Charging platform

Abstract

The utility model relates to a charging platform. The charging platform comprises a gun inserting robot, and the gun inserting robot comprises a first moving chassis and a robot body arranged on the first moving chassis; the direct current charging module comprises a charger and a first charging gun connected with the charger through a cable, and the direct current charging module is arranged at the parking space; the energy storage battery module comprises a second movable chassis, an energy storage battery arranged on the second movable chassis and a second charging gun connected with the energy storage battery through a cable; wherein the first movable chassis is provided with a first connecting structure, the second movable chassis is provided with a second connecting structure, and the first connecting structure is detachably connected with the second connecting structure; and the robot body can grab any one of the first charging gun and the second charging gun and is inserted into a charging port of the electric vehicle. The charging platform can be compatible with the direct current charging mode and the energy storage charging mode at the same time, and a user can flexibly select different charging modes conveniently.

Description

Technical Field

[0001] The present application relates to the field of charging technology, and in particular to a charging platform. Background Art

[0002] When traditional new energy electric vehicles need to be charged, they generally need to drive the electric vehicle to a designated location, get off the vehicle and manually open the charging port of the electric vehicle, manually insert the charging connector into the charging port, and then turn on the power supply, which is complicated to operate. With the continuous growth in the number of electric vehicles, the demand for charging infrastructure has increased, and various types of automatic charging platforms have appeared on the market, which have improved the degree of automation of electric vehicle charging operations and simplified people's operations. Among them, different types of automatic charging platforms have different charging modes. For example, the common DC charging pile platform charges electric vehicles in a DC charging mode, and the charging robot platform integrated with the energy storage battery charges electric vehicles in an energy storage battery mode. However, the automatic charging platform in the prior art usually has a single charging mode and is not compatible with multiple charging modes. Utility Model Content

[0003] Based on this, it is necessary to provide a charging platform to address the problem that the automatic charging platform in the prior art usually has a single charging mode and is not compatible with multiple charging modes.

[0004] A charging platform, comprising:

[0005] A gun-insertion robot, the gun-insertion robot comprising a first mobile chassis and a robot body disposed on the first mobile chassis;

[0006] A DC charging module, comprising a charger and a first charging gun connected to the charger via a cable, wherein the DC charging module is arranged at the parking space;

[0007] An energy storage battery module, comprising a second mobile chassis, an energy storage battery disposed on the second mobile chassis, and a second charging gun connected to the energy storage battery via a cable;

[0008] Among them, the first mobile chassis is provided with a first connecting structure, the second mobile chassis is provided with a second connecting structure, and the first connecting structure and the second connecting structure are detachably connected; the robot body can grab either the first charging gun or the second charging gun and insert it into the charging port of the electric vehicle.

[0009] In one embodiment, the first connection structure includes a first magnetic attraction portion, the second connection structure includes a second magnetic attraction portion, and the first magnetic attraction portion and the second magnetic attraction portion are magnetically matched.

[0010] In one embodiment, the second mobile chassis is provided with a charging head, and the first mobile chassis is provided with a charging base. When the charging head is inserted into the charging base, the second connecting structure is simultaneously connected to the first connecting structure.

[0011] In one embodiment, the charging seat has an insertion cavity, and the second connecting structure is arranged in the insertion cavity; the first connecting structure is arranged on the charging head; when the charging head is inserted into the insertion cavity, the second connecting structure is simultaneously connected to the first connecting structure.

[0012] In one embodiment, the DC charging module also includes a second motion assisting module, which is located above the parking space; the second motion assisting module includes a horizontal moving device, a vertical moving device and a second driving device, the horizontal moving device is used to drive the first charging gun to move in the horizontal direction, the vertical moving device is used to drive the first charging gun to move in the vertical direction, and the second driving device is used to drive the horizontal moving device and the vertical moving device to move.

[0013] In one embodiment, the horizontal moving device includes: a slide rail, a mounting portion, and a moving wheel; the second driving device includes a first driving portion;

[0014] The slide rail is arranged above the parking space; the moving wheel is arranged on the mounting portion; the first driving portion is used to drive the moving wheel to move along the slide rail; and the vertical moving device is arranged on the mounting portion.

[0015] In one embodiment, the second driving device includes a second driving unit; the vertical moving device includes a gear and a rack extending in a vertical direction, the second driving unit is used to drive the gear to rotate, and the gear is engaged with the rack; the cable connected to the first charging gun is arranged on the rack in a vertical direction.

[0016] In one embodiment, the charging platform also includes an operation and maintenance warehouse, which is provided with a cleaning tool table, an operation and maintenance charging seat, and a positioning QR code; the gun insertion robot is provided with a positioning camera, and the positioning camera is used to scan the positioning QR code so that the charging interface of the gun insertion robot is aligned with the operation and maintenance charging seat, and one side of the gun insertion robot faces the cleaning tool table.

