A mobile, grid-type intelligent charging robot integrating liquid-cooled high-density power modules

Abstract

This invention relates to the field of vehicle charging equipment technology, specifically to a mobile, grid-type intelligent charging robot integrating a liquid-cooled high-density power module. The robot includes a vehicle body integrating liquid cooling and charging equipment; a high-density liquid-cooled power module comprising a sealed liquid-cooled housing and a power conversion unit completely immersed in insulating coolant within the housing; and a charging gun release system. This system includes a displacement monitoring unit integrated into the wheel encoder of the motor drive wheel on the vehicle body, used to monitor the non-active rotational displacement of the motor drive wheel in real time when the robot is in a parked locked state. By setting up the charging gun release system, when the displacement reaches a preset threshold, the main control unit triggers the actuator to release the charging gun from the DC charging interface, simultaneously cutting off the high-voltage output and activating an audible and visual alarm, thus achieving proactive detection and emergency protection against vehicle mis-traction events.

Description

Technical Field

[0001] This invention relates to the field of vehicle charging equipment technology, specifically to a mobile, grid-type intelligent charging robot integrating a liquid-cooled high-density power module. Background Technology

[0002] With the continuous growth of electric vehicle ownership, fixed charging piles face problems such as long construction cycles, difficulties in grid expansion, and inability to serve vehicles without fixed parking spaces. Mobile charging robots have emerged as a flexible solution. Patent application CN202411468637.3 discloses a mobile charging robot and an emergency charging method. The mobile charging robot includes a body, which comprises a vehicle body. One side of the vehicle body has a charging gun connected via a cable, and a support mechanism for supporting the cable. The support mechanism includes a mounting seat fixed to one side of the vehicle body along its width, a slider sliding along its length, and a support frame along the height of the vehicle body for supporting the cable. A connecting component connects the slider and the support frame. The support frame can move, tilt, and position itself according to the cable pulling direction to support the cable. When the distance between the vehicle body and the vehicle to be charged is relatively far or near, the charging gun can be directly removed and plugged into the charging port of the vehicle, without considering the distance and position between the charging robot and the vehicle, and without needing to adjust the length and position of the stretched cable.

[0003] However, existing mobile charging robots mainly suffer from the following technical bottlenecks: Firstly, forgetting to unplug the charging gun after charging poses a safety hazard. If a user forgets to unplug the charging gun after charging and accidentally starts the vehicle, the charging robot could easily be dragged and overturned, causing equipment damage or even a fire. To address this issue, existing technologies, such as the mobile charging robot disclosed in patent application number CN202411468637.3, use a sliding support mechanism on one side of the vehicle to adapt to the direction of cable pulling, mitigating the problem of cable tension to some extent. However, this solution still has shortcomings: it can only passively adapt to cable pulling; when the vehicle is accidentally started and continues to drag, the support mechanism cannot actively disengage the charging gun, and the robot still faces the risk of being dragged and overturned. Furthermore, this solution does not include an automatic charging cable storage function, meaning the problem of cables being dragged haphazardly and piled up after charging remains.

[0004] Secondly, due to limitations in robot size and heat dissipation capacity, traditional air-cooled power modules typically have a power output of only 30-60kW, which cannot meet the fast charging requirements of electric vehicles. Forcibly increasing the power would result in bulky modules or overheating, making it difficult to achieve high power output within the compact space of a robot.

[0005] Secondly, thermal management efficiency is low. Air cooling requires a large number of ventilation channels, and it is noisy and prone to dust accumulation, affecting the user experience in noise-sensitive areas such as indoor parking lots. Summary of the Invention

[0006] In order to overcome the defects in the prior art, the present invention aims to provide a mobile network-type intelligent charging robot with integrated liquid-cooled high-density power modules. Through the integrated innovation of immersion liquid cooling technology, emergency tripping protection technology and automatic cable retraction technology, the problems mentioned in the background art are solved.

