A robot autonomous charging device

Abstract

The application discloses a kind of robot autonomous charging device, it is related to electric car charging technical field, including counterweight base, counterweight base is flat, its below is driving disc, driving disc is equipped with by motor driven gyro wheel, the upper surface of counterweight base is fixedly provided with standing seat, standing seat top is equipped with with sliding connection of its sliding lift rod, the top of lift rod is equipped with identification camera, lift rod is fixedly provided with truss below identification camera, truss front end is slidably provided with propelling rod, the front end of propelling rod is fixedly provided with mounting seat, the upper surface of mounting seat is equipped with sliding rail, sliding rail is slidably provided with sliding plate, the front end of sliding plate is mounted with dial wheel, the below of mounting seat is clamping groove, charging seat is mounted in clamping groove by adjusting shaft.The application is simple in structure, can automatically identify electric car charging port and charge, and is equipped with dial mechanism to automatically open the cover of charging port, robot work instruction is simple and clear, applicable to different models of car, suitable for promotion.

Description

Technical Field

[0001] This invention belongs to the field of electric vehicle charging technology, and specifically relates to a robot autonomous charging device. Background Technology

[0002] With the development of technology, clean, pollution-free, and zero-emission pure electric vehicles have become one of the most promising modes of transportation. The increase in electric vehicles necessitates the development of supporting charging infrastructure and technologies. Charging piles, similar to gas pumps at gas stations, can be fixed to the ground or walls and installed in public buildings, residential parking lots, or charging stations. They can charge various models of electric vehicles according to different voltage levels. Currently, charging an electric vehicle requires manually inserting the charging gun into the charging port, necessitating the driver to get out of the vehicle. This can be inconvenient in inclement weather. Automatic charging mechanisms, due to the instability of parked vehicles, require the driver to move the car to a designated location, making operation difficult. Therefore, automatic charging via fixed charging ports is not easily implemented.

[0003] With the rapid development of mobile robot technology, automatic charging via mobile robots has great potential due to its advantages such as simple operation, high efficiency, and low cost. However, because some electric vehicles have flip-top structures at their charging ports, the charging robot cannot directly insert the charging gun, and problems such as cable tangling can easily occur as the robot moves. Summary of the Invention

[0004] The purpose of this invention is to provide a robot autonomous charging device with a simple structure that can automatically identify and charge electric vehicle charging ports. It is equipped with a toggle mechanism to automatically open the charging port cover. The robot's operating instructions are simple and clear, applicable to different models of cars, and suitable for widespread adoption.

[0005] The present invention provides the following technical solution: an autonomous charging device for robots, including a counterweight base, the counterweight base being flat, with a drive disk below it, and rollers driven by a motor on the drive disk. A standing seat is fixedly provided on the upper surface of the counterweight base, the standing seat being a vertical rod, with a lifting rod slidably connected to the top of the standing seat, an electric telescopic rod for pushing the lifting rod inside the standing seat, and a recognition camera fixedly provided on the top of the lifting rod; The lifting rod is fixedly mounted on a truss below the recognition camera. The truss extends towards the camera's imaging direction. A push rod driven by an electric telescopic rod is slidably mounted on the front end of the truss. A mounting base is fixedly mounted on the front end of the push rod. A sliding rail is provided on the upper surface of the mounting base. The sliding rail is parallel to the truss and has a sliding plate slidably mounted on it. A toggle wheel motor is mounted on the front end of the sliding plate. A toggle wheel parallel to the sliding plate is mounted on the output end of the toggle wheel motor. A rubber strip is wrapped around the outer wall of the toggle wheel, and the rubber strip has a circumferential array of grooves. The mounting base has a clamping groove below it, and a charging base is installed in the clamping groove via an adjusting shaft. The charging base has a plug at its front end.

[0006] Preferably, the counterweight base has a winding cavity, a rotating shaft is installed in the winding cavity, two winding reels are fixedly installed on the rotating shaft, the rotating shaft is driven by an asynchronous motor, the counterweight base is connected to an external line, the external line enters through a threading hole at the rear of the winding cavity and is wound between the winding reels, and the opening of the threading hole has smooth chamfers on both sides.

[0007] Preferably, a plug is provided that matches the charging port of the electric vehicle. A reserved line is connected to the rear of the charging base. The other end of the reserved line is fixedly connected to the upper end of the standing base. The length of the reserved line is sufficient to prevent the push rod and the lifting rod from being taut when fully extended. The reserved line is connected to an internal line located in the standing base. The internal line is connected to an external line.