[0017] In one embodiment, the cleaning tool table includes a rotating table, a cleaning brush, and an inspection camera, and the cleaning brush and the inspection camera are arranged on the rotating table along the rotation direction of the rotating table.

[0018] In one embodiment, the operation and maintenance charging seat has a switchable extended position and retracted position relative to the warehouse wall of the operation and maintenance warehouse. When the charging interface of the gun insertion robot is aligned with the operation and maintenance charging seat, the operation and maintenance charging seat can dock with the charging interface of the gun insertion robot in the extended position.

[0019] When the above-mentioned charging platform is actually used, if the user wants to charge the electric vehicle in the DC charging mode, the electric vehicle is moved to the designated parking space. The gun-inserting robot moves to the vicinity of the designated parking space through the first mobile chassis, grabs the first charging gun through the robot body, and inserts the first charging gun into the charging port of the electric vehicle, so that the electric vehicle can be charged in the DC charging mode. If the user wants to charge the electric vehicle in the energy storage charging mode, the gun-inserting robot moves to the energy storage battery charging module through the first mobile chassis, and is connected to the second connecting structure through the first connecting structure, so that the gun-inserting robot is connected to the energy storage battery charging module, so that the gun-inserting robot can drive the energy storage battery charging module to move together to the vicinity of the charging port of the electric vehicle, and then grabs the second charging gun through the robot body, and inserts the second charging gun into the charging port of the electric vehicle, so that the electric vehicle can be charged in the energy storage charging mode. It can be seen that the charging platform of the present application can be compatible with both the DC charging mode and the energy storage charging mode, which is convenient for users to flexibly choose different charging modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 FIG. 4 is a schematic diagram of a module of a charging platform according to an embodiment of the present invention.

[0021] Figure 2 Schematic diagram of a module of a gun insertion robot according to an embodiment.

[0022] Figure 3 FIG. 4 is a schematic diagram of a DC charging module according to an embodiment of the present invention.

[0023] Figure 4 A schematic diagram of a battery charging module according to an embodiment of the present invention.

[0024] Figure 5 FIG. 4 is a schematic diagram of a first motion assisting module according to an embodiment of the present invention.

[0025] Figure 6 Schematic diagram of a module of an end effector according to an embodiment.

[0026] Figure 7 A schematic diagram of a module of a sensing device according to an embodiment.

[0027] Figure 8 Schematic diagram of a module of an Internet of Things communication device according to an embodiment.

[0028] Fig. 9FIG. 4 is a schematic diagram of a second motion assisting module according to an embodiment of the present invention.

[0029] Fig.10 The present invention is a schematic diagram of an application scenario of an electric vehicle at a charging platform according to an embodiment.

[0030] Fig.11 Schematic diagram of the structure of a vertical moving device according to an embodiment.

[0031] Fig.12 A schematic diagram of the internal structure of an operation and maintenance warehouse according to an embodiment.

[0032] Fig.13 This is a schematic diagram of an embodiment of a charging head aligned with a charging base.

[0033] Description of reference numerals:

[0034] 100. Gun-inserting robot;

[0035] 101. Robotic arm;

[0036] 102. a first mobile chassis;

[0037] 103, first motion auxiliary module; 1031, lateral motion auxiliary unit; 1032, longitudinal motion auxiliary unit; 1033, rotation auxiliary unit; 1034, first driving device;

[0038] 104, end effector; 1041, gun grabbing actuator; 1042, cover opening actuator; 1043, switching unit;

[0039] 105. sensing device; 1051. image sensing unit; 1052. inertial sensing unit; 1053. environment sensing unit;

[0040] 106. A first control unit;

[0041] 1072, charging head; 10721, main charging head; 10722, second connection structure; 1071, charging seat; 10711, auxiliary charging head; 10712, first connection structure;

[0042] 108. Power supply battery;

[0043] 109. Internet of Things communication equipment; 1091. Local area communication equipment; 1092. Vehicle-pile communication equipment;

[0044] 110. Cloud communication equipment;

[0045] 200, DC charging module; 201, second motion auxiliary module; 2011, horizontal moving device; 2012, vertical moving device; 20121, gear; 20122, rack; 2013, second driving device; 202, first charging gun; 203, second control unit; 204, charger;

[0046] 300, energy storage battery charging module; 301, second mobile chassis; 302, second charging gun; 303, third control unit; 304, energy storage battery;

[0047] 401. Cleaning tool table; 402. Positioning QR code; 403. Operation and maintenance charging station; 404. Cleaning rail. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0051] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it 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 the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0054] Please refer to Figure 1 Combination Fig.10 In one embodiment of the present application, a charging platform is provided for charging an electric vehicle 10. The charging platform includes: a gun-inserting robot 100, a DC charging module 200, and an energy storage battery charging module 300. Figure 2 The gun insertion robot 100 includes a first mobile chassis 102 and a robot body disposed on the first mobile chassis 102. The gun insertion robot 100 can move through the first mobile chassis 102. Figure 3 The DC charging module 200 includes a charger 204 and a first charging gun 202 connected to the charger 204 via a cable. The DC charging module 200 is arranged at the parking space. The charger 204 is used to provide high-power DC power. Figure 4The energy storage battery charging module 300 includes a second mobile chassis 301, an energy storage battery 304 disposed on the second mobile chassis 301, and a second charging gun 302 connected to the energy storage battery 304 via a cable. The energy storage battery charging module 300 can be moved by the second mobile chassis 301. The energy storage battery 304 is used to supply power to various power-consuming structures of the energy storage battery charging module 300 itself and to charge the electric vehicle 10.