[0007] To achieve the above objectives, the present invention provides a mobile network-type intelligent charging robot with integrated liquid-cooled high-density power modules, including a vehicle body integrating liquid cooling and charging equipment; two pairs of motor drive wheels are installed on the chassis of the vehicle body, and navigation and sensing units are installed at the front and rear ends of the vehicle body to enable the robot to move autonomously and avoid obstacles. The vehicle-mounted energy storage system is fixedly installed on the vehicle chassis and is used to store and release electrical energy. A high-density liquid-cooled power module includes a sealed liquid-cooled housing and a power conversion unit completely immersed in an insulating coolant within the liquid-cooled housing; the electrical input terminal of the power conversion unit is connected to the on-board energy storage system, and the electrical output terminal is connected to a DC charging interface and an AC grid connection interface, respectively. A grid-type bidirectional converter controller, which is controlled and connected to the power conversion unit, is configured to convert the DC power of the on-board energy storage system into DC power suitable for electric vehicles in charging mode, and to invert the DC power of the on-board energy storage system into AC power suitable for microgrids in power feeding mode, and has a grid-type control algorithm that actively supports the voltage and frequency of microgrids. The charging gun release system includes a displacement monitoring unit integrated into the wheel encoder of the motor drive wheel of the vehicle body, which is used to monitor the non-active rotation displacement of the motor drive wheel in real time when the robot is in the parking locked state. A threshold comparator, connected to the displacement monitoring unit, is preset with a displacement threshold. An actuator is located at the DC charging interface; The main control unit, connected to the displacement monitoring unit and the actuator respectively, is configured to: when the robot is in the parking locked state and the displacement detected by the displacement monitoring unit reaches the displacement threshold, determine that the charging gun is being mistakenly pulled by the vehicle, and immediately trigger the actuator to release the mechanical disconnection of the charging gun from the DC charging interface.

[0008] As a further improvement to this technical solution, the actuator of the charging gun release system consists of a charging cable and a latch embedded in the rear end of the vehicle body; the two ends of the charging cable are electrically connected to the power transmission gun and the charging gun, respectively, and the latch is installed on the central shaft end of the servo cylinder. The servo cylinder drives the latch to extend outward and engage with the groove of the side wall housing of the power transmission gun.

[0009] As a further improvement to this technical solution, the rear end of the vehicle body is provided with a concave circular cavity, in which a box-shaped mounting seat is fitted. The DC charging interface and the AC grid connection interface are nested in the inner end face of the mounting seat. The power transmission gun is plugged into the DC charging interface, and the latch is block-shaped and penetrates through the side wall of the DC charging interface.

[0010] As a further improvement to this technical solution, the inner end face of the mounting base is provided with a cavity for mounting and placing the charging gun. An inductive switch is embedded in the inner end of the cavity for sensing the metal needle of the charging gun and triggering the charging fee settlement function.

[0011] As a further improvement to this technical solution, the power conversion unit includes a bidirectional AC / DC converter and a bidirectional DC / DC converter, both of which are immersed in the insulating coolant of the liquid-cooled box; the liquid-cooled box is equipped with a wave-damping plate to suppress the sloshing of the coolant when the robot moves.

[0012] As a further improvement to this technical solution, the navigation perception unit includes a three-dimensional lidar installed on the top of the vehicle body, a binocular vision camera installed at the front of the vehicle body, and several ultrasonic radars installed at the edge of the bottom side wall of the vehicle body; a path planning controller connected to the navigation perception unit is provided in the chassis of the vehicle body.

[0013] As a further improvement to this technical solution, a 5G / C-V2X communication module is also included, which is used to receive scheduling instructions from the cloud scheduling platform and upload the robot's own status, power information and grid-connected operation data of the microgrid to the cloud in real time.

[0014] As a further improvement to this technical solution, the displacement threshold is set to 0.5 meters to 1.5 meters, and the main control unit is also configured to cut off the high voltage output of the vehicle energy storage system and activate the audible and visual alarm when triggering the actuator.

