Shed integrated three-axis truss linkage automatic charging device

Abstract

A shed integrated three-axis truss linkage automatic charging device comprises a photovoltaic anti-occupation monitoring shed arranged above an external parking space through a metal frame. A photovoltaic panel is arranged at the top of the photovoltaic anti-occupation monitoring shed; the bottom of the photovoltaic anti-occupation monitoring shed is connected with a three-axis truss device, and the bottom of the three-axis truss device is connected with a charging gun type mechanical arm. The three-axis truss device can move the charging gun type mechanical arm in a three-dimensional space, and butt joint and charging processes of the electric vehicle are automatically completed by moving the charging gun type mechanical arm. The bottom of the photovoltaic anti-occupation monitoring shed is provided with a spraying fire extinguishing system device facing the external parking space, the response to the fire behavior of the charging pile is rapid, and the property loss can be reduced to the maximum extent.

Description

Technical Field

[0001] This invention belongs to the field of electric vehicle automatic charging technology, and specifically relates to a carport integrated three-axis truss linkage automatic charging device. Background Technology

[0002] With the popularization of electric vehicles, the number and usage of charging piles have increased significantly. Currently, the main problems are as follows: the increase in charging power leads to an increase in cable weight, making manual charging operations difficult; the fixed installation of charging piles on the ground occupies parking space and increases parking risks; mobile charging piles have high requirements for the parking environment and have low power and insufficient charging efficiency; some charging stations have fuel vehicles occupying the spaces, resulting in a waste of charging pile resources; and traditional charging piles are slow to detect fires and have slow fire response. Summary of the Invention

[0003] This invention proposes an integrated three-axis truss linkage automatic charging device for carports, which solves the technical problems in the prior art such as excessive weight of high-power charging cables for charging piles, fixed charging piles occupying parking space, low efficiency of mobile charging piles, fuel vehicles occupying charging piles, and slow response to fires.

[0004] The concept of this invention is to fix the photovoltaic anti-occupancy monitoring carport 4 with photovoltaic panels 4-1 above the parking space with a metal frame, and to install a movable charging gun-type robotic arm 2 and a sprinkler fire extinguishing system device 3 at the bottom of the photovoltaic anti-occupancy monitoring carport 4, so that the charging parking space can have alarm, anti-occupancy and fire extinguishing functions at the same time, save parking space to the maximum extent, and avoid collisions between vehicles and charging piles.

[0005] The integrated three-axis truss linkage automatic charging device for carports of the present invention includes a photovoltaic anti-occupancy monitoring carport 4 installed above an external parking space via a metal frame, defining the vehicle arrangement direction in the external parking space as horizontal and the vehicle parking direction as vertical; the photovoltaic anti-occupancy monitoring carport 4 is provided with a photovoltaic panel 4-1 on the top; a three-axis truss device 1 is connected to the bottom of the photovoltaic anti-occupancy monitoring carport 4, and a charging gun-type robotic arm 2 is connected to the bottom of the three-axis truss device 1; the three-axis truss device 1 can move the charging gun-type robotic arm 2 in the horizontal, vertical and longitudinal directions; a sprinkler fire extinguishing system device 3 facing the external parking space is provided at the bottom of the photovoltaic anti-occupancy monitoring carport 4; The charging gun robotic arm 2 includes a base 2-1 connected to a three-axis truss device 1. A rotary motor 2-2 is installed inside the base 2-1. The rotary motor 2-2 is connected to a base rotation joint 2-3 located below the base 2-1 via a vertical rotation shaft. The bottom of the base rotation joint 2-3 is connected to a bidirectional charging gun 2-4 via a horizontal charging gun shaft. The bidirectional charging gun 2-4 is connected to a vacuum suction cup 2-9 and a ball joint charging head 2-5 via interfaces on both sides of its bottom. A binocular camera 2-8 is installed on the top of the interface of the vacuum suction cup 2-9 that connects to the ball joint charging head 2-5. The entrance to the external parking space is equipped with a parking space barrier 4-5; the parking space barrier 4-5 and the binocular camera 2-8 are electrically connected to the external host computer.

[0006] More specifically, the bidirectional charging gun 2-4 has a ball socket 2-7 welded inside the interface connecting the ball joint charging head 2-5, and the ball joint charging head 2-5 is rotatably connected to the ball socket 2-7 through the ball head 2-6.

[0007] More specifically, a horizontal charging pile mounting plate 4-4 is installed on the metal frame, and a wall-mounted charging pile 2-10 is installed on the charging pile mounting plate 4-4; the wall-mounted charging pile 2-10 is electrically connected to the photovoltaic panel 4-1 located on the top of the photovoltaic anti-occupation monitoring shed 4, and the charging gun-type robotic arm 2 is electrically connected to the wall-mounted charging pile 2-10.

