systems, the method comprising: Obtain and extract vehicle identity information based on the image captured by the second camera, and determine the location of the charging port based on the vehicle identity information; After determining that the vehicle has stopped steadily, the control rod-type charging robot moves the charging gun toward the charging port; Based on the continuously acquired images captured by the first camera, the relative position of the charging port is extracted, and the movement of the rod-type charging robot is continuously corrected so that the charging gun continuously approaches the charging port until it docks with the charging port.

[0013] According to the above technical solution, the vehicle identity information includes the vehicle logo, door position, and vehicle entry direction information; Based on the vehicle identity information, the make, model and charging port location of the vehicle are determined through a database or an internet connection.

[0014] According to the above technical solution, by obtaining continuous images captured by the second camera over a period of time, it is determined that the vehicle position has not changed, thereby determining that the vehicle is stationary; The relative position of the charging port includes the height, distance and angle of the vehicle's charging port relative to the fixed point of the pole-type charging robot.

[0015] The present invention has the following beneficial effects: 1. A six-degree-of-freedom (DOF) rod-type robot configuration is employed, consisting of a three-DOF wrist joint, a rod-type moving joint, and a two-DOF wrist joint. Compared to traditional elbow joint structures, the wrist joint design offers superior sealing, occupies less space, and can adapt to more complex operating environments. Furthermore, the rod-type moving joint is connected between the two-DOF wrist joint and the three-DOF wrist joint, preventing interference between the two wrist joints. This allows for better adjustment of the charging gun at the end of the joint to accommodate charging ports located in different locations on the vehicle, enabling compatibility with new energy vehicles of different brands and models, while also improving structural adaptability.

[0016] 2. When a vehicle enters the charging area of ​​a parking space, the system uses a second camera to capture the vehicle's identity information and determines the vehicle model, brand, and charging port location through a networked or local database. The pole-type charging robot then moves to the charging port. While the pole-type charging robot is in motion, the system's first camera continuously performs visual recognition, guiding the robot's posture adjustment in real time for precise movement. The coordinated collaboration between the visual recognition system and the pole-type charging robot ensures accurate docking between the charging gun and the charging port, enhancing the intelligence and automation of the charging process.

[0017] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and to implement it according to the contents of the description, the following preferred embodiments of the present invention are described in detail with reference to the accompanying drawings. The specific implementation methods of the present invention are given in detail by the following embodiments and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0019] Figure 1 The present invention provides a rod-type charging robot of the first embodiment; Figure 2 The present invention provides a rod-type charging robot according to a second embodiment; Figure 3 The present invention provides a first embodiment of the vehicle charging system (installation area); Figure 4 The present invention provides a second embodiment of the vehicle charging system (side mount); Figure 5 The present invention provides a third embodiment of the vehicle charging system (hanging rack); Figure 6 The present invention provides a fourth embodiment of a vehicle charging system (gantry); Figure 7 The present invention provides a fifth embodiment of the vehicle charging system (counterweight); Figure 8 The present invention provides a sixth embodiment of a vehicle charging system (ground rail); Figure 9 The present invention provides a first embodiment of the car charging system (installation area) charging state Figure 1 ; Figure 10 The present invention provides a first embodiment of the car charging system (installation area) charging state Figure 2 ; Figure 11 The present invention provides a first embodiment of the car charging system (installation area) charging state Figure 3 ; Figure 12 The present invention provides a first embodiment of the car charging system (installation area) charging state Figure 4 ; Figure 13 The present invention provides a first embodiment of the vehicle charging system (installation area) of the charging state Figure 5 ; Figure 14 This is a schematic diagram of the preferred structure of a sixth embodiment of a vehicle charging system (ground rail) provided by the present invention; Figure 15 1 is a schematic diagram of a preferred structure of a fifth embodiment of a vehicle charging system (counterweight) provided by the present invention; Figure 16 1 is a schematic structural diagram of a second three-degree-of-freedom wrist joint according to an embodiment of the present invention; Figure 17 1 is a schematic structural diagram of a second two-degree-of-freedom wrist joint according to an embodiment of the present invention; Figure 18 1 is a schematic structural diagram of a first three-degree-of-freedom wrist joint according to an embodiment of the present invention; Figure 19 1 is a schematic structural diagram of a first two-degree-of-freedom wrist joint according to an embodiment of the present invention; Figure 20 2. It is a schematic structural diagram of a rod-type moving pair according to an embodiment of the present invention; In the figure, 1. Charging gun; 2. Two-degree-of-freedom wrist joint; 3. Rod-type moving pair; 4. Three-degree-of-freedom wrist joint; 5. Rotation axis unit; 6. Snap bracket; 7. First camera; 8. Charging cabinet; 9. Second camera; 10. Counterweight; 11. Side mounting frame; 12. Lifting frame; 13. Gantry; 14. Ground rail; 15. Slider; 16. Parking space; 17. Rod-type charging robot; 18. Vehicle; 19. Capping; 20. Drag chain. 2-1, second fixed base; 2-2, second rotating shaft; 2-3a, fourth motor gear drive unit; 2-3b, fifth motor gear drive unit; 2-4, first disc support base; 2-5a, fourth rotating arm rocker unit; 2-5b, fifth rotating arm rocker unit; 2-5c, sixth rotating arm rocker unit; 3-1, fixed part; 3-2, moving part; 4-1, first fixed seat; 4-2, first rotating shaft; 4-3a, first motor gear drive unit; 4-3b, second motor gear drive unit; 4-3c, third motor gear drive unit; 4-4, first disc support seat; 4-5a, first rotating arm rocker unit; 4-5b, second rotating arm rocker unit; 4-5c, third rotating arm rocker unit; 5a, motor; 5b, rotating shaft; 5-1, first rotating shaft unit; 5-2, second rotating shaft unit; 5-3, third rotating shaft unit; 5-4, fourth rotating shaft unit; 5-5, fifth rotating shaft unit. DETAILED DESCRIPTION