[0055] Recombination Fig.13 , wherein the first mobile chassis 102 is provided with a first connection structure 10722, and the second mobile chassis 301 is provided with a second connection structure 10712, and the first connection structure 10722 is detachably connected to the second connection structure 10712. The robot body can grab any one of the first charging gun 202 and the second charging gun 302 and insert it into the charging port of the electric vehicle 10.

[0056] When the above charging platform is actually used, if the user wants to charge the electric vehicle 10 in the DC charging mode, the electric vehicle 10 is moved to the designated parking space. The gun-inserting robot 100 moves to the vicinity of the designated parking space through the first mobile chassis 102, grabs the first charging gun 202 through the robot body, and inserts the first charging gun 202 into the charging port of the electric vehicle 10, so that the electric vehicle 10 can be charged in the DC charging mode. If the user wants to charge the electric vehicle 10 in the energy storage charging mode, the gun-inserting robot 100 moves to the energy storage battery charging module 300 through the first mobile chassis 102, and connects the first connecting structure 10722 with the second connecting structure 10712, so that the gun-inserting robot 100 is connected to the energy storage battery charging module 300, so that the gun-inserting robot 100 can drive the energy storage battery charging module 300 to move together to the vicinity of the charging port of the electric vehicle 10, and then grabs the second charging gun 302 through the robot body, and inserts the second charging gun 302 into the charging port of the electric vehicle 10, so that the electric vehicle 10 can be charged in the energy storage charging mode. It can be seen that the charging platform of the present application is compatible with both DC charging mode and energy storage charging mode, allowing users to flexibly choose different charging modes.

[0057] Moreover, since the DC charging module 200, the energy storage battery charging module 300, and the gun insertion robot 100 in the charging platform of the present application are independent modules, it is convenient to modularly customize the charging platform. For example, a DC charging module 200 can be configured for each parking space, so that the electric car 10 in each parking space can be charged using the DC charging module 200, or only some parking spaces can be configured with a DC charging module 200. The number of energy storage battery charging modules 300 in a charging platform can be one or more. The number of gun insertion robots 100 in a charging platform can also be one or more. The specific customization method can be designed according to demand.

[0058] Furthermore, energy storage batteries often have the characteristics of heavy batteries, large volume, and low efficiency. If the conventional integrated mobile power bank solution on the market is adopted (i.e., the robot and the energy storage battery are integrated), the robot will be too large and the continuous operation time will be short. The product will be difficult to enter underground garages and other places, and the product's landing performance is poor. In addition, the energy storage battery needs to be recharged after consumption, and the utilization efficiency of the product is also very low. The energy storage battery charging module 300 and the gun insertion robot 100 are set separately and used in combination, which can solve the problems of conventional integrated mobile power banks. The effect is that the gun insertion robot 100 is not limited by the energy storage battery, can be more miniaturized and lightweight, and does not need to be frequently recharged. At the same time, the gun insertion robot 100 can also be recharged when combined with the energy storage battery charging module 300, which can have a long continuous operation time and convenient recharge.

[0059] In one embodiment, the first connection structure 10722 is disposed on the side of the first mobile chassis 102. The second connection structure 10712 is disposed on the side of the second mobile chassis 301. Thus, when the first mobile chassis 102 and the second mobile chassis 301 are close to each other, the first connection structure 10722 is conveniently connected to the second connection structure 10712.

[0060] Please refer to Fig.13 In one embodiment, the first connecting structure 10722 includes a first magnetic attraction portion, and the second connecting structure 10712 includes a second magnetic attraction portion. The first magnetic attraction portion and the second magnetic attraction portion cooperate magnetically, so that the first mobile chassis 102 and the second mobile chassis 301 are connected by magnetic attraction, thereby connecting the gun insertion robot 100 and the energy storage battery charging module 300.

[0061] The first magnetic attraction part and the second magnetic attraction part can be separated by applying an external force to overcome the magnetic attraction between the first magnetic attraction part and the second magnetic attraction part. Alternatively, the first magnetic attraction part can be separated by eliminating the magnetism of the first magnetic attraction part. For example, the first magnetic attraction part is an electromagnet, which can attract the second magnetic attraction part when powered on, and the magnetism is eliminated when powered off, so that the second magnetic attraction part can be released.