[0015] As a further improvement to this technical solution, the outer wall of the charging cable is wound with a spiral shrinking wire, which is made by spring manufacturing process and extends along the entire length of the charging cable. The shrinking wire has elastic memory characteristics. When the charging cable is stretched, it stores elastic potential energy. When the external tension disappears or decreases, the shrinking wire releases the elastic potential energy, driving the charging cable to shrink and reset in a spiral shape along the axial direction of the mounting base.

[0016] As a further improvement to this technical solution, it also includes a whole-machine liquid cooling circulation system, which consists of a circulation pump and a heat exchanger. The circulation pump drives the insulating coolant to circulate between the liquid cooling box and the heat exchanger, and conducts the heat generated by the power conversion unit to the outside of the robot.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This mobile network-type intelligent charging robot with integrated liquid-cooled high-density power module, by setting up a charging gun release system, integrates the displacement monitoring unit into the wheel encoder of the motor drive wheel, which monitors the non-active rotational displacement of the robot in the parking and locked state in real time. When the displacement reaches a preset threshold, the main control unit triggers the actuator to release the mechanical release of the power transmission gun from the DC charging interface, cuts off the high voltage output and activates the audible and visual alarm, realizing active detection and emergency protection against vehicle mis-towing events, thereby avoiding equipment damage and safety accidents caused by the robot being dragged and overturned.

[0018] 2. This mobile network-type intelligent charging robot with integrated liquid-cooled high-density power module uses a spiral-shaped retractable wire made with spring manufacturing process to wrap around the outer wall of the charging cable. The retractable wire has elastic memory characteristics. When the charging cable is stretched, it stores elastic potential energy and releases elastic potential energy when the external tension is removed, driving the charging cable to automatically retract and reset. This achieves automatic storage of the charging cable, thereby avoiding the safety hazards and inconvenience caused by scattered and messy cables.

[0019] 3. This mobile grid-type intelligent charging robot with integrated liquid-cooled high-density power modules achieves efficient heat dissipation and ultra-high power density integration of the power modules by completely immersing the power conversion unit in the insulating coolant inside the liquid-cooled tank and configuring a whole-machine liquid-cooled circulation system, thereby meeting the fast charging requirements of electric vehicles in a compact robot space. Attached Figure Description

[0020] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, guided by the teachings of this invention, will select various possible shapes and proportions to implement the invention according to specific circumstances.

[0021] Figure 1 This is one of the overall structural schematic diagrams of the present invention; Figure 2 This is the second schematic diagram of the overall structure of the present invention; Figure 3 This is a plan view of the overall rear-end assembly of the present invention; Figure 4This is a schematic diagram of the rear end assembly structure of the vehicle body according to the present invention; Figure 5 This is an exploded view of the charging gun disconnection system of the present invention; Figure 6 This is a rear view of the vehicle body of the present invention; Figure 7 This is a schematic diagram of the mounting base assembly structure of the present invention; The meanings of the labels in the diagram are as follows: 100. Vehicle body; 110. 3D LiDAR; 120. Binocular vision camera; 130. Ultrasonic radar; 140. DC charging interface; 200. Charging gun release system; 210. Mounting base; 211. Cavity; 212. Inductive switch; 220. Charging cable; 221. Power transmission gun; 222. Charging gun; 230. Lock; 240. Servo electric cylinder. Detailed Implementation

[0022] The details of the present invention can be more clearly understood by referring to the accompanying drawings and the description of specific embodiments. However, the specific embodiments of the present invention described herein are for illustrative purposes only and should not be construed as limiting the invention in any way. Under the teachings of this invention, those skilled in the art will conceive of any possible variations of the invention, all of which should be considered within the scope of the invention. The terms "installation" and "connection" should be interpreted broadly, referring to direct connection as well as indirect connection through an intermediate medium.

[0023] The terms "central axis," "vertical," "horizontal," "front," "rear," "upper," "lower," "left," "right," "top," "bottom," "inner," and "outer" used herein to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. Furthermore, in the description of the invention, "a number" means two or more, unless otherwise explicitly specified.

