Automobile automatic charging device and automobile automatic charging method

Abstract

The invention relates to the field of new energy electric vehicles, and discloses an automatic vehicle charging device and an automatic vehicle charging method. The automobile automatic charging device comprises a charging gun assembly and a robot grabbing assembly, the charging gun assembly comprises a charging gun body, an armature is arranged at the tail end of the charging gun body, and a guide hole is formed in the armature; the robot grabbing assembly comprises a butt joint plate, the butt joint plate is provided with a visual camera, an electromagnet attracted with the armature in a matched mode and a guide column located with the guide hole in a matched mode, and the visual camera is used for recognizing and locating the positions of the charging pile and the to-be-charged vehicle, the position of a charging gun assembly on the charging pile and the position of a vehicle end charging base. According to the automobile automatic charging device and the automobile automatic charging method, the process that the charging gun assembly is automatically transferred between the charging pile and the vehicle end charging base in a reciprocating mode is achieved in the mode that magnetic attraction is matched with visual positioning, the structure is simple, action is accurate, the automation degree is high, and development of automatic charging of an electric automobile is promoted.

Description

Technical Field

[0001] This invention relates to the field of new energy electric vehicles, and in particular to an automatic charging device and method for automobiles. Background Technology

[0002] The global ownership of new energy vehicles continues to grow rapidly. With the increasing popularity of new energy vehicles, the demand for convenient charging solutions is surging. As an automatic and efficient charging method, the market demand for robotic charging guns will also increase accordingly. Robotic charging guns can not only be used for daily charging of electric vehicles, but also in special scenarios, such as unmanned environments like multi-level parking garages. Leveraging large-scale AI models, robotic charging guns can achieve more accurate prediction of vehicle battery status and customize charging solutions.

[0003] Existing robot charging guns still have considerable room for improvement. For example, the robot output end is equipped with a complex mechanical gripping device, which increases the robot's load requirements. When docking with the charging gun, the requirements for positioning accuracy and gripping reliability are high; otherwise, mis-grabbing or accidental dropping of the charging gun may occur, and manual intervention may still be necessary when needed. Summary of the Invention

[0004] Based on the above, the purpose of this invention is to provide an automatic car charging device and an automatic car charging method, which achieves efficient, convenient and intelligent charging through the cooperation of a robot and a charging gun.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An automatic car charging device includes a charging gun assembly and a robotic gripping assembly, wherein:

[0007] The charging gun assembly includes a charging gun body, a DC terminal that mates with the vehicle's charging socket at the head end of the charging gun body, an armature at the tail end of the charging gun body, a guide hole on the armature, and a handle on the side surface of the charging gun body, from which a cable extends.

[0008] The robot gripping component includes a docking plate connected to the robotic arm. The docking plate is equipped with a vision camera, an electromagnet that works with the armature to attract the robot, and a guide post that works with the guide hole for positioning. The vision camera is used to identify and locate the position of the charging pile and the vehicle to be charged, the position of the charging gun component on the charging pile, and the position of the vehicle-side charging socket on the vehicle to be charged, so that the robot gripping component can accurately complete the actions of picking up the charging gun component and inserting it into the vehicle-side charging socket, as well as removing the charging gun component and putting it back into the charging pile.

[0009] As an optional solution, a first touch switch is arranged on the docking plate and in contact with the armature, and the first touch switch is used to feed back whether the connection between the charging gun assembly and the robot grabbing assembly is in place and reliable.

[0010] As an optional solution, a step groove for mounting the action manipulator is arranged on the back of the docking plate, a containing groove for mounting the electromagnet is arranged on the front of the docking plate, step holes for mounting guide columns are arranged on both sides of the containing groove, a fixing plate for mounting the visual camera is arranged on the top of the docking plate, and an embedded groove for mounting the first touch switch is arranged on the bottom of the docking plate.