[0062] refer to Fig.13 In one embodiment, the second mobile chassis 301 is provided with a charging head 1072, and the first mobile chassis 102 is provided with a charging seat 1071. When the charging head 1072 is inserted into the charging seat 1071, the second connection structure 10712 is simultaneously connected to the first connection structure 10722. In this way, when the gun-inserting robot 100 is connected to the energy storage battery charging module 300, the charging head 1072 can be inserted into the charging seat 1071 so that the energy storage battery charging module 300 can replenish the power for the gun-inserting robot 100, thereby replenishing the power for the gun-inserting robot 100, improving its endurance time, and reducing the time for charging the gun-inserting robot 100 alone.

[0063] refer to Fig.13 In one embodiment, the charging seat 1071 has an insertion cavity, and the second connection structure 10712 is disposed in the insertion cavity. The first connection structure 10722 is disposed on the charging head 1072. When the charging head 1072 is inserted into the insertion cavity, the second connection structure 10712 is connected to the first connection structure 10722 at the same time.

[0064] By setting the first connection structure 10722 on the charging head 1072 and the second connection structure 10712 in the insertion cavity of the charging seat 1071, the second connection structure 10712 can be accurately docked with the first connection structure 10722 when the charging head 1072 is inserted into the insertion cavity.

[0065] Specifically, the first connection structure 10722 may be a first magnetic ring disposed on the outer wall of the charging head 1072. The second connection structure 10712 may be a second magnetic ring disposed on the inner wall of the insertion cavity. When the second connection structure 10712 is accurately docked with the first connection structure 10722, the first magnetic ring is aligned with the second magnetic ring.

[0066] refer to Fig.13 In one embodiment, a main charging head 10711 is provided in the insertion cavity. An auxiliary charging head 10721 is provided at one end of the charging head 1072. When the charging head 1072 is inserted into the charging seat 1071, the main charging head 10711 contacts the auxiliary charging head 10721, thereby realizing charging between the charging head 1072 and the charging seat 1071.

[0067] Please refer to Figure 2 and Fig.10 In one embodiment, the robot body includes a robotic arm 101 and an end effector 104 connected to the robotic arm 101 , the robotic arm 101 is disposed on a first mobile chassis 102 , and the end effector 104 is used to grab any one of the first charging gun 202 and the second charging gun 302 and insert it into the charging port of the electric vehicle 10 .

[0068] Specifically, the robot arm 101 may be a collaborative robot arm or a continuous arm, and may have any number of axes of 3 or more. The end effector 104 is located on the last motion axis of the robot arm 101 .

[0069] refer to Figure 6In one embodiment, the end effector 104 includes a gun grabbing actuator 1041, which can grab any one of the first charging gun 202 and the second charging gun 302 and insert it into the charging port of the electric vehicle 10. The connection method between the gun grabbing actuator 1041 and any one of the first charging gun 202 and the second charging gun 302 is, for example, magnetic attraction, snap, clamping, etc., and the connection between the gun grabbing actuator 1041 and any one of the first charging gun 202 and the second charging gun 302 is a detachable connection. In this way, after the gun insertion robot 100 inserts the charging gun into the charging port of the electric vehicle 10, the gun grabbing actuator 1041 can release the connection with the charging gun, so that the gun insertion robot 100 can serve more other electric vehicles, avoiding the useless waiting of the gun insertion robot 100.

[0070] In one embodiment, the end effector 104 can also be used to open the charging cover of the electric vehicle 10 to expose the charging port, so that when the gun insertion robot 100 is near the charging port of the electric vehicle 10, the robotic arm 101 can drive the end effector 104 to automatically open the charging cover of the electric vehicle 10 to expose the charging port without manual operation.

[0071] refer to Figure 6 In one embodiment, the end effector 104 includes a cover-opening actuator 1042 for opening a charging cover of the electric vehicle 10. The cover-opening actuator 1042 can open different types of charging covers by pressing, grabbing, and the like.

[0072] refer to Figure 6 In one embodiment, the end effector 104 includes a switching unit 1043, which is disposed at the end of the robot arm 101. The switching unit 1043 is used to switch between the gun grabbing actuator 1041 and the cover opening actuator 1042, so that the robot arm 101 can flexibly switch the actuator to be used.

[0073] refer to Figure 5 In one embodiment, the gun insertion robot 100 includes a first motion assisting module 103, which is used to drive the robotic arm 101 to move in the horizontal direction and rotate around the vertical axis, so that the working position of the robotic arm 101 and the end effector 104 can cover a larger spatial range, making it convenient for the end effector 104 to insert the charging gun into the charging port of the electric vehicle 10.