[0008] More specifically, the three-axis truss device 1 includes two longitudinal X-axis trusses 1-1-1, one transverse Y-axis truss 1-1-2, and a Z-axis electric cylinder 1-9 installed perpendicular to the horizontal plane; the two X-axis trusses 1-1-1 are respectively connected to the two transverse ends of the bottom of the photovoltaic anti-occupation monitoring shed 4; the two X-axis trusses 1-1-1 are respectively connected to a longitudinal first roller slide rail 1-3-1 and a first synchronous belt conveyor 1-6-1 on the side facing each other, and the first synchronous belt conveyor 1-6-1 is controlled by the X-axis trusses 1-1-2. -1-1 is driven by the first drive motor 1-8-1 at the end; each first roller slide rail 1-3-1 is connected to a slidable first moving block 1-4-1 via a first roller slider 1-2-1, and the two first moving blocks 1-4-1 are respectively bolted to a Y-axis adapter flange 1-5 on the side facing each other, and the first roller slider 1-2-1 is connected to the first synchronous belt conveyor 1-6-1 for transmission; a transverse Y-axis truss 1-1-2 is connected between the two Y-axis adapter flanges 1-5; The Y-axis truss 1-1-2 is equipped with a transverse second roller slide rail 1-3-2 and a second synchronous belt conveyor 1-6-2. Several slidable second moving blocks 1-4-2 are connected to the second roller slide rail 1-3-2 via second roller sliders 1-2-2, and the second roller sliders 1-2-2 are connected to the second synchronous belt conveyor 1-6-2 via a transmission connection. The longitudinal side of the second moving block 1-4-2 is connected to the Z-axis adapter flange 1-19, and the bottom of the Z-axis adapter flange 1-19 is connected to the vertical Z-axis electric cylinder 1-9 via an electric cylinder adapter flange 1-7. The bottom of the Z-axis drive electric cylinder 1-9 is equipped with a lifting block 1-11, which can push the lifting block 1-11 up and down. The bottom of the lifting block 1-11 is connected to the base 2-1 of the charging gun-type robotic arm 2. The second roller slider 1-3-2, the second moving block 1-4-2, the electric cylinder adapter flange 1-7, and the Z-axis electric cylinder 1-9 are all detachable structures.

[0009] More specifically, the Z-axis electric cylinder 1-9 is equipped with a guide mechanism 1-18, and the top of the lifting block 1-11 is equipped with a guide shaft that passes vertically through the guide mechanism 1-18.

[0010] More specifically, the first synchronous belt conveyor 1-6-1 includes a tensioning wheel seat 1-16 fixed to the end of the X-axis truss 1-1-1. A synchronous belt pulley 1-15 is connected to the tensioning wheel seat 1-16 via a transverse axle. A synchronous belt 1-14 is fitted onto the synchronous belt pulley 1-15. A first roller slider 1-2-1 engages with the synchronous belt 1-14 of the first synchronous belt conveyor 1-6-1 via a locking element 1-17. The second synchronous belt conveyor 1-6-2 includes a tensioning wheel seat 1-16 fixed to the end of the Y-axis truss 1-1-2. A synchronous belt pulley 1-15 is connected to the tensioning wheel seat 1-16 via a longitudinal axle. A synchronous belt 1-14 is fitted onto the synchronous belt 1-15. A second roller slider 1-2-2 engages with the synchronous belt 1-14 of the second synchronous belt conveyor 1-6-1 via a locking element 1-17.

[0011] More specifically, the X-axis truss 1-1-1 is provided with an X-axis outer baffle 1-12-1 that blocks the first roller slide rail 1-3-1 and the first synchronous belt conveyor 1-6-1 along the longitudinal direction. A gap is left between the first moving block 1-4-1 and the Y-axis adapter flange 1-5 for the X-axis outer baffle 1-12-1 to pass through. The upper and lower sides of the part of the X-axis outer baffle 1-12-1 that blocks the tension wheel seat 1-16 are provided with X-axis side baffles 1-12-2 that connect to the X-axis truss 1-1-1. The Y-axis truss 1-1-2 is provided with a Y-axis outer baffle 1-12-3 that blocks the second roller slide rail 1-3-2 and the second synchronous belt conveyor 1-6-2 in the transverse direction; a gap is left between the Z-axis adapter flange 1-19 and the second moving block 1-4-2 through which the Y-axis outer baffle 1-12-2 passes; the upper and lower sides of the part of the Y-axis outer baffle 1-12-3 that blocks the tension wheel seat 1-16 are provided with Y-axis side baffles 1-12-4 that connect the Y-axis truss 1-1-1.