[0020] The following is combined with Figure 1-20 The principles and features of the present invention are described, and the examples given are only for the purpose of explaining the present invention and are not intended to limit the scope of the present invention. The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are in a very simplified form and are not in exact proportions, and are only used for the purpose of conveniently and clearly assisting in illustrating the embodiments of the present invention.

[0021] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a central component. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0023] Reference Figures 1 to 20 As shown, the rod-type charging robot provided by the present invention.

[0024] Example 1 Applicable to automobile charging system; including wrist joint assembly and charging gun 1; The wrist joint assembly includes a two-degree-of-freedom wrist joint 2, a rod-type moving pair 3, and a three-degree-of-freedom wrist joint 4 connected in sequence; The charging gun is fixedly connected to one end of the wrist joint assembly.

[0025] like Figure 2 As shown, the other end of the three-degree-of-freedom wrist joint is fixedly connected to the charging robot installation area in the car charging system, and the other end of the two-degree-of-freedom wrist joint is fixedly connected to the charging gun.

[0026] Or, as Figure 3 As shown, the other end of the two-DOF wrist joint is fixedly connected to the charging robot installation area in the car charging system, and the other end of the three-DOF wrist joint is fixedly connected to the charging gun; The robot utilizes a six-DOF rod-type robot configuration, consisting of a three-DOF wrist joint, a rod-type translating joint, and a two-DOF wrist joint. Compared to traditional elbow joints, the wrist joint design offers superior sealing, occupies less space, and can adapt to more complex environments. Furthermore, the rod-type translating joint is connected between the two-DOF and three-DOF wrist joints, preventing interference between the two wrist joints.

[0027] Example 2 Based on Example 1, two preferred structural forms of wrist joint components are given.

[0028] The first one, such as Figure 18-19 As shown, both the two-DOF wrist joint and the three-DOF wrist joint include multiple rotation axis units 5, each of which includes a driving unit (in the embodiment shown in the figure, the driving unit is a motor 5a) as a fixed part and a rotation axis 5b as a rotating part. The rotation of the rotation axis is driven by the driving unit. The two-degree-of-freedom wrist joint adopts two rotation axis units, and the rotation axis of the first rotation axis unit and the rotation axis of the second rotation axis unit are perpendicular to each other; The three-degree-of-freedom wrist joint adopts three rotation axis units, and the rotation axis axes between the third rotation axis unit, the fourth rotation axis unit, and the fifth rotation axis unit are perpendicular to each other.