[0008] Preferably, the sliding plate is fixedly provided with a propulsion block inside the sliding track, and the mounting base is provided with a threaded rod that passes through the propulsion block and is driven by a motor.

[0009] Preferably, a sliding plate extends from the front end of the actuating wheel, and when the sliding plate is housed in the sliding track, the actuating wheel is located behind the plug.

[0010] Preferably, the counterweight base is equipped with a central processing module, which is electrically connected to each drive mechanism of the device. The central processing module sends commands to the drive mechanism based on the car image and charging port image captured by the recognition camera.

[0011] The beneficial effects of this invention are: It has a simple structure, can automatically identify and charge electric vehicle charging ports, and is equipped with a toggle mechanism to automatically open the charging port cover. The robot's operating instructions are simple and clear, and it is suitable for different models of vehicles, as detailed below: (1) The present invention is equipped with a toggle wheel. When the robot is charging, the recognition camera identifies the vehicle and the vehicle charging point. When the robot moves to the vehicle charging point, the recognition camera determines whether the charging port flip cover is open. For vehicles that do not automatically open the flip cover, the toggle wheel rotates and is pushed to the unlocked flip cover analysis point. The rubber strip on it presses against the gap and rotates, causing the flip cover to open. Then, the recognition camera observes whether there is an inner cover at the charging port and opens the inner cover of the charging port in the same way, opening a channel for the direct insertion of the plug and realizing automated charging.

[0012] (2) The present invention is provided with a lifting mechanism. After the vehicle charging point is identified by the recognition camera, the central processing unit calibrates and adjusts according to the specific height of the charging port. The height of the truss is adjusted by the lifting rod. After the height is calibrated, the plug is pushed towards the charging port by the push rod. During this process, the angle of the charging port is obtained. The adjusting shaft rotates and adjusts the charging seat on it to connect the plug with the charging port, so as to realize automatic charging of electric vehicles with charging ports in different positions.

[0013] (3) The present invention is provided with a winding cavity. After the vehicle is parked in the charging range, the drive disk drives the device to the charging port of the vehicle. During this process, the external line is pulled out from the winding cavity and the output end of the asynchronous motor is pulled to rotate in the opposite direction. The winding disk rotates to release the external line. When the device is resetting after charging, the tension of the external line disappears. The asynchronous motor drives the winding disk to rotate and pull the external line into the winding disk to wind it up one turn at a time, thereby preventing the external line from being scattered and knotted on the outside. Since the charging robot does not need a battery inside, its own size will not be too large and it can pass through a narrower path. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is an overall schematic diagram of the present invention; Figure 2 This is a cross-sectional view of the truss structure of the present invention; Figure 3 This is a cross-sectional view of the winding cavity of the present invention; Figure 4 This is an enlarged view of point A in this invention; Figure 5 This is a flowchart of the process of this invention; The components in the diagram are labeled as follows: 1. Counterweight base; 2. Drive plate; 3. Erecting base; 4. Lifting rod; 5. Recognition camera; 6. Truss; 7. Push rod; 8. Mounting base; 9. Sliding rail; 10. Sliding plate; 11. Push block; 12. Actuating wheel; 13. Clamping slot; 14. Charging base; 15. Plug; 16. Adjusting shaft; 17. Reserved wiring; 18. Internal wiring; 19. External wiring; 20. Winding cavity; 21. Threading hole; 22. Rotating shaft; 23. Winding reel; 24. Actuating wheel motor; 25. Rubber strip. Detailed Implementation

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0016] In the description of this invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not 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.

[0017] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0018] The structural features of the present invention will now be described in detail with reference to the accompanying drawings.

[0019] See Figure 1-2A robot autonomous charging device includes a counterweight base 1, which is flat to prevent tipping. Below the counterweight base 1 is a drive disk 2, on which are provided rollers driven by a motor to move the robot to a designated position. A standing seat 3 is fixedly provided on the upper surface of the counterweight base 1. The standing seat 3 is a vertical rod to facilitate the installation of a lifting mechanism. A lifting rod 4 is slidably connected to the top of the standing seat 3. An electric telescopic rod that pushes the lifting rod 4 is provided inside the standing seat 3. A recognition camera 5 is fixedly provided on the top of the lifting rod 4 to identify electric vehicles and the mechanism at the charging port of the vehicle.