[0074] refer to Figure 5In one embodiment, the first motion assisting module 103 includes a first driving device 1034, a lateral motion assisting unit 1031, a longitudinal motion assisting unit 1032, and a rotation assisting unit 1033. The lateral motion assisting unit 1031 is used to drive the robot arm 101 to move horizontally along the width direction of the parking space, so that the robot arm 101 can serve the charging ports of electric vehicles 10 with a wider distance range along the width direction of the parking space. The longitudinal motion assisting unit 1032 is used to drive the robot arm 101 to move horizontally along the length direction of the parking space. In this way, when the first mobile chassis 102 has a position deviation along the length direction of the parking space, the position deviation of the end effector 104 along this direction can be corrected in a timely and accurate manner through the movement of the robot arm 101 along this direction. The rotation auxiliary unit 1033 is used to drive the mechanical arm 101 to rotate 360° around the vertical axis, so that the gun insertion robot 100 can serve electric vehicles 10 in different orientations through the rotation of the mechanical arm 101. At the same time, the angle of the charging gun can be adjusted by rotation, so that the charging gun can adapt to the charging port angles and different parking postures of different models. The first drive device 1034 is used to drive the lateral motion auxiliary unit 1031, the longitudinal motion auxiliary unit 1032 and the rotation auxiliary unit 1033 to move. The specific structure of the first motion auxiliary module 103 can also adopt other forms in the prior art, which will not be repeated here.

[0075] refer to Figure 2 and Figure 7 In one embodiment, the gun insertion robot 100 includes a sensing device 105 and a first control unit 106. The sensing device 105 can perform image recognition, distance recognition, inertia recognition, and environmental perception. The first control unit 106 is used to schedule the various components of the gun insertion robot 100 to work together according to the perception results of the sensing device 105, so as to achieve the movement of the gun insertion robot 100, the gun grabbing and other actions. The sensing device 105 can be set on the first mobile chassis 102.

[0076] refer to Figure 7 In one embodiment, the sensing device 105 includes an image sensing unit 1051, which can perform distance sensing and image sensing, and is used to sense information about the charging port of the electric vehicle 10 and information about obstacles. The image sensing unit 1051 includes but is not limited to any one or more of a two-dimensional camera, a three-dimensional camera, a laser radar, and an ultrasonic radar, and can obtain information such as a charging port, a vehicle, a pedestrian, a wall, and a ceiling.

[0077] The first control unit 106 navigates the gun-inserting robot 100 according to the position of the charging port and the perception result of the image perception unit 1051, so as to facilitate the gun-inserting robot 100 to move to the vicinity of the charging port of the electric vehicle 10. During the movement of the gun-inserting robot 100, the first control unit 106 can also avoid obstacles for the gun-inserting robot 100 according to the perception result of the perception unit 1051, so as to facilitate the smooth movement of the gun-inserting robot 100.

[0078] refer to Figure 7 In one embodiment, the sensing device 105 includes an inertial sensing unit 1052, which is used to perform inertial sensing. The first control unit 106 is used to control the first mobile chassis 102 to maintain a balanced state according to the sensing result of the inertial sensing unit 1052.

[0079] The sensing device 105 includes an environment sensing unit 1053 , which is used to sense temperature and humidity. The first control unit 106 is used to analyze whether the movement environment of the gun-inserting robot 100 is safe according to the sensing result of the environment sensing unit 1053 .

[0080] refer to Figure 7 In one embodiment, the gun insertion robot 100 includes an Internet of Things communication device 109, and the Internet of Things communication device 109 is used for connecting and communicating the gun insertion robot 100, the DC charging module 200, the energy storage battery charging module 300, and the electric car 10.

[0081] Specifically, the IoT communication device 109 includes a local area communication device 1091 and a vehicle-pile communication device 1092. The local area communication device 1091 is used for communication between the gun-inserting robot 100, the DC charging module 200 and the energy storage battery charging module 300. It can use LAN, Bluetooth, lora and other methods to achieve synchronization of distance information, scheduling between devices, and synchronization of fault and status information. The vehicle-pile communication device 1092 is used for communication between the gun-inserting robot 100 and the electric car 10. It can use Bluetooth, cloud, radio frequency and other methods to achieve vehicle-pile matching, opening the cover, information prompts, etc.

[0082] refer to Figure 7 In one embodiment, the gun insertion robot 100 includes a cloud communication device 110. The cloud communication device 110 is used for the gun insertion robot 100 to upload and download information with the cloud.

[0083] refer to Figure 2 In one embodiment, the gun insertion robot 100 includes a power supply battery 108 for supplying power to various components of the gun insertion robot 100 .

[0084] Please combine Figure 3 and Fig. 9In one embodiment, the second motion assisting module 201 is located above the parking space. The second motion assisting module 201 includes a horizontal moving device 2011, a vertical moving device 2012, and a second driving device 2013. The horizontal moving device 2011 is used to drive the first charging gun 202 to move in the horizontal direction, the vertical moving device 2012 is used to drive the first charging gun 202 to move in the vertical direction, and the second driving device 2013 is used to drive the horizontal moving device 2011 and the vertical moving device 2012 to move. The second driving device 2013 can be a servo system, a hydraulic system, etc.