[0011] As an optional solution, a second touch switch is arranged on the armature and in contact with the electromagnet, and the second touch switch is used to judge whether the connection between the robot grabbing assembly and the charging gun assembly is disconnected after the charging gun assembly is inserted into the vehicle end charging seat, and to feed back to the charging pile that charging can be started after confirming the disconnection.

[0012] As an optional solution, an inner liner is arranged in the charging gun body, and a separate cavity is arranged in the inner liner corresponding to each DC terminal, the head end of the DC terminal is exposed from the charging gun body, and the tail end of the DC terminal is welded in conduction with the power conductor in the cable in the separate cavity.

[0013] As an optional solution, a limiting protrusion is arranged on the surface of the part of the DC terminal in the separate cavity, a clamping groove is arranged on the surface of the part of the DC terminal outside the separate cavity, a positioning buckle is inserted in the clamping groove, and the limiting protrusion and the positioning buckle cooperate to axially fix the DC terminal on the inner liner.

[0014] As an optional solution, a temperature sensor is mounted on the inner liner, and a temperature measuring head of the temperature sensor abuts against the positioning buckle.

[0015] As an optional solution, a sealing ring, a circular clamping jaw, and a clamping jaw fixing ring are sequentially arranged on the cable in the handle part, one side surface of the circular clamping jaw abuts against the sealing ring, a plurality of annularly distributed jaw arms are arranged on the other side surface of the circular clamping jaw, the jaw arms protrude along the axial direction of the cable, the clamping jaw fixing ring is arranged outside the jaw arms and applies a radial force to the jaw arms, so that the circular clamping jaw tightly holds the cable.

[0016] As an optional solution, a tail cover is arranged on the port of the handle part, a buckle part that buckles with the tail cover is arranged on the clamping jaw fixing ring, a wire protection sleeve is arranged on the cable, and an edge pressing part that is clamped between the tail cover and the cable is arranged on the wire protection sleeve.

[0017] On the other hand, the present application adopts the following technical solutions:

[0018] An automatic charging method for a vehicle based on the above automatic charging device for a vehicle, comprising:

[0019] Step one, the robot grabbing component approaches the charging pile, positions the charging gun component on the charging pile through a visual camera, drives the electromagnet close to the armature of the charging gun component, and the electromagnet is powered on to adsorb the armature;

[0020] Step two, the robot grabbing component approaches the vehicle to be charged with the charging gun component, positions the vehicle end charging seat on the vehicle to be charged through a visual camera, and drives the DC terminal of the charging gun component to insert into the vehicle end charging seat;

[0021] Step three, the electromagnet is powered off, the robot grabbing component releases the charging gun component, and charging starts;

[0022] Step four, after charging is completed, the robot grabbing component again absorbs the charging gun component and pulls away from the vehicle end charging seat, and the charging gun component is placed back on the charging pile.

[0023] The beneficial effects of the present application are:

[0024] The automobile automatic charging device and the automobile automatic charging method adopt the mode of magnetic attraction combined with visual positioning to realize the process of automatically transferring the charging gun component between the charging pile and the vehicle end charging seat, have simple structure, accurate action, high degree of automation, and promote the development of automatic charging of electric vehicles. BRIEF DESCRIPTION OF DRAWINGS

[0025] Fig. 1 is a structural schematic diagram of the automobile automatic charging device provided by the embodiment of the present application;

[0026] Fig. 2 is a sectional view of the automobile automatic charging device provided by the embodiment of the present application;

[0027] Fig. 3 is a structural schematic diagram of the robot grabbing component in the automobile automatic charging device provided by the embodiment of the present application;

[0028] Fig. 4 is a structural schematic diagram of the charging gun component in the automobile automatic charging device provided by the embodiment of the present application.