[0020] See Figure 1 , 2 4. A truss 6 is fixedly installed below the recognition camera 5, with the lifting rod 4 extending towards the camera direction of the recognition camera 5. A push rod 7 driven by an electric telescopic rod is slidably installed at the front end of the truss 6. The push rod 7 pushes the charging mechanism to the charging port. A mounting base 8 is fixedly installed at the front end of the push rod 7. A sliding rail 9 is provided on the upper surface of the mounting base 8. The sliding rail 9 is parallel to the truss 6 and has a sliding plate 10 slidably installed thereon. A push block 11 is fixedly installed in the sliding rail 9 within the sliding plate 10. A threaded rod passes through the push block 11 and is driven by a motor within the mounting base 8. By rotating the threaded rod, the push block 11 slides along the sliding rail 9, causing the sliding plate 10 to slide along the sliding rail 9. The threaded rod drives the mechanism, minimizing the external space occupied by the pushing mechanism. A toggle wheel motor 24 is installed, and a toggle wheel 12 parallel to the sliding plate 10 is installed at the output end of the toggle wheel motor 24. A rubber strip 25 is wrapped around the outer wall of the toggle wheel 12. The sliding plate 10 drives the toggle wheel 12 to the gap of the charging port cover. The rubber strip 25 has a circumferential array of grooves. The rotation of the rubber strip 25 drives the cover to open. Below the mounting base 8 is a clamping groove 13. The charging base 14 is installed in the clamping groove 13 through the adjusting shaft 16. The adjusting shaft 16 rotates and adjusts the charging base 14. The front end of the charging base 14 is provided with a plug 15, which is matched with the charging port of the electric vehicle. The front end of the toggle wheel 12 extends out of the sliding plate 10. When the sliding plate 10 is stored in the sliding rail 9, the toggle wheel 12 is located behind the plug 15 to prevent the toggle wheel 12 from blocking the insertion of the plug 15.

[0021] See Figure 1 , 3The counterweight base 1 has a winding cavity 20, and a rotating shaft 22 is installed inside the winding cavity 20. Two winding reels 23 are fixedly installed on the rotating shaft 22. The rotating shaft 22 is driven by an asynchronous motor. The output end of the asynchronous motor can rotate in the opposite direction when subjected to tension. An external cable 19 is connected to the counterweight base 1. The external cable 19 enters through the threading hole 21 at the rear of the winding cavity 20 and is wound between the winding reels 23. The external cable 19 is kept taut to prevent knotting. The opening of the threading hole 21 is two-way. The side has a smooth chamfer. When the asynchronous motor drives the winding reel 23 to rotate, it pulls the external line 19 into the winding cavity 20. The charging base 14 is connected to a reserved line 17 at the rear. The other end of the reserved line 17 is fixedly connected to the upper end of the standing base 3. The length of the reserved line 17 is sufficient to prevent the push rod 7 and the lifting rod 4 from being stretched when fully extended, so that the charging base 14 can move freely within a specified range. The reserved line 17 is connected to the built-in line 18 located in the standing base 3. The built-in line 18 is connected to the external line 19.

[0022] See Figure 1 The counterweight base 1 is equipped with a central processing module, which is electrically connected to each drive mechanism of the device. The central processing module sends commands to the drive mechanism based on the car image and charging port image captured by the recognition camera 5, so that the robot can automatically charge the electric vehicle.

[0023] The robot autonomous charging device of the present invention has a simple structure, can automatically identify the charging port of electric vehicles and charge them, and is equipped with a toggle mechanism to automatically open the cover of the charging port. The robot's working instructions are simple and clear, applicable to different models of cars, and suitable for widespread application.