[0012] More specifically, the X-axis truss 1-1-1 is equipped with a limiting buffer block 1-13 that is longitudinally flush with the first roller slider 1-2-1; the Y-axis truss 1-1-2 is equipped with a limiting buffer block 1-13 that is transversely flush with the second roller slider 1-2-2.

[0013] More specifically, the sprinkler fire extinguishing device 3 includes a sprinkler head 3-2 and a smoke detector 3-3; the sprinkler head 3-2 is connected to an external water source through a fire pipe 3-1.

[0014] More specifically, the photovoltaic anti-occupancy monitoring carport 4 includes two longitudinal uprights 4-2, each of which is connected to one of the X-axis trusses 1-1-1; one end of each of the two uprights 4-2 is connected to a crossbeam 4-3; the frame formed by the uprights 4-2 and the crossbeam 4-3 is flush with the top and bottom of the outer parking space frame; photovoltaic panels 4-1 are laid on the top of the uprights 4-2 and the crossbeam 4-3; several detector mounting plates 4-8 are connected to the bottom of the photovoltaic panels 4-1; vehicle detectors 4-6 are connected to the bottom of the detector mounting plates 4-8; and monitoring cameras 4-7 are installed on the uprights 4-2.

[0015] The working process of this invention includes: 1. When the external electric vehicle 5 drives to the parking space, the monitoring camera 4-7 captures the license plate number and transmits it to the external host computer; when the external host computer determines that the license plate number belongs to electric vehicle 5 and the vehicle detector 4-6 detects that electric vehicle 5 has entered the parking space, the parking space barrier 4-5 drops.

[0016] 2. The initial position of the Y-axis truss 1-1-2 is one end of the X-axis truss 1-1-1 close to the wall-mounted charging pile 2-10. After the electric vehicle 5 enters the parking space, the external host computer controls the X-axis truss 1-1-1 to move the Y-axis truss 1-1-2 longitudinally, controls the Y-axis truss 1-1-2 to move the Z-axis electric cylinder 1-9 laterally, and controls the Z-axis electric cylinder 1-9 to move the charging gun-type robotic arm 2 vertically, so that the charging gun-type robotic arm 2 is positioned at the charging port 5-2 of the electric vehicle 5. The binocular camera 2-8 identifies the approximate position of the charging port 5-2, the rotary motor 2-2 drives the base 2-1 to rotate the vacuum suction cup 2-9 to a position opposite to the charging port 5-2, and the drive motor 1-8 drives the second roller slider 1-2-2 of the Y-axis truss 1-1-2 to move towards the charging port 5-2. When the vacuum suction cup 2-9 contacts the charging cover 5-1, the second roller slider 1-2-2 stops moving. 3. The bidirectional charging gun 2-4 rotates, causing the vacuum suction cup 2-9 to fully adhere to the charging cover 5-1. The vacuum suction cup 2-9 then adheres to the charging cover 5-1, opening it. The rotary motor 2-2 drives the base 2-1 to rotate the ball-joint charging head 2-5 to a position opposite to the charging port 5-2. The binocular camera 2-8 identifies the position of the charging port 5-2. The host computer adjusts the bidirectional charging gun 2-4 according to the position of the charging port 5-2, aligning the ball-joint charging head 2-5 with the charging port 5-2. The drive motor 1-8 drives the second roller slider 1-2-2 of the Y-axis truss 1-1-2 to move closer to the charging port, thus docking the ball-joint charging head 2-5 with the charging port 5-2 and completing the charging of the electric vehicle. If there is an error during the docking process, a smooth docking can be achieved by rotating the ball head 2-6 of the ball joint charging head 2-5 relative to the ball socket 2-7.

[0017] 4. After charging is complete, the drive motor 1-8 drives the second roller slider 1-2-2 of the Y-axis truss 1-1-2 to move away from the charging port 5-2, realizing the automatic removal of the ball joint charging head 2-5. The second roller slider 1-2-2 stops moving when the base 2-1 has sufficient space to rotate. The binocular camera 2-8 identifies the position of the charging cover 5-1, and the rotary motor 2-2 drives the base 2-1 to rotate the vacuum suction cup 2-9 to a position opposite to the charging cover 5-1. The drive motor 1-8 drives the second roller slider 1-2-2 of the Y-axis truss 1-1-2 to move closer to the charging cover 5-1. When the vacuum suction cup 2-9 contacts the charging cover 5-1, the second roller slider 1-2-2 stops moving. The bidirectional charging gun 2-4 rotates, and the vacuum suction cup 2-9 fully adheres to the charging cover 5-1, adsorbing the charging cover 5-1 and closing it.

[0018] When smoke particles enter the smoke detector 3-3, the smoke detector will sound an alarm, water will flow in the fire hydrant 3-1, the temperature-sensitive glass bulb of the sprinkler head will break, water will flow from the sprinkler head, and the alarm will be activated to control the fire. When the monitoring camera 4-7 captures smoke, fire, or other similar situations, it will also trigger the alarm.