[0029] In the drawings:

[0030] 100, charging gun component; 110, charging gun main body; 120, DC terminal; 121, limiting convex edge; 122, clamping groove; 123, sealing ring; 130, armature; 131, guide hole; 132, second touch switch; 140, cable; 141, sealing ring; 142, circular clamping jaw; 143, clamping jaw fixing ring; 144, tail cover; 145, wire protection sleeve; 150, inner liner; 160, positioning buckle; 170, temperature sensor;

[0031] 200, robot grabbing assembly; 210, docking plate; 211, stepped groove; 212, accommodating groove; 213, stepped hole; 214, fixing plate; 215, embedding groove; 220, electromagnet; 230, guide column; 240, visual camera; 250, first touch switch. DETAILED DESCRIPTION

[0032] The application will be further described below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are intended to be merely illustrative of the application and not in limitation thereof. It should also be noted that, for the purpose of clarity, only those structures directly related to the application are shown in the drawings.

[0033] In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0034] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include the direct contact of the first and second features, or can include the contact of the first and second features through another feature between them. Moreover, the "upper", "upper" and "upper" of the first feature to the second feature includes the vertical direction of the first feature above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "lower", "lower" and "lower" of the first feature to the second feature includes the vertical direction of the first feature below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0035] In the description of the present embodiment, the terms "upper", "lower", "left", "right" and other orientation or position relationship are based on the orientation or position relationship shown in the drawings, which is only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the application.

[0036] In addition, the terms "first", "second" and the like are only used to distinguish in description and have no special meaning.

[0037] Please refer to Figs. 1 to 4 The present embodiment provides an automatic charging device for automobile, which comprises a charging gun assembly 100 and a robot grabbing assembly 200, wherein:

[0038] The charging gun assembly 100 comprises a charging gun body 110, a DC terminal 120 provided at a head end of the charging gun body 110 and matched with a vehicle end charging seat, and an armature 130 provided at a tail end of the charging gun body 110 and having a guide hole 131 formed therein; and a handle part provided at a side surface of the charging gun body 110 and having a cable 140 led out therefrom.

[0039] The robot grabbing assembly 200 comprises a docking plate 210 connected with the action manipulator, a visual camera 240 provided on the docking plate 210 and used for identifying the positions of the charging pile and the vehicle to be charged, the position of the charging gun assembly 100 on the charging pile, and the position of the vehicle end charging seat on the vehicle to be charged, an electromagnet 220 provided on the docking plate 210 and matched with the armature 130 for adsorbing the armature 130, and a guide column 230 provided on the docking plate 210 and matched with the guide hole 131 for positioning, so that the robot grabbing assembly 200 can accurately complete the actions of sucking the charging gun assembly 100 and inserting the charging gun assembly 100 into the vehicle end charging seat and pulling the charging gun assembly 100 out of the vehicle end charging seat and putting the charging gun assembly 100 back on the charging pile.

[0040] Here, the electromagnet 220 is circular and generates electromagnetic force when energized for adsorbing the armature 130; the guide column 230 is matched with the guide hole 131 to realize accurate alignment of the robot grabbing assembly 200 and the charging gun assembly 100; and the action manipulator is a joint robot having at least six degrees of freedom and a certain stroke of movement function, and can realize long displacement and short displacement for accurate alignment from the charging pile to the vehicle to be charged.

[0041] Thus, the magnetic adsorption matched with visual positioning is adopted to realize the process of automatically transferring the charging gun assembly 100 between the charging pile and the vehicle end charging seat, and the structure is simple, the action is accurate, the degree of automation is high, and the development of automatic charging of electric vehicles is promoted.

[0042] Optionally, a first touch switch 250 matched with the armature 130 is provided on the docking plate 210, and the first touch switch 250 is used for feeding back whether the connection of the charging gun assembly 100 and the robot grabbing assembly 200 is in place and reliable.

[0043] Here, the first touch switch 250 is a micro-stroke switch, which is used for monitoring the connection state of the robot grabbing assembly 200 and the charging gun assembly 100 to avoid misoperation and ensure the safety of the action control loop.