[0085] The charging ports of different models of electric vehicles 10 are located at different positions when parked in parking spaces. The horizontal moving device 2011 drives the first charging gun 202 to move horizontally, so that the first charging gun 202 can be moved horizontally to the top of any charging port. The vertical moving device 2012 can drive the first charging gun 202 to move downward in the vertical direction, so that the first charging gun 202 is close to the charging port, thereby facilitating the gun insertion robot 100 to insert the first charging gun 202 into the charging port. After charging is completed, the gun insertion robot 100 can pull out the first charging gun 202. At this time, the first charging gun 202 can be in an idle state, and the first charging gun 202 can be driven by the vertical moving device 2012 to move upward and retract.

[0086] High-power charging gun cables often have the characteristics of heavy charging cables and large bending radius. If the conventional layout scheme of integrated charging robot and charging gun on the market is adopted, the charging gun cable requires large internal layout space and driving force of the charging robot, and the mobile space is limited, which affects the operating efficiency of the charging robot. In the embodiment of the present application, the DC charging module 200 and the gun insertion robot 100 are designed separately, and the second motion auxiliary module 201 can drive the first charging gun 202 to adjust the position in the horizontal and vertical directions, so that the gun insertion robot 100 is not restricted by the cable of the charging gun, and can be more miniaturized and lightweight, and the mobile space of the gun insertion robot 100 is not restricted by the charging cable, and the utilization efficiency is higher. At the same time, the first charging gun 202 is independently arranged on the second motion auxiliary module 201 above the parking space, with a large layout space and a large movable space, and little interference to the gun insertion robot, people, and vehicles.

[0087] In one embodiment, the horizontal moving device 2011 includes: a slide rail, a mounting portion, and a moving wheel. The second driving device 2013 includes a first driving portion. The first driving portion is, for example, a motor. The slide rail is arranged above the parking space. The moving wheel is arranged on the mounting portion, and the first driving portion is used to drive the moving wheel to move along the slide rail. The vertical moving device 2012 is arranged on the mounting portion. The first driving portion drives the moving wheel to rotate, so that the moving wheel can move along the extension direction of the slide rail, thereby driving the mounting portion and the vertical moving device 2012 and the first charging gun 202 to move in the horizontal direction along the extension direction of the slide rail to adjust the position of the first charging gun 202. The slide rail can be a closed quadrilateral structure, and the connection between the two adjacent sides of the quadrilateral structure is a rounded transition to facilitate the movement of the moving wheel on the adjacent sides. The slide rail can also be in other shapes such as a U shape.

[0088] In one embodiment, the second driving device 2013 includes a second driving unit. The second driving unit is, for example, a motor. Fig.11 The vertical moving device 2012 includes a gear 20121 and a rack 20122 extending in the vertical direction. The second driving unit is used to drive the gear 20121 to rotate, and the gear 20121 is meshed with the rack 20122. The cable connected to the first charging gun 202 is arranged on the rack 20122 in the vertical direction.

[0089] The second driving unit is used to drive the gear 20121 to rotate, so that when the gear 20121 drives the rack 20122 to move up and down, the cable connected to the first charging gun 202 moves up and down together with the rack 20122, reducing or avoiding bending, squeezing and pulling of the cable, thereby minimizing damage to the cable.

[0090] refer to Figure 2 In one embodiment, the DC charging module 200 includes a second control unit 203, and the second control unit 203 is used to schedule the various components of the DC charging module 200 to work in coordination.

[0091] refer to Figure 3 In one embodiment, the energy storage battery charging module 300 includes a third control unit 303, and the third control unit 303 is used to schedule the various components of the energy storage battery charging module 300 to work in coordination.

[0092] refer to Fig.12 In one embodiment, the charging platform further includes an operation and maintenance warehouse, in which a cleaning tool table 401, an operation and maintenance charging seat 403, and a positioning QR code 402 are provided. The gun insertion robot 100 is provided with a positioning camera, which is used to scan the positioning QR code 402 so that the charging interface of the gun insertion robot 100 is aligned with the operation and maintenance charging seat 403, and one side of the gun insertion robot 100 faces the cleaning tool table 401.

[0093] When the gun-inserting robot 100 enters the operation and maintenance warehouse, when the positioning camera scans the positioning QR code 402, it indicates that the gun-inserting robot 100 is in the operation and maintenance position. At this time, the positioning camera can feedback a signal, and the gun-inserting robot 100 stops moving. When the gun-inserting robot 100 is in the operation and maintenance position, the charging interface of the gun-inserting robot 100 is aligned with the operation and maintenance charging seat 403, and one side of the gun-inserting robot 100 faces the cleaning tool table 401, so that the gun-inserting robot 100 can be charged through the operation and maintenance charging seat 403. The gun-inserting robot 100 is cleaned through the cleaning tool table 401.

[0094] refer to Fig.12 In one embodiment, the cleaning tool station 401 includes a rotating table, a cleaning brush, and an inspection camera. The cleaning brush and the inspection camera are arranged on the rotating table along the rotation direction of the rotating table.