[0019] The beneficial effects of this invention include: 1. To achieve full automation of the electric vehicle charging process, including automatic opening and closing of the charging port and automatic plugging and unplugging of the charging gun, effectively solving the problem of inconvenience caused by the heavy charging pile cables in traditional manual charging; 2. The charging pile is installed on the charging pile mounting plate above the parking space, which greatly reduces the space occupied by the charging pile and improves the safety of the parking process. 3. The charging piles are installed in a fixed location, have high power, and improve charging efficiency; 4. It can avoid traditional fuel vehicles occupying charging spaces, and charging devices can be flexibly added according to actual usage needs, so as to achieve efficient utilization of charging pile resources; 5. Equipped with a complete fire alarm system, it can respond quickly in case of fire and minimize property loss. Attached Figure Description

[0020] Figure 1 This is an overall structural diagram of the carport integrated three-axis truss linkage automatic charging device of the present invention.

[0021] Figure 2 This is a structural diagram of the three-axis truss device of the present invention.

[0022] Figure 3 This is a detailed view of the second synchronous belt conveyor of the present invention.

[0023] Figure 4This is a schematic diagram of the structure of the X-axis truss and the first synchronous belt conveyor of the present invention.

[0024] Figure 5 This is a schematic diagram of the structure of the Y-axis truss and the second synchronous belt conveyor of the present invention.

[0025] Figure 6 This is a structural diagram of the charging gun-type robotic arm of the present invention.

[0026] Figure 7 This is a schematic diagram of the split structure of the bidirectional charging gun of the present invention.

[0027] Figure 8 This is a schematic diagram of the positioning process of the three-axis truss device of the present invention.

[0028] Figure 9 This is a schematic diagram of the process of opening the charging cover using the vacuum suction cup of the present invention. Figure 10 This is a schematic diagram of the process of docking the ball joint charging head with the charging port according to the present invention.

[0029] Figure 11 This is a schematic diagram of the charging gun-type robotic arm of the present invention docking with the charging port.

[0030] Figure 12 This is a schematic diagram of the structure of the sprinkler fire extinguishing device and the photovoltaic anti-occupancy monitoring carport of the present invention. Detailed Implementation

[0031] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0032] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0034] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0037] The present invention will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0038] according to Figure 1The integrated three-axis truss linkage automatic charging device for carports of the present invention includes a photovoltaic anti-occupancy monitoring carport 4 installed above an external parking space via a metal frame, defining the vehicle arrangement direction in the external parking space as horizontal and the vehicle parking direction as vertical; the top of the photovoltaic anti-occupancy monitoring carport 4 is provided with photovoltaic panels 4-1; the bottom of the photovoltaic anti-occupancy monitoring carport 4 is connected to a three-axis truss device 1, and the bottom of the three-axis truss device 1 is connected to a charging gun-type robotic arm 2; the three-axis truss device 1 can move the charging gun-type robotic arm 2 in the horizontal, vertical and longitudinal directions; the bottom of the photovoltaic anti-occupancy monitoring carport 4 is provided with a sprinkler fire extinguishing system device 3 facing the external parking space; according to Figure 6 The charging gun type robotic arm 2 includes a base 2-1 connected to a three-axis truss device 1. A rotary motor 2-2 is installed inside the base 2-1. The rotary motor 2-2 is connected to a base rotation joint 2-3 located below the base 2-1 via a vertical rotation shaft. The bottom of the base rotation joint 2-3 is connected to a bidirectional charging gun 2-4 via a horizontal charging gun shaft. The bidirectional charging gun 2-4 is connected to a vacuum suction cup 2-9 and a ball joint charging head 2-5 via interfaces on both sides of its bottom. A binocular camera 2-8 is installed on the top of the interface of the vacuum suction cup 2-9 connecting to the ball joint charging head 2-5. according to Figure 12 The entrance to the external parking space is equipped with a parking space barrier 4-5; the parking space barrier 4-5 and the binocular camera 2-8 are electrically connected to the external host computer.

[0039] In some embodiments, according to Figure 7 The bidirectional charging gun 2-4 has a ball socket 2-7 welded inside the interface connecting the ball joint charging head 2-5. The ball joint charging head 2-5 is rotatably connected to the ball socket 2-7 through the ball head 2-6.

[0040] In some embodiments, according to Figure 8 A horizontal charging pile mounting plate 4-4 is installed on the metal frame, and a wall-mounted charging pile 2-10 is installed on the charging pile mounting plate 4-4; the wall-mounted charging pile 2-10 is electrically connected to the photovoltaic panel 4-1 located on the top of the photovoltaic anti-occupation monitoring shed 4, and the charging gun-type robotic arm 2 is electrically connected to the wall-mounted charging pile 2-10.