[0044] Specifically, a stepped groove 211 for mounting the action manipulator is provided on the back of the docking plate 210, a receiving groove 212 for mounting the electromagnet 220 is provided on the front of the docking plate 210, stepped holes 213 for mounting the guide column 230 are provided on both sides of the receiving groove 212, a fixed plate 214 for mounting the visual camera 240 is provided on the top of the docking plate 210, and an embedded groove 215 for mounting the first touch switch 250 is provided on the bottom of the docking plate 210.

[0045] Thus, the space of the docking plate 210 is fully utilized, and the layout of the electromagnet 220, the guide column 230, the visual camera 240, the first touch switch 250, and the like is reasonably designed, but the actual position is not limited thereto.

[0046] Optionally, the armature 130 is provided with a second touch switch 132 in contact with the electromagnet 220, and the second touch switch 132 is used to determine whether the connection between the robot grabbing assembly 200 and the charging gun assembly 100 is disconnected after the charging gun assembly 100 is inserted into the vehicle-side charging seat, and feedback to the charging pile that charging can be started after confirming disconnection.

[0047] The second touch switch 132 here is a micro switch, and charging operation can only be performed after the charging gun assembly 100 is inserted into the vehicle-side charging seat, thereby ensuring the safety of the charging circuit.

[0048] Optionally, the charging gun body 110 is provided with an inner liner 150, and the inner liner 150 is provided with an independent cavity corresponding to each DC terminal 120. The head end of the DC terminal 120 is exposed from the charging gun body 110, and the tail end of the DC terminal 120 is welded in conduction with the power conductor in the cable 140 in the independent cavity.

[0049] The inner liner 150 here is formed by injection molding, and the independent cavity mainly plays a role of electrical insulation isolation and mounting and fixing the DC terminal 120. In addition to the DC terminal 120, the charging gun body 110 also has S+ / S- signal terminals, CC1 / CC2 terminals, signal switching PCBA, and the like, which are not described in detail here.

[0050] Specifically, to ensure reliable installation of the DC terminal 120, the surface of the part of the DC terminal 120 located in the independent cavity is provided with a limiting protrusion 121, and the surface of the part of the DC terminal 120 located outside the independent cavity is provided with a clamping groove 122, and a positioning buckle 160 is inserted in the clamping groove 122. The limiting protrusion 121 and the positioning buckle 160 cooperate to axially fix the DC terminal 120 on the inner liner 150, thereby avoiding axial movement of the DC terminal 120. In addition, to ensure the sealing property of the charging gun body 110, sealing rings 123 are respectively arranged between the DC terminal 120 and the shell wall of the inner liner 150 and the charging gun body 110.

[0051] Further, the positioning buckle 160 is made of metal with strong heat conduction capacity and a certain yield strength, and a temperature sensor 170 is mounted on the inner liner 150, and the temperature sensor 170 abuts against the positioning buckle 160 to monitor whether the working temperature of the DC terminal 120 is normal.

[0052] Optionally, the handle portion is provided with a sealing ring 141, a circular clamping jaw 142 and a clamping jaw fixing ring 143 which are sequentially sleeved on the cable 140. One side of the circular clamping jaw 142 abuts against the sealing ring 141, and a plurality of annularly distributed jaw arms are arranged on the other side of the circular clamping jaw 142 and extend along the axial direction of the cable 140. The clamping jaw fixing ring 143 is sleeved outside each jaw arm and applies a radial force to the jaw arm, so that the circular clamping jaw 142 tightly clamps the cable 140.

[0053] Further, the port of the handle portion is provided with a tail cover 144, the clamping jaw fixing ring 143 is provided with a buckle portion which buckles with the tail cover 144, the cable 140 is sleeved with a wire sleeve 145, and the wire sleeve 145 is provided with a pressing edge which is clamped between the tail cover 144 and the cable 140.

[0054] Therefore, the wire locking structure composed of the sealing ring 141, the circular clamping jaw 142, the clamping jaw fixing ring 143, the tail cover 144 and the wire sleeve 145 improves the sealing and protection between the handle portion and the cable 140.