[0024] For specific usage, please refer to... Figure 1-5 After the vehicle charging point is identified by the recognition camera 5, the central processing unit calibrates and adjusts according to the specific height of the charging port. The height of the truss 6 is adjusted by the lifting rod 4. After the height is calibrated, the vehicle and the vehicle charging point are identified by the recognition camera 5. When the robot moves to the vehicle charging point, the recognition camera 5 determines whether the charging port flip cover is open. For vehicles that do not automatically open the flip cover, the actuating wheel 12 rotates and is pushed to the unlocked flip cover analysis point. The rubber strip 25 on it presses against the gap and rotates, causing the flip cover to open. Then, the recognition camera 5 observes whether there is an inner cover at the charging port and opens the inner cover of the charging port in the same way to open the channel for the direct insertion of the plug 15. The push rod 7 pushes the plug 15 into the charging port. During this process, the angle of the charging port is obtained. The adjusting shaft 16 rotates and adjusts the charging base 14 on it to connect the plug 15 with the charging port for charging. Reference Figure 1 , 3After the vehicle is parked within the charging range, the drive disc 2 drives the device to the vehicle's charging port. During this process, the external cable 19 is pulled out from the winding cavity 20 and pulled, causing the output end of the asynchronous motor to rotate in the opposite direction. The winding disc 23 rotates to release the external cable 19. When the device is fully charged and reset, the tension in the external cable 19 disappears, and the asynchronous motor drives the winding disc 23 to rotate, pulling the external cable 19 into the winding disc 23 and winding it around to prevent the external cable 19 from becoming tangled or knotted on the outside.

[0025] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot autonomous charging device, comprising a counterweight base (1), characterized in that, The counterweight base (1) is flat, with a drive disk (2) below it. The drive disk (2) is equipped with rollers driven by a motor. A standing seat (3) is fixed on the upper surface of the counterweight base (1). The standing seat (3) is a vertical rod. A lifting rod (4) is slidably connected to the top of the standing seat (3). An electric telescopic rod that pushes the lifting rod (4) is provided inside the standing seat (3). A recognition camera (5) is fixed on the top of the lifting rod (4). The lifting rod (4) is fixedly provided with a truss (6) below the recognition camera (5). The truss (6) extends towards the camera direction of the recognition camera (5). The front end of the truss (6) is slidably provided with a push rod (7) driven by an electric telescopic rod. The front end of the push rod (7) is fixedly provided with a mounting base (8). The upper surface of the mounting base (8) is provided with a sliding rail (9). The sliding rail (9) is parallel to the truss (6) and is slidably provided with a sliding plate (10). The front end of the sliding plate (10) is provided with a toggle wheel motor (24). The output end of the toggle wheel motor (24) is provided with a toggle wheel (12) parallel to the sliding plate (10). The outer wall of the toggle wheel (12) is wrapped with a rubber strip (25). The rubber strip (25) is provided with a circumferential array of grooves. The mounting base (8) has a clamping groove (13) below it. A charging base (14) is installed in the clamping groove (13) via an adjusting shaft (16). A plug (15) is provided at the front end of the charging base (14).

2. The robot autonomous charging device according to claim 1, characterized in that, The counterweight base (1) is provided with a winding cavity (20), and a rotating shaft (22) is installed in the winding cavity (20). Two winding reels (23) are fixedly installed on the rotating shaft (22). The rotating shaft (22) is driven by an asynchronous motor. The counterweight base (1) is connected to an external line (19). The external line (19) enters through the threading hole (21) behind the winding cavity (20) and is wound between the winding reels (23). The opening of the threading hole (21) has smooth chamfers on both sides.

3. The robot autonomous charging device according to claim 2, characterized in that, The device is equipped with a plug (15) that matches the charging port of the electric vehicle. A reserved line (17) is connected to the rear of the charging base (14). The other end of the reserved line (17) is fixedly connected to the upper end of the stand (3). The length of the reserved line (17) is sufficient to prevent the push rod (7) and the lifting rod (4) from being stretched when fully extended. The reserved line (17) is connected to the built-in line (18) located in the stand (3). The built-in line (18) is connected to the external line (19).

4. The robot autonomous charging device according to claim 1, characterized in that, The sliding plate (10) is fixedly provided with a push block (11) inside the sliding track (9), and the mounting base (8) is provided with a threaded rod that passes through the push block (11) and is driven by a motor.

5. The robot autonomous charging device according to claim 1, characterized in that, The front end of the actuating wheel (12) extends into a sliding plate (10). When the sliding plate (10) is housed in the sliding track (9), the actuating wheel (12) is located behind the plug (15).

6. The robot autonomous charging device according to claim 1, characterized in that, The counterweight base (1) is equipped with a central processing module, which is electrically connected to each drive mechanism of the device. The central processing module sends commands to the drive mechanism based on the car image and charging port image captured by the recognition camera (5).

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