[0041] In some embodiments, according to Figure 2 The three-axis truss device 1 includes two longitudinal X-axis trusses 1-1-1, one transverse Y-axis truss 1-1-2, and a Z-axis electric cylinder 1-9 installed perpendicular to the horizontal plane; the two X-axis trusses 1-1-1 are respectively connected to the two transverse ends of the bottom of the photovoltaic anti-occupation monitoring shed 4; according to Figure 4Two X-axis trusses 1-1-1 are respectively connected to longitudinal first roller slide rails 1-3-1 and first synchronous belt conveyors 1-6-1 on opposite sides. The first synchronous belt conveyor 1-6-1 is driven by a first drive motor 1-8-1 at the end of the X-axis truss 1-1-1. Each first roller slide rail 1-3-1 is connected to a slidable first moving block 1-4-1 via a first roller slider 1-2-1. The two first moving blocks 1-4-1 are respectively bolted to Y-axis adapter flanges 1-5 on opposite sides, and the first roller slider 1-2-1 is connected to the first synchronous belt conveyor 1-6-1 in a transmission connection. A transverse Y-axis truss 1-1-2 is connected between the two Y-axis adapter flanges 1-5. according to Figure 3 and Figure 5 The Y-axis truss 1-1-2 is equipped with a transverse second roller slide rail 1-3-2 and a second synchronous belt conveyor 1-6-2. Several slidable second moving blocks 1-4-2 are connected to the second roller slide rail 1-3-2 via second roller sliders 1-2-2, and the second roller sliders 1-2-2 are connected to the second synchronous belt conveyor 1-6-2 via a transmission connection. The longitudinal side of the second moving block 1-4-2 is connected to the Z-axis adapter flange 1-19, and the bottom of the Z-axis adapter flange 1-19 is connected to the vertical Z-axis electric cylinder 1-9 via an electric cylinder adapter flange 1-7. The bottom of the Z-axis drive electric cylinder 1-9 is equipped with a lifting block 1-11, which can push the lifting block 1-11 up and down. The bottom of the lifting block 1-11 is connected to the base 2-1 of the charging gun-type robotic arm 2. The second roller slider 1-3-2, the second moving block 1-4-2, the electric cylinder adapter flange 1-7, and the Z-axis electric cylinder 1-9 are all detachable structures.

[0042] In some embodiments, the Z-axis electric cylinder 1-9 is provided with a guide mechanism 1-18, and the top of the lifting block 1-11 is provided with a guide shaft that passes vertically through the guide mechanism 1-18.

[0043] In some embodiments, the first synchronous belt conveyor 1-6-1 includes a tensioning wheel seat 1-16 fixed to the end of the X-axis truss 1-1-1. A synchronous belt pulley 1-15 is connected to the tensioning wheel seat 1-16 via a transverse axle. A synchronous belt 1-14 is fitted onto the synchronous belt pulley 1-15. A first roller slider 1-2-1 engages with the synchronous belt 1-14 of the first synchronous belt conveyor 1-6-1 via a locking member 1-17. The second synchronous belt conveyor 1-6-2 includes a tensioning wheel seat 1-16 fixed to the end of the Y-axis truss 1-1-2. A synchronous belt pulley 1-15 is connected to the tensioning wheel seat 1-16 via a longitudinal axle. A synchronous belt 1-14 is fitted onto the synchronous belt 1-14 of the synchronous belt pulley 1-15. A second roller slider 1-2-2 engages with the synchronous belt 1-14 of the second synchronous belt conveyor 1-6-1 via a locking member 1-17.

[0044] In some embodiments, the X-axis truss 1-1-1 is provided with an X-axis outer baffle 1-12-1 that blocks the first roller slide rail 1-3-1 and the first synchronous belt conveyor 1-6-1 along the longitudinal direction. A gap is left between the first moving block 1-4-1 and the Y-axis adapter flange 1-5 through which the X-axis outer baffle 1-12-1 passes. The upper and lower sides of the part of the X-axis outer baffle 1-12-1 that blocks the tension wheel seat 1-16 are provided with X-axis side baffles 1-12-2 that connect to the X-axis truss 1-1-1. The Y-axis truss 1-1-2 is provided with a Y-axis outer baffle 1-12-3 that blocks the second roller slide rail 1-3-2 and the second synchronous belt conveyor 1-6-2 in the transverse direction; a gap is left between the Z-axis adapter flange 1-19 and the second moving block 1-4-2 through which the Y-axis outer baffle 1-12-2 passes; the upper and lower sides of the part of the Y-axis outer baffle 1-12-3 that blocks the tension wheel seat 1-16 are provided with Y-axis side baffles 1-12-4 that connect the Y-axis truss 1-1-1.