[0029] As shown in the figure, specifically, in the two-degree-of-freedom wrist joint, the motor of the first rotation axis unit 5-1 is fixedly connected to the charging robot installation area in the automobile charging system, the end of the rotation axis of the first rotation axis unit is fixedly connected to the housing of the motor of the second rotation axis unit 5-2, and the end of the rotation axis of the second rotation axis unit is fixedly connected to one end of the rod-type moving pair; the other end of the rod-type moving pair is fixedly connected to the housing of the motor of the third rotation axis unit 5-3, the end of the rotation axis of the third rotation axis unit is fixedly connected to the housing of the motor of the fourth rotation axis unit 5-4, the end of the rotation axis of the fourth rotation axis unit is fixedly connected to the housing of the motor of the fifth rotation axis unit 5-5, and the end of the rotation axis of the fifth rotation axis unit is directly or indirectly fixedly connected to the charging gun.

[0030] The second type, such as Figure 16-17 As shown, the three-degree-of-freedom wrist joint includes a first fixed seat 4-1, a first rotating shaft 4-2 fixed on the first fixed seat, a first sleeve, a second sleeve and a third sleeve sequentially sleeveed on the first rotating shaft from the inside to the outside, a first motor gear drive unit 4-3a, a second motor gear drive unit 4-3b, and a third motor gear drive unit 4-3c connected between the sleeve and the first fixed seat, a first disc support seat 4-4 fixedly connected to the charging gun or the rod-type moving pair, and a first rotating arm rocker unit 4-5a, a second rotating arm rocker unit 4-5b, and a third rotating arm rocker unit 4-5c connected between the sleeve and the first disc support seat; the first disc support seat is driven to rotate by the three motor gear drive units, and the axis of the first rotating shaft passes through the center of the sphere of the rotation trajectory of the first disc support seat; The two-degree-of-freedom wrist joint includes a second fixed base 2-1, a second rotating shaft 2-2 fixed on the second fixed base, a fourth sleeve and a fifth sleeve sequentially sleeved on the second rotating shaft from the inside to the outside, a fourth motor gear drive unit 2-3a and a fifth motor gear drive unit 2-3b connected between the sleeve and the second fixed base, a first disc support base 2-4 fixedly connected to the charging gun or the rod-type moving pair, a fourth rotating arm rocker unit 2-5a and a fifth rotating arm rocker unit 2-5b connected between the sleeve and the second disc support base, and a sixth rotating arm rocker unit 2-5c connected between the second rotating shaft and the second disc support base (wherein the L-shaped rotating arms of the second rotating shaft and the sixth rotating arm rocker unit are fixedly connected); the first disc support base is driven to rotate by the two motor gear drive units, and the axis of the second rotating shaft passes through the center of the sphere of the rotation trajectory of the second disc support base; The rod-type moving pair is connected between the first fixed seat and the first disc supporting seat, or between the second fixed seat and the second disc supporting seat.

[0031] As shown in the figure, the motor-gear drive unit includes a motor, a driving gear connected to the motor output shaft, and a driven gear fixedly connected to the bottom end of the sleeve. The driving gear and the driven gear are meshed with each other. Among them, the driven gear is fixedly connected to the bottom of the sleeve and rotates with the sleeve.

[0032] In the three-degree-of-freedom wrist joint, the inner wall of the first sleeve is attached to the first rotating shaft and rotates with the axis of the first rotating shaft as the rotation center line; the inner wall of the second sleeve is attached to the outer wall of the first sleeve and rotates with the axis of the first rotating shaft as the rotation center line; the inner wall of the third sleeve is attached to the outer wall of the second sleeve and rotates with the axis of the first rotating shaft as the rotation center line As shown in the figure, the first sleeve, the second sleeve and the third sleeve are sequentially sleeved on the first rotating shaft from the inside to the outside; therefore, from bottom to top, they are the driven gear fixedly connected to the first sleeve, the driven gear fixedly connected to the second sleeve, and the driven gear fixedly connected to the third sleeve.