[0024] Please see Figures 1-2As shown, this invention provides a mobile, grid-type intelligent charging robot with an integrated liquid-cooled high-density power module, including a vehicle body 100 integrating liquid cooling and charging equipment; two pairs of motor-driven wheels are mounted on the chassis of the vehicle body 100; navigation and perception units are installed at the front and rear ends of the vehicle body 100 for autonomous movement and obstacle avoidance; the navigation and perception unit includes a three-dimensional LiDAR 110 mounted on the top of the vehicle body 100, a binocular vision camera 120 mounted on the front of the vehicle body 100, and several ultrasonic radars 130 mounted on the bottom sidewall edge of the vehicle body 100, forming an ultrasonic radar array for short-range obstacle detection; a path planning controller connected to the navigation and perception unit is located inside the chassis of the vehicle body 100. The above is prior art and will not be described in detail here.

[0025] The vehicle body 100 chassis is equipped with an on-board energy storage system for storing and releasing electrical energy. The on-board energy storage system is integrated with a semi-solid-state battery pack with a rated capacity of 100kWh and a high-voltage power distribution box. The high-voltage power distribution box is equipped with a DC relay array for switching the high-voltage circuit between the DC charging interface 140 and the AC grid connection interface. A high-density liquid-cooled power module is installed in the upper middle layer of the vehicle body 100, separated from the on-board energy storage system. The high-density liquid-cooled power module includes a sealed liquid-cooled housing and a power conversion unit completely immersed in insulating coolant within the housing. The electrical input of the power conversion unit is connected to the on-board energy storage system, and its electrical output is connected to a DC charging interface 140 and an AC grid connection interface, respectively. The liquid-cooled housing is welded from aluminum alloy and filled with an engineered fluorinated liquid. The power conversion unit consists of a bidirectional AC / DC converter and a bidirectional DC / DC converter, both completely immersed in the fluorinated liquid. A miniature magnetically driven circulation pump is installed at the bottom of the liquid-cooled housing, and staggered anti-surge plates are welded inside to prevent violent liquid sloshing and impact on the housing when the robot travels on ramps or stops abruptly.

[0026] Furthermore, the heat exchanger is a plate heat exchanger, embedded in the sheet metal shells on both sides of the vehicle body 100, and equipped with a waterproof axial flow fan; the waterproof axial flow fan is linked to the temperature sensor inside the liquid cooling box for control.

[0027] During operation, the heat generated by the power conversion unit is directly transferred to the fluorinated liquid. A circulating pump pumps the heated fluorinated liquid to two plate heat exchangers embedded in the sheet metal on both sides of the vehicle body. A waterproof axial fan forces the heat out into the environment, and the cooled fluorinated liquid flows back to the liquid-cooled chamber, forming a closed loop. A temperature sensor inside the liquid-cooled chamber monitors the liquid temperature in real time and controls it in conjunction with the fan speed to ensure the power module always operates at its optimal temperature (e.g., below 65°C). This is existing technology and will not be elaborated further.

[0028] Furthermore, the liquid-cooled enclosure adopts a double-layer structure, with the inner layer being a corrosion-resistant and heat-conducting layer that comes into contact with the insulating coolant, and the outer layer being a structural reinforcement layer; all electrical interfaces of the liquid-cooled enclosure are located in the non-submerged area above the liquid surface.

[0029] The vehicle body 100 has a grid-type bidirectional converter controller installed at the rear, which is connected to the power conversion unit. It is configured to convert the DC power from the on-board energy storage system into DC power suitable for electric vehicles in charging mode, and to invert the DC power from the on-board energy storage system into AC power suitable for microgrids in power feeding mode. It also has a grid-type control algorithm that actively supports the voltage and frequency of the microgrid. The grid-type bidirectional converter controller has a built-in droop control curve and is configured to autonomously adjust the output active power and reactive power according to the voltage and frequency fluctuations of the local microgrid when it is not in contact with cloud scheduling commands. The above is the existing technology and will not be described in detail here.