[0045] In some embodiments, a limiting buffer block 1-13 that is longitudinally flush with the first roller slider 1-2-1 is installed at the end of the X-axis truss 1-1-1; and a limiting buffer block 1-13 that is transversely flush with the second roller slider 1-2-2 is installed at the end of the Y-axis truss 1-1-2.

[0046] In some embodiments, the sprinkler fire extinguishing device 3 includes a sprinkler head 3-2 and a smoke alarm 3-3; the sprinkler head 3-2 is connected to an external water source through a fire pipe 3-1.

[0047] In some embodiments, the photovoltaic anti-occupancy monitoring carport 4 includes two longitudinal uprights 4-2, each of which is connected to one of the X-axis trusses 1-1-1; one end of each of the two uprights 4-2 is connected to a crossbeam 4-3; the frame formed by the uprights 4-2 and the crossbeam 4-3 is flush with the top and bottom of the outer parking space frame; photovoltaic panels 4-1 are laid on the top of the uprights 4-2 and the crossbeam 4-3; several detector mounting plates 4-8 are connected to the bottom of the photovoltaic panels 4-1; vehicle detectors 4-6 are connected to the bottom of the detector mounting plates 4-8; and monitoring cameras 4-7 are installed on the uprights 4-2.

[0048] The working process of this invention includes: 1. When the external electric vehicle 5 drives to the parking space, the monitoring camera 4-7 captures the license plate number and transmits it to the external host computer; when the external host computer determines that the license plate number belongs to electric vehicle 5 and the vehicle detector 4-6 detects that electric vehicle 5 has entered the parking space, the parking space barrier 4-5 drops.

[0049] 2. According to Figure 8The initial position of the Y-axis truss 1-1-2 is one end of the X-axis truss 1-1-1 close to the wall-mounted charging pile 2-10. After the electric vehicle 5 enters the parking space, the external host computer controls the X-axis truss 1-1-1 to move the Y-axis truss 1-1-2 longitudinally, controls the Y-axis truss 1-1-2 to move the Z-axis electric cylinder 1-9 laterally, and controls the Z-axis electric cylinder 1-9 to move the charging gun-type robotic arm 2 vertically, so that the charging gun-type robotic arm 2 is positioned at the charging port 5-2 of the electric vehicle 5. The binocular camera 2-8 identifies the approximate position of the charging port 5-2, the rotary motor 2-2 drives the base 2-1 to rotate the vacuum suction cup 2-9 to a position opposite to the charging port 5-2, and the drive motor 1-8 drives the second roller slider 1-2-2 of the Y-axis truss 1-1-2 to move towards the charging port 5-2. When the vacuum suction cup 2-9 contacts the charging cover 5-1, the second roller slider 1-2-2 stops moving. 3. According to Figure 9 The bidirectional charging gun 2-4 rotates, causing the vacuum suction cup 2-9 to fully adhere to the charging cover 5-1. The vacuum suction cup 2-9 then adheres to the charging cover 5-1, opening it. The rotary motor 2-2 drives the base 2-1, rotating the ball-joint charging head 2-5 to a position opposite to the charging port 5-2. The binocular camera 2-8 identifies the position of the charging port 5-2. Based on this position, the host computer adjusts the bidirectional charging gun 2-4 to align the ball-joint charging head 2-5 with the charging port 5-2. The drive motor 1-8 then drives the second roller slider 1-2-2 of the Y-axis truss 1-1-2 to move closer to the charging port, thus docking the ball-joint charging head 2-5 with the charging port 5-2 and completing the charging of the electric vehicle. Figure 10 As shown; If there is an error during the docking process, a smooth docking can be achieved by rotating the ball head 2-6 of the ball joint charging head 2-5 relative to the ball socket 2-7.

[0050] 4. According to Figure 11 After charging is complete, the drive motor 1-8 drives the second roller slider 1-2-2 of the Y-axis truss 1-1-2 to move away from the charging port 5-2, realizing the automatic removal of the ball joint charging head 2-5. Once the head is moved to a position where the base 2-1 has sufficient space to rotate, the second roller slider 1-2-2 stops moving. The binocular camera 2-8 identifies the position of the charging cover 5-1, and the rotary motor 2-2 drives the base 2-1 to rotate the vacuum suction cup 2-9 to a position opposite to the charging cover 5-1. The drive motor 1-8 then drives the second roller slider 1-2-2 of the Y-axis truss 1-1-2 to move closer to the charging cover 5-1. When the vacuum suction cup 2-9 contacts the charging cover 5-1, the second roller slider 1-2-2 stops moving. The bidirectional charging gun 2-4 rotates, and the vacuum suction cup 2-9 fully adheres to the charging cover 5-1, adsorbing the charging cover 5-1 and closing it.