[0033] The swing arm rocker arm unit includes an L-shaped swing arm and an arc-shaped rocker arm, wherein the horizontal section end of the L-shaped swing arm is fixed to the top of the sleeve, the vertical section end of the L-shaped swing arm and one end of the rocker arm are connected through a first rotating shaft, and the other end of the rocker arm and the first disc support seat are connected through a second rotating shaft. The axis of the first rotating shaft and the second rotating shaft pass through the center of the sphere of the rotation trajectory of the second disc support seat. Based on the first sleeve, the second sleeve and the third sleeve are sequentially mounted on the first rotating shaft from the inside to the outside; therefore, from bottom to top, they are the L-shaped swing arm fixedly connected to the third sleeve, the L-shaped swing arm fixedly connected to the second sleeve, and the L-shaped swing arm fixedly connected to the first sleeve. Preferably, the angles between the axes of the three second rotating shafts are 120°.

[0034] The structure of the two-degree-of-freedom wrist joint is similar to that of the three-degree-of-freedom wrist joint. The difference is that one sleeve and one set of motor gear drive units are reduced, and only the fourth sleeve and the fifth sleeve are used. The sixth arm rocker unit is directly fixed on the second shaft.

[0035] Example 3 Based on Examples 1 and 2, in addition to being directly fixed to the end of the wrist joint assembly, the charging gun can also adopt the following structural form.

[0036] Preferably, considering the possibility that the rod-type charging robot may not function properly during use, the charging gun at the end of the rod-type charging robot is designed to be detachably fixed, making it easy for the user to remove and use it independently. As shown in the figure, a snap bracket 6 is provided between the wrist joint assembly and the charging gun, which realizes the detachable fixed connection between the two.

[0037] In Examples 1-3, Figure 20 The rod-type moving pair shown includes a fixed part 3-1 and a moving part 3-2; the rod-type moving pair can be implemented using forms including but not limited to gear racks, worm gears, pulley sets, electric cylinders, pneumatic cylinders, synchronous belt pulleys, crank sliders, etc.

[0038] To ensure the device can adapt to various working environments, the wrist joints are equipped with accordion covers to improve the system's IP protection level. The system's IP protection level can be improved using a variety of methods, including but not limited to accordion covers, isolation nets, silicone sleeves, and sealing rings.

[0039] Example 4 Based on Examples 1-3, three installation forms of pole-type charging robots are given.

[0040] First, the rod-type charging robot further includes a mounting bracket.

[0041] The mounting bracket is a counterweight 10, a side mount 11, a suspension mount 12, or a gantry 13; the other end of the wrist assembly is fixedly connected to the mounting bracket. The mounting bracket allows the pole-type charging robot to be mounted directly on the front, side, or suspended from a parking space.

[0042] As attached Figure 7 The figure shows an embodiment of a car charging system, in which a rod-type charging robot is installed on a movable counterweight block, and the position of the counterweight block can be adjusted according to actual use requirements.

[0043] Second, the rod-type charging robot further includes a mobile carrier, which includes a ground rail 14 and a slider 15 located on the ground rail, and the charging robot is fixedly mounted on the slider.

[0044] As attached Figure 8 The figure shows an embodiment of a car charging system. The rod-type charging robot is installed on the ground rail and can move autonomously along the ground rail at the end of the parking space to achieve full coverage of the vehicle 18 charging positions with a single charging gun. The drive can be formed by, but not limited to, rack and pinion, worm gear, pulley, electric cylinder, pneumatic cylinder, synchronous belt, crank slider, etc. Figure 8 The power transmission structure of the slider shown in FIG. Figure 14 As shown, the floor rail adopts a rack structure, and a motor and a gear connected to the motor output shaft are provided on the slider, and the gear is engaged with the rack; the gear and the motor are not drawn in the figure. In order to protect the motor and the gear, a cover 19 is provided in the area where the motor and the gear are installed on the slider, and a drag chain 20 is also provided on the slider for installing the pipeline of the motor.