[0095] The rotation position of the inspection camera can be adjusted by rotating the rotating table, so that the inspection camera can inspect different positions of one side of the gun insertion robot 100. When one side of the gun insertion robot 100 faces the cleaning tool table 401, the gun insertion robot 100 can be inspected by the inspection camera first. If the inspection result shows that cleaning is required, the rotation position of the cleaning brush can be adjusted by the rotating table, so that the gun insertion robot 100 can be cleaned by the cleaning brush.

[0096] refer to Fig.12 In one embodiment, the operation and maintenance charging seat 403 has a switchable extended position and retracted position relative to the wall of the operation and maintenance warehouse. When the charging interface of the gun insertion robot 100 is aligned with the operation and maintenance charging seat 403, the operation and maintenance charging seat 403 can be docked with the charging interface of the gun insertion robot 100 in the extended position.

[0097] Specifically, a telescopic mechanism, such as an electric push rod, can be configured for the operation and maintenance charging seat 403. The telescopic mechanism drives the motion charging seat 403 to extend, so that the operation and maintenance charging seat 403 can be docked with the charging interface of the gun insertion robot 100 to charge the gun insertion robot 100. After charging is completed, the telescopic mechanism can drive the motion charging seat 403 to retract and release the docking with the gun insertion robot 100.

[0098] Please refer to Fig.12 In one embodiment, a cleaning rail 404 is further provided in the operation and maintenance warehouse. When the gun insertion robot 100 enters the operation and maintenance warehouse, it moves along the cleaning rail 404 to facilitate the positioning of the gun insertion robot to ensure that the two-dimensional code 402 can be scanned and positioned.

[0099] In one embodiment, the operation and maintenance warehouse can be set behind the parking space. By setting up the operation and maintenance warehouse behind the parking space, the problem of insufficient station space is solved, and the problem of inconvenience in charging, cleaning, and maintenance of the robot itself and damage is also solved.

[0100] The specific operation process of the charging platform of an embodiment is introduced below:

[0101] S110 The user or merchant selects the charging mode.

[0102] If the user chooses or the merchant provides DC charging mode, the service will be provided according to the following process:

[0103] S120, when the designated electric vehicle 10 approaches the designated parking space, the gun insertion robot 100 is docked and matched with the electric vehicle 10 through the vehicle-pile communication device 1092;

[0104] S130, after the pairing is successful, the ground lock is lowered so that the electric vehicle 10 is successfully parked in the designated parking space, and at the same time the electric vehicle 10 opens the charging cover, or the cover opening actuator 1042 opens the charging cover later;

[0105] S140, the gun insertion robot 100 roughly locates the position of the charging port through the image recognition device 1051, and performs path planning through the first control unit 106 and controls the first mobile chassis 102 to drive the gun insertion robot 100 to move to the vicinity of the charging port of the electric vehicle 10;

[0106] S150, after the gun insertion robot 100 arrives at the designated position, the position of the charging port is precisely located by the image recognition device 1051 to obtain accurate position information of the charging port, and then the position information is synchronized to the DC charging module 200 through the local area communication device 1091;

[0107] S160, the DC charging module 200 starts working, moves the first charging gun 202 to above the charging port through the horizontal moving device 2011, and lowers the first charging gun 202 to a designated grabbing position through the vertical moving device 2012;

[0108] S170, the robot arm 101 then grabs the first charging gun 202 through the gun grabbing actuator 1041, and then completes the gun insertion action, and then the charger 204 transmits current to power the electric vehicle 10;

[0109] S180, after the gun insertion is completed, the gun grabbing actuator 1041 of the robot arm 101 is separated from the first charging gun 202 and retracted, and the gun insertion robot 100 returns to its initial position or serves other electric vehicles;

[0110] S190. When charging is completed, the gun-inserting robot 100 comes to the charging port again, completes the gun-pulling, and returns to the initial position after the gun-pulling; before the charging of the electric vehicle 10 is started and completed, the gun-inserting robot 100 can serve other electric vehicles.

[0111] S200, when the gun insertion robot 100 is in an idle state, waiting for maintenance or low on power, it moves to the inside of the operation and maintenance warehouse, and the positioning camera scans the positioning QR code 402. After the identification and positioning are completed, the gun insertion robot 100 stops moving. The cleaning tool table 401 switches to the inspection camera, and the inspection camera scans the gun insertion robot 100 to locate the problem to be maintained. If there is a stain, the cleaning tool table 401 switches to the cleaning brush to clean the gun insertion robot 100. If the gun insertion robot 100 is low on power, the motion charging seat 403 can be raised to charge the gun insertion robot 100.