[0055] Based on the above-mentioned automobile automatic charging device, the embodiment further provides an automobile automatic charging method, which comprises the following steps:

[0056] Step one, the robot grabbing assembly 200 approaches the charging pile, positions the charging gun assembly 100 on the charging pile through the visual camera 240, drives the electromagnet 220 to approach the armature 130 of the charging gun assembly 100, and the electromagnet 220 is powered on to adsorb the armature 130;

[0057] Step two, the robot grabbing assembly 200 approaches the vehicle to be charged with the charging gun assembly 100, positions the vehicle-side charging seat on the vehicle to be charged through the visual camera 240, and drives the DC terminal 120 of the charging gun assembly 100 to insert into the vehicle-side charging seat;

[0058] Step three, the electromagnet 220 is powered off, the robot grabbing assembly 200 releases the charging gun assembly 100, and charging starts;

[0059] Step four, after charging is completed, the robot grabbing assembly 200 again adsorbs the charging gun assembly 100 and pulls away from the vehicle-side charging seat, and the charging gun assembly 100 is placed back on the charging pile.

[0060] Among them, when the electromagnet 220 adsorbs and completely abuts against the armature 130 in step one, the first touch switch 250 is triggered, proving that the robot grabbing assembly 200 adsorbs the charging gun assembly 100 is completed; when the electromagnet 220 is powered off and the electromagnet 220 is separated from the armature 130 in step three, the first touch switch 250 is reset, proving that the connection between the robot grabbing assembly 200 and the charging gun assembly 100 is disconnected, and at the same time, the second touch switch 132 also completes the release, meaning that charging can start.

[0061] In summary, the automobile automatic charging device and the automobile automatic charging method have the following advantages:

[0062] 1) The electromagnetic force suction method is used to replace the complex mechanical grabbing device, thereby reducing the overall weight of the automobile automatic charging device and facilitating the reduction of the load level of the robot grabbing assembly 200;

[0063] 2) The triggering switches are arranged on the charging gun assembly 100 and the robot grabbing assembly 200 respectively, and feedback control is performed in the charging circuit and the robot control circuit, thereby forming double insurance and reducing the occurrence rate of accidents;

[0064] 3) The cooperation structure of the guide column 230 and the guide hole 131 can make the alignment of the charging gun assembly 100 and the robot grabbing assembly 200 more accurate and reliable;

[0065] 4) The visual camera 240 located at the top of the automobile automatic charging device has a larger shooting field of view, and is more beneficial to positioning and identification;

[0066] 5) The whole process can be realized without human participation, and the automation degree is high, and it is particularly suitable for use scenes in which human intervention is impossible.

[0067] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, various obvious changes, readjustments and replacements can be made without departing from the protection scope of the present application. It is unnecessary and impossible to enumerate all the implementation modes. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. An automatic car charging device, characterized in that, It includes a charging gun assembly (100) and a robot gripping assembly (200), wherein: The charging gun assembly (100) includes a charging gun body (110), the head end of which is provided with a DC terminal (120) that cooperates with the charging socket at the vehicle end, the tail end of which is provided with an armature (130), the armature (130) is provided with a guide hole (131), and the side surface of the charging gun body (110) is provided with a handle, and a cable (140) is led out from the handle. The robot gripping assembly (200) includes a docking plate (210) connected to the robotic arm. The docking plate (210) is equipped with a vision camera (240), an electromagnet (220) that is attracted to the armature (130), and a guide post (230) that is positioned in conjunction with the guide hole (131). The vision camera (240) is used to identify and locate the position of the charging pile and the vehicle to be charged, the position of the charging gun assembly (100) on the charging pile, and the position of the vehicle-side charging seat on the vehicle to be charged, so that the robot gripping assembly (200) can accurately complete the actions of picking up the charging gun assembly (100) and inserting it into the vehicle-side charging seat, and removing the charging gun assembly (100) and putting it back into the charging pile.