[0045] The third type, as attached Figure 3 The figure shows an embodiment of a car charging system. The charging pile is installed at the rear of the parking space, on which a second camera is installed. The pole-type charging robot does not use a mounting bracket or a mobile carrier, but is directly fixed in the middle position of the rear of the two parking spaces. The pole-type charging robot can also be as shown in the attached figure. Figure 9 , Attachment Figure 10 , Attachment Figure 11 , Attachment Figure 12 , Attachment Figure 13 The single pole charging robot shown covers four positions on the same side of a double parking space. In this case, no mounting bracket or mobile carrier is required.

[0046] Based on the above three measures, by using a movable counterweight as a mounting bracket, or an immovable side mounting frame, hoisting frame, gantry frame as a mounting bracket, or a mobile carrier, or directly installing it at the edge of the parking space; the flexibility of the installation layout of the pole-type charging robot in the car charging system is met, meeting the installation needs of various occasions.

[0047] The present invention also provides a car charging system, which is located at a parking space 16 and is characterized by comprising a pole-type charging robot 17 as described above, a first camera 7 located on the pole-type robot, a charging cabinet 8 located on the side of the parking space, and a plurality of second cameras 9 located on the charging cabinet or an external bracket; The pole robot is installed at the edge of the parking space.

[0048] Based on the above structure, the following is given: Figure 1The preferred automotive charging system layout shown here features a snap-on bracket at the end of the wrist assembly, to which the charging gun is detachably mounted. The snap-on bracket is fixedly mounted to a two-DOF wrist joint; this two-DOF wrist joint is fixed to the upper end of a rod-type moving pair, capable of axial displacement with the movement of the rod-type moving pair; the rod-type moving pair is mounted to a three-DOF wrist joint at the bottom. A first camera is fixed to the end of the wrist assembly; a second camera is fixed to the top of the charging cabinet.

[0049] In this car charging system, the first camera and the second camera may include but are not limited to a visible light camera, an infrared camera, a monocular camera, a binocular camera, a camera group, a laser radar, an ultrasonic radar, etc.

[0050] The present invention also provides a charging method, using any of the above-described vehicle charging systems, the method comprising: S1: When a vehicle enters the charging area, the second camera captures an image. The second camera captures and extracts vehicle identification information based on the image. This information includes the vehicle logo, door positions, and vehicle entry direction. Based on this information, the vehicle's make, model, and charging port location are determined through a database or network connection.

[0051] S2: The vehicle identification information includes the vehicle logo, door position, and vehicle approach direction. Other existing methods can also be used to determine whether the vehicle is stable, such as the owner initiating a charging request after the vehicle has stopped. Once the vehicle is determined to be stable, the control rod-type charging robot moves the charging gun toward the charging port.

[0052] S3: As the pole-type charging robot moves, the first camera continuously captures images. Based on the continuously acquired images captured by the first camera, the relative position of the charging port is extracted and the movement of the pole-type charging robot is continuously corrected, so that the charging gun continuously approaches the charging port until it docks with the charging port.

[0053] The relative position of the charging port includes the height, distance and angle of the charging port relative to the fixed point of the pole-type charging robot; the fixed point of the pole-type charging robot is a preset value.

[0054] In this embodiment, the fixed point of the rod-type charging robot can be selected In this method, when a vehicle enters the charging area of ​​a parking space, the system uses a second camera to collect vehicle identification information and determines the vehicle's model, brand, and charging port location through a networked or local database. The pole-type charging robot then moves to the charging port and uses the first camera to precisely locate the charging port before docking. While the pole-type charging robot is in motion, the system's first camera continuously performs visual recognition, guiding the robot's posture adjustment in real time for precise movement. The coordinated collaboration between the visual recognition system and the pole-type charging robot ensures accurate docking between the charging gun and the charging port, enhancing the intelligence and automation of the charging process.

[0055] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in this industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with this profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. Rod-type charging robot, used in automobile charging system; its characteristics are: Includes wrist joint assembly and charging gun; The wrist joint assembly includes a two-degree-of-freedom wrist joint, a rod-type moving pair, and a three-degree-of-freedom wrist joint connected in sequence; The charging gun is fixedly connected to one end of the wrist joint assembly.