[0030] When the robot receives the cloud-based scheduling instruction to "charge the vehicle", the grid-type bidirectional converter controller controls the power conversion unit to operate in rectification / DC-DC mode, converting the DC power from the on-board energy storage system into DC power that meets the vehicle's BMS requirements, and then releasing electrical energy to charge the vehicle through the DC charging interface.

[0031] When the robot docks at the grid connection point of the park's microgrid, and the microgrid experiences a voltage drop due to fluctuations in photovoltaic output, the grid-type bidirectional converter controller detects the voltage change and immediately initiates the droop control curve. Even if communication with the cloud is interrupted at this time, the controller can autonomously control the power conversion unit to operate in inverter mode, converting the DC power from the on-board energy storage system into 380V AC power. This reactive power is then injected into the microgrid through the AC grid connection interface to support the voltage, acting as a virtual synchronous generator.

[0032] The charging robot also includes a 5G / C-V2X communication module for receiving scheduling instructions from the cloud scheduling platform and uploading the robot's own status, power information, and grid-connected operation data of the microgrid to the cloud in real time. It also includes a whole-machine liquid cooling circulation system, consisting of a circulation pump and a heat exchanger. The circulation pump drives insulating coolant to circulate between the liquid cooling tank and the heat exchanger, dissipating the heat generated by the power conversion unit to the outside of the robot. The DC charging interface 140 and the battery pack wiring are equipped with cooling pipes, which are connected in parallel or series with the whole-machine liquid cooling circulation system, sharing the same coolant circuit. These are existing technologies and will not be elaborated further here.

[0033] Furthermore, to prevent the charging cable from being pulled by the vehicle after charging is complete, causing the charging robot to follow and resulting in incalculable losses; such as Figures 3-7As shown, the charging robot also includes a charging gun release system 200, which includes a displacement monitoring unit integrated into the wheel encoder of the motor drive wheel of the vehicle body 100. This unit is used to monitor the non-active rotation displacement of the motor drive wheel in real time when the robot is in the parking locked state. A threshold comparator, connected to the displacement monitoring unit, is preset with a displacement threshold. The actuator is located at DC charging interface 140; The main control unit, connected to both the displacement monitoring unit and the actuator, is configured to: when the robot is in the parked locked state and the displacement detected by the displacement monitoring unit reaches the displacement threshold, determine that the charging gun has been mistakenly pulled by the vehicle, and immediately trigger the actuator to release the mechanical disconnection of the charging gun from the DC charging interface 140. The displacement threshold is set to 0.5 meters to 1.5 meters, which takes into account both preventing false triggering and allowing sufficient safety reaction distance; the main control unit is also configured to cut off the high-voltage output of the on-board energy storage system and activate the audible and visual alarm simultaneously with triggering the actuator.

[0034] Specifically, the actuator of the charging gun release system 200 consists of a charging cable 220 and a latch 230 embedded in the rear end of the vehicle body 100. The two ends of the charging cable 220 are electrically connected to the power transmission gun 221 and the charging gun 222, respectively. The latch 230 is installed on the central shaft end of the servo cylinder 240. The servo cylinder 240 drives the latch 230 to extend outward and engage with the groove in the side wall housing of the power transmission gun 221, so that the charging cable will not be pulled off during charging.

[0035] The rear end of the vehicle body 100 is provided with a concave circular cavity, in which a box-shaped mounting base 210 is fitted. The DC charging interface 140 and the AC grid connection interface are nested in the inner end face of the mounting base 210. The power transmission gun 221 is inserted into the DC charging interface 140. The latch 230 is block-shaped and penetrates through the side wall of the DC charging interface 140.

[0036] The inner end face of the mounting base 210 is provided with a cavity 211 for mounting and placing the charging gun 222. The inner end of the cavity 211 is embedded with an induction switch 212, such as a proximity switch, for sensing the metal needle of the charging gun 222 to trigger the charging fee settlement function; it also serves to supervise the user to properly store and store the charging cable 220 so that the charging cable 220 does not fall off while the vehicle 100 is in motion.