2. The automatic car charging device according to claim 1, characterized in that, The docking plate (210) is provided with a first touch switch (250) that engages with the armature (130). The first touch switch (250) is used to provide feedback on whether the connection between the charging gun assembly (100) and the robot gripping assembly (200) is in place and reliable.

3. The automatic car charging device according to claim 2, characterized in that, The back of the docking plate (210) is provided with a stepped groove (211) for mounting the robotic arm, the front of the docking plate (210) is provided with a receiving groove (212) for mounting the electromagnet (220), the two sides of the receiving groove (212) are provided with stepped holes (213) for mounting the guide post (230), the top of the docking plate (210) is provided with a fixing plate (214) for mounting the vision camera (240), and the bottom of the docking plate (210) is provided with an mounting groove (215) for mounting the first touch switch (250).

4. The automatic car charging device according to claim 1, characterized in that, The armature (130) is provided with a second touch switch (132) that contacts the electromagnet (220). The second touch switch (132) is used to determine whether the connection between the robot gripping component (200) and the charging gun component (100) is disconnected after the charging gun assembly (100) is inserted into the vehicle-end charging base, and to send feedback to the charging pile that charging can start after confirming that the connection is disconnected.

5. The automatic vehicle charging device according to claim 1, characterized in that, The charging gun body (110) is provided with an inner liner (150), and an independent cavity is provided in the inner liner (150) corresponding to each DC terminal (120). The head end of the DC terminal (120) is exposed in the charging gun body (110), and the tail end of the DC terminal (120) is soldered and connected to the power conductor in the cable (140) in the independent cavity.

6. The automatic charging device for automobiles according to claim 5, characterized in that, The DC terminal (120) has a limiting flange (121) on a portion of its surface located inside the independent cavity, and a slot (122) is provided on a portion of its surface located outside the independent cavity. A positioning buckle (160) is inserted into the slot (122). The limiting flange (121) and the positioning buckle (160) cooperate to axially fix the DC terminal (120) on the inner liner (150).

7. The automatic vehicle charging device according to claim 6, characterized in that, A temperature sensor (170) is installed on the liner (150), and the temperature measuring head of the temperature sensor (170) abuts against the positioning buckle (160).

8. The automatic charging device for automobiles according to claim 1, characterized in that, The grip portion is provided with a sealing ring (141), a circular claw (142), and a claw fixing ring (143) sequentially sleeved on the cable (140). One side of the circular claw (142) abuts against the sealing ring (141), and a plurality of evenly distributed circular claw arms are provided on the other side of the circular claw (142). The claw arms extend along the axial direction of the cable (140), and the claw fixing ring (143) is sleeved on each of the claw arms and applies a radial force to the claw arms, so that the circular claw (142) grips the cable (140).

9. The automatic charging device for automobiles according to claim 8, characterized in that, The handle portion has a tail cap (144) at its port, the claw retaining ring (143) has a buckle portion that engages with the tail cap (144), the cable (140) is fitted with a cable protector (145), and the cable protector (145) has a pressing edge that clamps between the tail cap (144) and the cable (140).

10. An automatic vehicle charging method, based on the automatic vehicle charging device according to any one of claims 1-9, characterized in that, The automatic vehicle charging method includes: Step 1: The robot grasping component (200) approaches the charging pile and uses the vision camera (240) to locate the charging gun component (100) on the charging pile. The robot then drives the electromagnet (220) to approach the armature (130) of the charging gun component (100). The electromagnet (220) is energized to attract the armature (130). Step 2: The robot grasping component (200) brings the charging gun component (100) close to the vehicle to be charged, locates the vehicle-side charging socket on the vehicle to be charged through the vision camera (240), and drives the DC terminal (120) of the charging gun component (100) to be inserted into the vehicle-side charging socket. Step 3: The electromagnet (220) is de-energized, and the robot gripping component (200) releases the charging gun component (100) to begin charging; Step 4: After charging is completed, the robot gripping component (200) picks up the charging gun component (100) again and removes it from the vehicle-side charging dock, and puts the charging gun component (100) back into the charging pile.

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