[0112] In step S110, the user or the merchant selects the charging mode. If the user selects or the merchant provides the energy storage charging mode, the service will be provided according to the following process:

[0113] S210, when the designated electric vehicle 10 approaches any parking space within the service range, the gun insertion robot 100 obtains the location information of the electric vehicle 10 through the cloud communication device 110;

[0114] S220, the gun insertion robot 100 is connected to the energy storage battery charging module 300 through the first connection structure and the second connection structure, driving the energy storage battery charging module 300 to navigate to the vicinity of the charging port of the electric car 10;

[0115] S23, then the gun insertion robot 100 is docked and matched with the electric vehicle 10 through the vehicle-pile communication device 1092, and the electric vehicle 10 opens the charging cover, or the charging cover is subsequently opened by the cover-opening actuator 1042;

[0116] S240, after the gun insertion robot 100 arrives at the designated position, the image recognition device 1051 accurately locates the position of the charging port to obtain accurate position information of the charging port;

[0117] S250, the robot arm 101 then grabs the second charging gun 302 on the energy storage battery charging module 300 through the gun grabbing actuator 1041, and then completes the gun insertion action, and then the energy storage battery 304 transmits current to power the electric vehicle 10.

[0118] S260, after the gun insertion is completed, the gun insertion robot 100 releases the connection with the energy storage battery charging module 300 (that is, the first connection structure is separated from the second connection structure), the robotic arm 101 is separated from the second charging gun 302 and retracted, and the gun insertion robot 100 returns to the initial position or serves other electric vehicles.

[0119] S270. When charging is completed, the gun insertion robot 100 comes to the charging port again, completes the gun removal, and can then serve other electric vehicles.

[0120] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0121] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A charging platform, characterized in that: The charging platform comprises: A gun-insertion robot, the gun-insertion robot comprising a first mobile chassis and a robot body disposed on the first mobile chassis; A DC charging module, comprising a charger and a first charging gun connected to the charger via a cable, wherein the DC charging module is arranged at the parking space; An energy storage battery module, comprising a second mobile chassis, an energy storage battery disposed on the second mobile chassis, and a second charging gun connected to the energy storage battery via a cable; Among them, the first mobile chassis is provided with a first connecting structure, the second mobile chassis is provided with a second connecting structure, and the first connecting structure and the second connecting structure are detachably connected; the robot body can grab either the first charging gun or the second charging gun and insert it into the charging port of the electric vehicle.

2. The charging platform according to claim 1, characterized in that: The first connection structure includes a first magnetic attraction portion, the second connection structure includes a second magnetic attraction portion, and the first magnetic attraction portion and the second magnetic attraction portion are magnetically matched.

3. The charging platform according to claim 1, characterized in that: The second mobile chassis is provided with a charging head, and the first mobile chassis is provided with a charging base. When the charging head is inserted into the charging base, the second connecting structure is simultaneously connected to the first connecting structure.

4. The charging platform according to claim 3, characterized in that: The charging seat has an insertion cavity, and the second connecting structure is arranged in the insertion cavity; the first connecting structure is arranged on the charging head; when the charging head is inserted into the insertion cavity, the second connecting structure is simultaneously connected to the first connecting structure.

5. The charging platform according to claim 1, characterized in that: The DC charging module also includes a second motion assisting module, which is located above the parking space; the second motion assisting module includes a horizontal moving device, a vertical moving device and a second driving device, the horizontal moving device is used to drive the first charging gun to move in the horizontal direction, the vertical moving device is used to drive the first charging gun to move in the vertical direction, and the second driving device is used to drive the horizontal moving device and the vertical moving device to move.

6. The charging platform according to claim 5, characterized in that: The horizontal moving device comprises: a slide rail, a mounting portion and a moving wheel; the second driving device comprises a first driving portion; The slide rail is arranged above the parking space; the moving wheel is arranged on the mounting portion; the first driving portion is used to drive the moving wheel to move along the slide rail; and the vertical moving device is arranged on the mounting portion.

7. The charging platform according to claim 5, characterized in that: The second driving device includes a second driving part; the vertical moving device includes a gear and a rack extending in a vertical direction, the second driving part is used to drive the gear to rotate, and the gear is meshed with the rack; the cable connected to the first charging gun is arranged on the rack in a vertical direction.

8. The charging platform according to claim 1, characterized in that: It also includes an operation and maintenance warehouse, which is equipped with a cleaning tool table, an operation and maintenance charging seat, and a positioning QR code; the gun insertion robot is provided with a positioning camera, which is used to scan the positioning QR code so that the charging interface of the gun insertion robot is aligned with the operation and maintenance charging seat, and one side of the gun insertion robot faces the cleaning tool table.

9. The charging platform according to claim 8, characterized in that: The cleaning tool station comprises a rotating table, a cleaning brush and an inspection camera. The cleaning brush and the inspection camera are arranged on the rotating table along the rotating direction of the rotating table.

10. The charging platform according to claim 8, characterized in that: The operation and maintenance charging seat has a switchable extended position and retracted position relative to the warehouse wall of the operation and maintenance warehouse. When the charging interface of the gun insertion robot is aligned with the operation and maintenance charging seat, the operation and maintenance charging seat can dock with the charging interface of the gun insertion robot in the extended position.

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