[0037] Furthermore, existing charging robots mostly rely on manual cable management, and users often forget to retract the cable after charging is complete. To enable the charging cable 220 to retract automatically and avoid improper use that could cause the cable to become tangled and affect the vehicle's movement, the outer wall of the charging cable 220 is wrapped with a spiral-shaped retractable wire, manufactured using a spring manufacturing process. This wire extends along the entire length of the charging cable 220 and is elastically fitted onto the surface of the charging cable 220. The two ends of the retractable wire are fixed to the front and rear ends of the charging cable 220, so that the charging cable 220 is driven to form a spiral coil for retraction when the retractable wire springs back. This retractable wire has elastic memory characteristics. When the charging cable 220 is stretched, it stores elastic potential energy. When the external tension disappears or decreases, the retractable wire releases the elastic potential energy, driving the charging cable 220 to retract and reset in a spiral shape along the axial direction of the mounting base 210.

[0038] When the charging robot of this invention is accidentally started and dragged by a vehicle, the robot's parking brake cannot resist the traction force, the motor-driven wheels are forced to rotate, and the wheel encoder detects the displacement signal. When the cumulative displacement reaches a preset threshold of 1 meter, the main control unit determines it as an "abnormal dragging of the charging gun" event.

[0039] The system will immediately perform the following operations: Emergency power outage – The relay in the control high-voltage distribution box disconnects instantly, cutting off the DC high-voltage output and preventing arcing and fire.

[0040] Electronic unlocking – A pulse current is sent to the servo cylinder 240 to drive the latch 230 to retract and release the limit state of the power supply gun 221. When the vehicle starts moving, the towing speed is relatively slow. In addition, the reserved length of the charging cable 220 achieves the effect of the power supply gun 221 disengaging from the DC charging interface 140 before the charging cable 220 is straightened.

[0041] Audible and visual alarm – The warning light on the top of the robot flashes and emits a high-pitched alarm to alert nearby people and drivers to stop and check the situation.

[0042] It should be noted that the fixed connection and fixing method of the present invention are achieved by conventional fixing means such as bolt connection, welding, or bonding that are compatible with each other. These are existing technologies and will not be described in detail here. The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made according to the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A mobile, grid-type intelligent charging robot integrating a liquid-cooled high-density power module, comprising a vehicle body (100) integrating liquid cooling and charging equipment; characterized in that: Two pairs of motor-driven wheels are installed on the chassis of the vehicle body (100), and navigation sensing units are installed at the front and rear ends of the vehicle body (100) to enable the robot to move autonomously and avoid obstacles. The vehicle-mounted energy storage system is fixedly installed on the chassis of the vehicle body (100) and is used to store and release electrical energy; A high-density liquid-cooled power module includes a sealed liquid-cooled housing and a power conversion unit completely immersed in an insulating coolant within the liquid-cooled housing; the electrical input terminal of the power conversion unit is connected to the on-board energy storage system, and the electrical output terminal is connected to a DC charging interface (140) and an AC grid connection interface, respectively. A grid-type bidirectional converter controller, which is controlled and connected to the power conversion unit, is configured to convert the DC power of the on-board energy storage system into DC power suitable for electric vehicles in charging mode, and to invert the DC power of the on-board energy storage system into AC power suitable for microgrids in power feeding mode, and has a grid-type control algorithm that actively supports the voltage and frequency of microgrids. The charging gun release system (200) includes a displacement monitoring unit integrated into the wheel encoder of the motor drive wheel of the vehicle body (100) for real-time monitoring of the non-active rotation displacement of the motor drive wheel when the robot is in the parking locked state. A threshold comparator, connected to the displacement monitoring unit, is preset with a displacement threshold. An actuator is located at the DC charging interface (140); The main control unit, which is connected to the displacement monitoring unit and the actuator respectively, is configured to: when the robot is in the parking locked state and the displacement detected by the displacement monitoring unit reaches the displacement threshold, it is determined that the charging gun is mistakenly pulled by the vehicle, and the actuator is immediately triggered to release the mechanical release of the charging gun from the DC charging interface (140).