[0051] according to Figure 12 When smoke particles enter the smoke detector 3-3, the smoke detector will sound an alarm, water will flow in the fire hydrant 3-1, the temperature-sensitive glass bulb of the sprinkler head will break, water will flow from the sprinkler head, and the alarm will be activated to control the fire. When the monitoring camera 4-7 captures smoke, fire, or other conditions, it will also trigger the alarm.

Claims

1. A carport-integrated three-axis truss linkage automatic charging device, characterized in that: The system includes a photovoltaic anti-occupancy monitoring carport (4) installed above the external parking spaces via a metal frame, defining the vehicle arrangement direction in the external parking spaces as horizontal and the vehicle parking direction as vertical; the photovoltaic anti-occupancy monitoring carport (4) is equipped with photovoltaic panels (4-1) on the top; a three-axis truss device (1) is connected to the bottom of the photovoltaic anti-occupancy monitoring carport (4), and a charging gun-type robotic arm (2) is connected to the bottom of the three-axis truss device (1); the three-axis truss device (1) can move the charging gun-type robotic arm (2) in the horizontal, vertical and vertical directions; a sprinkler fire extinguishing system device 3 facing the external parking spaces is provided at the bottom of the photovoltaic anti-occupancy monitoring carport (4); The charging gun type robotic arm (2) includes a base (2-1) connected to a three-axis truss device (1), and a rotary motor (2-2) is installed inside the base (2-1); the rotary motor (2-2) is connected to a base rotation joint (2-3) located below the base (2-1) via a vertical rotation shaft; the bottom of the base rotation joint (2-3) is connected to a bidirectional charging gun (2-4) via a horizontal charging gun shaft; the bidirectional charging gun (2-4) is connected to a vacuum suction cup (2-9) and a ball joint charging head (2-5) respectively via interfaces on both sides of the bottom; a binocular camera (2-8) is installed on the top of the interface of the vacuum suction cup (2-9) connected to the ball joint charging head (2-5); The entrance to the external parking space is equipped with a parking space barrier (4-5); The parking space lever (4-5) is electrically connected to the external host computer.

2. The carport integrated three-axis truss linkage automatic charging device according to claim 1, characterized in that: The bidirectional charging gun (2-4) has a ball socket (2-7) welded inside the interface connecting the ball joint charging head (2-5). The ball joint charging head (2-5) is rotatably connected to the ball socket (2-7) through the ball head (2-6).

3. The carport integrated three-axis truss linkage automatic charging device according to claim 1, characterized in that: A horizontal charging pile mounting plate (4-4) is installed on the metal frame, and a wall-mounted charging pile (2-10) is installed on the charging pile mounting plate (4-4); the wall-mounted charging pile (2-10) is electrically connected to the photovoltaic panel (4-1) located on the top of the photovoltaic anti-occupation monitoring shed (4), and the charging gun-type robotic arm (2) is electrically connected to the wall-mounted charging pile (2-10).

4. The carport integrated three-axis truss linkage automatic charging device according to claim 1, characterized in that: The three-axis truss device (1) includes two longitudinal X-axis trusses (1-1-1), one transverse Y-axis truss (1-1-2), and a Z-axis electric cylinder (1-9) installed perpendicular to the horizontal plane; the two X-axis trusses (1-1-1) are respectively connected to the two transverse ends of the bottom of the photovoltaic anti-occupation monitoring shed (4); the two X-axis trusses (1-1-1) are respectively connected to the longitudinal first roller slide rail (1-3-1) and the first synchronous belt conveyor (1-6-1) on the side facing each other, and the first synchronous belt conveyor (1-6-1) is controlled by the X-axis truss (1-1-2). -1-1) Driven by the drive motor (1-8) at the end; Each first roller slide rail (1-3-1) is connected to a slidable first moving block (1-4-1) via a first roller slider (1-2-1), and the two first moving blocks (1-4-1) are respectively bolted to a Y-axis adapter flange (1-5) on the side facing each other, and the first roller slider (1-2-1) is connected to the first synchronous belt conveyor (1-6-1) for transmission; A transverse Y-axis truss (1-1-2) is connected between the two Y-axis adapter flanges (1-5); The Y-axis truss (1-1-2) is provided with a transverse second roller slide rail (1-3-2) and a second synchronous belt conveyor (1-6-2). The second synchronous belt conveyor (1-6-2) is driven by a drive motor (1-8) located at the end of the X-axis truss (1-1-1). Several slidable second moving blocks (1-4-2) are connected to the second roller slide rail (1-3-2) via second roller sliders (1-2-2), and the second roller sliders (1-2-2) are connected to the second synchronous belt conveyor (1-6-2) in a transmission connection. The longitudinal side of the second moving block (1-4-2) is connected to the Z-axis adapter flange (1-19), and the bottom of the Z-axis adapter flange (1-19) is connected to a vertical Z-axis electric cylinder (1-9) via an electric cylinder adapter flange (1-7). The bottom of the Z-axis drive electric cylinder (1-9) is equipped with a lifting block (1-11), and the Z-axis electric cylinder (1-9) can push the lifting block (1-11) up and down; the bottom of the lifting block (1-11) is connected to the base (2-1) of the charging gun type robotic arm (2); the second roller slider (1-3-2), the second moving block (1-4-2), the electric cylinder adapter flange (1-7) and the Z-axis electric cylinder (1-9) are all detachable structures.