2. The rod-type charging robot according to claim 1, characterized in that: Both the two-degree-of-freedom wrist joint and the three-degree-of-freedom wrist joint include multiple rotation units, and the rotation axis unit includes a driving unit as a fixed part and a rotation axis as a rotating part, and the rotation of the rotation axis is driven by the driving unit; The two-degree-of-freedom wrist joint includes two rotation axis units, wherein the rotation axis of the first rotation axis unit and the rotation axis of the second rotation axis unit are perpendicular to each other; The three-degree-of-freedom wrist joint includes three rotation axis units, and the rotation axis axes between the third rotation axis unit, the fourth rotation axis unit, and the fifth rotation axis unit are perpendicular to each other.

3. The rod-type charging robot according to claim 1, characterized in that: The three-degree-of-freedom wrist joint includes a first fixed base, a first rotating shaft fixed to the first fixed base, a first sleeve, a second sleeve, and a third sleeve sequentially sleeved on the first rotating shaft from the inside to the outside, first, second, and third motor gear drive units connected between the sleeve and the first fixed base, a first disc support base fixedly connected to a charging gun or a rod-type moving pair, and first, second, and third rotating arm rocker units connected between the sleeve and the first disc support base; the first disc support base is driven to rotate by the three motor gear drive units, and the axis of the first rotating shaft passes through the center of the sphere of the rotation trajectory of the first disc support base; The two-degree-of-freedom wrist joint includes a second fixed base, a second rotating shaft fixed to the second fixed base, a fourth sleeve and a fifth sleeve sequentially sleeved on the second rotating shaft from the inside to the outside, a fourth and fifth motor gear drive units connected between the sleeve and the second fixed base, a first disc support base fixedly connected to a charging gun or a rod-type moving pair, and first, second, and third rotating arm rocker units connected between the sleeve and the second disc support base; the first disc support base is driven to rotate by the two motor gear drive units, and the axis of the second rotating shaft passes through the center of the sphere of the rotation trajectory of the second disc support base; The rod-type moving pair is connected between the first fixed seat and the first disc supporting seat, or between the second fixed seat and the second disc supporting seat.

4. The rod-type charging robot according to claim 1, characterized in that: A snap bracket is provided between the wrist joint assembly and the charging gun, and the snap bracket realizes a detachable fixed connection between the two.

5. The rod-type charging robot according to claim 1, characterized in that: The rod-type charging robot further includes a mounting bracket, which is a counterweight, or a side mounting bracket, or a hanging bracket, or a gantry frame; the other end of the wrist joint assembly is fixedly connected to the above-mentioned mounting bracket.

6. The rod-type charging robot according to claim 1, characterized in that: The rod-type charging robot also includes a mobile carrier, which includes a ground rail and a slider slidably connected to the ground rail; the ground rail is laid at the edge of the parking space, and the other end of the wrist joint assembly is fixedly mounted on the slider.

7. A car charging system, which is located at a parking space and is characterized by: comprising a pole-type charging robot as claimed in any one of claims 1 to 6, a first camera provided on the pole-type robot, a charging cabinet located on the side of the parking space, and a plurality of second cameras provided on the charging cabinet or an external bracket; A pole-type charging robot is installed at the edge of the parking space.

8. Charging method, characterized in that: Using the automobile charging system as claimed in claim 7, the method includes: Obtain and extract vehicle identity information based on the image captured by the second camera, and determine the location of the charging port based on the vehicle identity information; After determining that the vehicle has stopped steadily, the control rod-type charging robot moves the charging gun toward the charging port; Based on the continuously acquired images captured by the first camera, the relative position of the charging port is extracted, and the movement of the rod-type charging robot is continuously corrected so that the charging gun continuously approaches the charging port until it docks with the charging port.

9. The charging method according to claim 8, wherein: The vehicle identity information includes vehicle logo, door position, and vehicle entry direction information; Based on the vehicle identity information, the make, model and charging port location of the vehicle are determined through a database or an internet connection.

10. The charging method according to claim 8, wherein: By acquiring continuous images acquired by the second camera over a period of time, it is determined that the position of the vehicle has not changed, thereby determining that the vehicle is stationary; The relative position of the charging port includes the height, distance and angle of the charging port relative to the fixed point of the rod-type charging robot; the fixed point of the rod-type charging robot is a preset value.

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