2. The mobile network-type intelligent charging robot with integrated liquid-cooled high-density power module according to claim 1, characterized in that: The actuator of the charging gun release system (200) consists of a charging cable (220) and a latch (230) embedded in the rear end of the vehicle body (100); the two ends of the charging cable (220) are electrically connected to the power transmission gun (221) and the charging gun (222), respectively; the latch (230) is installed on the central shaft end of the servo cylinder (240); the servo cylinder (240) drives the latch (230) to extend outward and engage with the groove of the side wall housing of the power transmission gun (221).

3. The mobile grid-type intelligent charging robot with integrated liquid-cooled high-density power module according to claim 2, characterized in that: The rear end of the vehicle body (100) is provided with a concave circular cavity, and a box-shaped mounting base (210) is fitted inside the cavity. The DC charging interface (140) and the AC grid connection interface are nested in the inner end face of the mounting base (210). The power transmission gun (221) is inserted into the DC charging interface (140). The latch (230) is block-shaped and penetrates the side wall of the DC charging interface (140).

4. The mobile network-type intelligent charging robot with integrated liquid-cooled high-density power module according to claim 3, characterized in that: The mounting base (210) has a cavity (211) on its inner end face for mounting and placing the charging gun (222). The inner end of the cavity (211) is embedded with an induction switch (212) for sensing the metal needle of the charging gun (222) and triggering the charging fee settlement function.

5. The mobile network-type intelligent charging robot with integrated liquid-cooled high-density power module according to claim 4, characterized in that: The power conversion unit includes a bidirectional AC / DC converter and a bidirectional DC / DC converter, both of which are immersed in the insulating coolant of the liquid-cooled box; the liquid-cooled box is equipped with a baffle plate to suppress the sloshing of the coolant when the robot moves.

6. The mobile grid-type intelligent charging robot with integrated liquid-cooled high-density power module according to claim 5, characterized in that: The navigation perception unit includes a three-dimensional lidar (110) installed on the top of the vehicle body (100), a binocular vision camera (120) installed at the front of the vehicle body (100), and several ultrasonic radars (130) installed at the edge of the bottom side wall of the vehicle body (100); a path planning controller connected to the navigation perception unit is provided in the chassis of the vehicle body (100).

7. The mobile grid-type intelligent charging robot with integrated liquid-cooled high-density power module according to claim 6, characterized in that: It also includes a 5G / C-V2X communication module, which is used to receive scheduling instructions from the cloud scheduling platform and upload the robot's own status, power information and grid-connected operation data of the microgrid to the cloud in real time.

8. The mobile grid-type intelligent charging robot with integrated liquid-cooled high-density power module according to claim 7, characterized in that: The displacement threshold is set to 0.5 meters to 1.5 meters. The main control unit is also configured to cut off the high-voltage output of the vehicle energy storage system and activate the audible and visual alarm when the actuator is triggered.

9. The mobile network-type intelligent charging robot with integrated liquid-cooled high-density power module according to claim 8, characterized in that: The outer wall of the charging cable (220) is wound with a spiral shrinkable wire, which is made by spring manufacturing process and extends along the entire length of the charging cable (220). The shrinkable wire has elastic memory characteristics. When the charging cable (220) is stretched, it stores elastic potential energy. When the external tension disappears or decreases, the shrinkable wire releases the elastic potential energy, driving the charging cable (220) to shrink and reset in a spiral shape along the axial direction of the mounting base (210).

10. The mobile network-type intelligent charging robot with integrated liquid-cooled high-density power module according to claim 9, characterized in that: It also includes a whole-machine liquid cooling circulation system, which consists of a circulation pump and a heat exchanger. The circulation pump drives the insulating coolant to circulate between the liquid cooling box and the heat exchanger, and conducts the heat generated by the power conversion unit to the outside of the robot.

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