5. The carport integrated three-axis truss linkage automatic charging device according to claim 4, characterized in that: The Z-axis electric cylinder (1-9) is equipped with a guide mechanism (1-18), and the top of the lifting block (1-11) is equipped with a guide shaft that passes vertically through the guide mechanism (1-18).

6. The carport integrated three-axis truss linkage automatic charging device according to claim 4, characterized in that: The first synchronous belt conveyor (1-6-1) includes a tensioning wheel seat (1-16) fixed to the end of the X-axis truss (1-1-1). A synchronous belt pulley (1-15) is connected to the tensioning wheel seat (1-16) via a transverse axle. A synchronous belt (1-14) is fitted onto the synchronous belt pulley (1-15). The first roller slider (1-2-1) is fitted with the synchronous belt (1-14) of the first synchronous belt conveyor (1-6-1) via a locking member (1-17). The second synchronous belt conveyor (1-6-2) includes a tensioning wheel seat (1-16) fixed to the end of the Y-axis truss (1-1-2). A synchronous belt pulley (1-15) is connected to the tensioning wheel seat (1-16) via a longitudinal axle. A synchronous belt (1-14) is fitted onto the synchronous belt pulley (1-15). The second roller slider (1-2-2) engages with the synchronous belt (1-14) of the second synchronous belt conveyor (1-6-1) via a locking element (1-17).

7. The carport integrated three-axis truss linkage automatic charging device according to claim 6, characterized in that: The X-axis truss (1-1-1) is provided with an X-axis outer baffle (1-12-1) that blocks the first roller slide rail (1-3-1) and the first synchronous belt conveyor (1-6-1) along the longitudinal direction. A gap is left between the first moving block (1-4-1) and the Y-axis adapter flange (1-5) for the X-axis outer baffle (1-12-1) to pass through. The upper and lower sides of the part of the X-axis outer baffle (1-12-1) that blocks the tension wheel seat (1-16) are provided with X-axis side baffles (1-12-2) that connect to the X-axis truss (1-1-1). The Y-axis truss (1-1-2) is provided with a Y-axis outer baffle (1-12-3) that blocks the second roller slide rail (1-3-2) and the second synchronous belt conveyor (1-6-2) in the transverse direction; a gap is left between the Z-axis adapter flange (1-19) and the second moving block (1-4-2) for the Y-axis outer baffle (1-12-2) to pass through; the upper and lower sides of the part of the Y-axis outer baffle (1-12-3) that blocks the tension wheel seat (1-16) are provided with Y-axis side baffles (1-12-4) that connect to the Y-axis truss (1-1-1).

8. The carport integrated three-axis truss linkage automatic charging device according to claim 4, characterized in that: The X-axis truss (1-1-1) end is equipped with a limiting buffer block (1-13) that is longitudinally flush with the first roller slider (1-2-1); the Y-axis truss (1-1-2) end is equipped with a limiting buffer block (1-13) that is transversely flush with the second roller slider (1-2-2).

9. The carport integrated three-axis truss linkage automatic charging device according to claim 1, characterized in that: The sprinkler fire extinguishing device (3) includes a sprinkler head (3-2) and a smoke detector (3-3); the sprinkler head (3-2) is connected to an external water source through a fire pipe (3-1).

10. The carport integrated three-axis truss linkage automatic charging device according to claim 1, characterized in that: The photovoltaic anti-occupancy monitoring carport (4) includes two longitudinal uprights (4-2), each of which is connected to one of the X-axis trusses (1-1-1); one end of each of the two uprights (4-2) is connected to a crossbeam (4-3); the frame formed by the uprights (4-2) and the crossbeam (4-3) is flush with the top and bottom of the outer edge of the parking space; photovoltaic panels (4-1) are laid on the top of the uprights (4-2) and the crossbeam (4-3); several detector mounting plates (4-8) are connected to the bottom of the photovoltaic panels (4-1); vehicle detectors (4-6) are connected to the bottom of the detector mounting plates (4-8); and a monitoring camera (4-7) is installed on the uprights (4-2).

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