Mobile storage and charging equipment

Abstract

The utility model belongs to the technical field of automatic charging equipment, and particularly relates to mobile storage and charging equipment, which comprises a base and a linear module used for realizing horizontal movement of the equipment; a recharging base and a recharging backboard; the driving assembly is used for driving the linear module to move horizontally; the vertical stroke adjusting assembly is used for adjusting the degree-of-freedom deviation in the vertical direction; the horizontal stroke adjusting assembly is used for adjusting the degree-of-freedom deviation in the horizontal direction; the angle adjusting assembly is used for adjusting the degree-of-freedom deviation in the pitching angle; through the vertical stroke adjusting assembly, the horizontal stroke adjusting assembly and the angle adjusting assembly which are independently designed, errors in the horizontal direction, the vertical direction and the pitch angle of the stopping position of the charging robot are eliminated, so that successful butt joint of the charging plug gun and the recharging equipment is guaranteed, and the influence of various butt joint errors on the recharging mechanism can be effectively eliminated; and the docking success rate during power supply is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automatic charging equipment, and in particular relates to a mobile storage and charging device. Background Art

[0002] Mobile charging robots have gradually begun to be widely used with the popularization of electric vehicles, and charging mobile robots is a prerequisite for their normal operation. At present, most mobile charging robots on the market need to rely on manual operation to realize the charging and replenishing operation of the robots. At the same time, there are also a very small number of mobile charging robots on the market that can realize automatic charging through the charging mechanism.

[0003] The method of recharging the mobile charging robot through manual operation requires long-term manual supervision and has high operating costs. Moreover, automatic recharging through automatic recharging equipment will affect the docking success rate of the mobile charging robot and the automatic recharging equipment due to factors such as the installation environment, the robot's automatic driving positioning accuracy, and the installation error of the docking mechanism. If the automatic driving positioning accuracy of the mobile charging robot cannot be improved, and the docking tolerance redundancy cannot be improved by the flexible design of the automatic recharging equipment, the mobile charging robot will frequently fail to recharge, greatly reducing the service efficiency of the mobile charging robot.

[0004] Therefore, in response to the above technical problems, it is urgent to design an adjustment device to eliminate the docking error during the charging robot's charging operation, shorten the time required for the mobile charging robot to charge and dock, and improve the operating efficiency of the charging robot's automatic charging. Utility Model Content

[0005] The purpose of the utility model is to provide a mobile storage and charging device to solve the technical problems raised in the above background technology. The following technical solution is provided: a mobile storage and charging device, comprising:

[0006] The base is installed on the ground by anchor screws, and a protective shell is provided on the upper end of the base;

[0007] The linear module is arranged at the upper end of the base and is used to realize the horizontal movement of the equipment;

[0008] The recharging base is slidably arranged on the linear module, and the upper end of the recharging base is fixedly connected to the recharging back plate, and the recharging back plate is used for installation and fixing;

[0009] A driving assembly is fixedly arranged on one side of the base, and a transmission end of the driving assembly is connected to the linear module to drive the linear module to move horizontally;

[0010] A vertical stroke adjustment component is arranged on the recharging back plate and is used to adjust the degree of freedom deviation in the vertical direction;

[0011] A horizontal stroke adjustment component is arranged on the vertical stroke adjustment component and is used to adjust the degree of freedom deviation in the horizontal direction;

[0012] An angle adjustment component is arranged on one side of the horizontal stroke adjustment component and is used to adjust the degree of freedom deviation on the pitch angle;

[0013] The charging guide assembly is fixedly installed on one side of the angle adjustment assembly. The charging guide assembly is used for guidance during charging docking, so that the vertical stroke adjustment assembly, the horizontal stroke adjustment assembly and the angle adjustment assembly can adjust the degree of freedom error of the equipment in the horizontal, vertical and rotational directions, and charge the recharging equipment;

[0014] The detection module is fixedly arranged on one side of the charging guide component, and is used for QR code recognition and scanning, detecting the docking status between the charging guide component and the charging end, and automatically controlling the start and stop of the driving component.

[0015] In the technical solution, a guide groove is provided at one end of the robot to be charged, and the guide groove is used for guiding during docking, and the mobile charging robot in the utility model can also be a small car with automatic mobile recharging function or other movable charging equipment;

[0016] When the mobile charging robot is recharging, the mobile charging robot to be charged stops at the front side of the base. At this time, the detection module scans the code and detects the robot to be charged. Then the detection module excites and controls the drive component to start. After the drive component starts, it drives the linear module to slide in the horizontal direction. While the linear module slides horizontally, it drives the recharging base and the recharging backboard above the fixed linear module to move in a straight line along the moving direction of the linear module.

[0017] As the recharging base and the recharging backplane move, the vertical stroke adjustment component, the horizontal stroke adjustment component and the angle adjustment component arranged on the recharging backplane move horizontally. After moving a certain distance, the charging guide component is gradually inserted into the guide slot of the mobile charging robot. Due to the ground, parts installation and other reasons, the stop position of the mobile charging robot and the standard docking position cannot be guaranteed to be accurately aligned every time, and the charging guide component and the charging port of the mobile charging robot cannot be guaranteed to be accurately aligned every time;

[0018] In the process of the charging guide assembly being continuously inserted into the guide groove of the robot, the vertical stroke adjustment assembly, the horizontal stroke adjustment assembly and the angle adjustment assembly adjust the relative position of the charging robot and the charging guide assembly and eliminate the error between the relative positions of the two, thereby ensuring that the charging port of the charging robot can be smoothly docked;

[0019] Finally, when the charging guide assembly is smoothly inserted into the charging port of the charging robot, the detection module detects that the device and the mobile charging robot have been docked, controls the driving assembly to stop rotating, thereby stopping the moving position of the charging guide assembly, and the device starts to charge the robot.

[0020] In any of the above technical solutions, further, the vertical stroke adjustment component includes:

[0021] The vertical end guide bearing is fixedly arranged on the two vertical side elevations of the recharging back plate, a vertical optical axis is slidably arranged in the middle of the vertical end guide bearing, a vertical end return spring is sleeved on the lower side of the vertical optical axis, and the lower side of the vertical end return spring abuts against the recharging base;

[0022] The horizontal stroke adjustment component includes: a cross fixing clamp, which is fixedly arranged at both ends of the vertical optical axis, and the upper side of the vertical end return spring is against the lower end surface of the cross fixing clamp; the horizontal optical axis is fixedly arranged on the cross fixing clamp, and a linear end guide bearing is slidably arranged in the middle of the horizontal optical axis, one side of the linear end guide bearing is fixedly connected to the mounting plate, and a horizontal end return spring is sleeved on the horizontal optical axis, and the two ends of the horizontal end return spring are respectively against the outer side surfaces of the cross fixing clamp and the mounting plate.

[0023] In this technical solution, first, for the adjustment of left and right errors, when there is a left and right deviation H between the stop position of the mobile charging robot and the standard docking position (the deviation is recorded as H here), the automatic recharging mechanism will cooperate with the guide groove of the robot car through the horizontal pin during the docking process, and offset the gun head to the middle position of the car end by H through the horizontal stroke adjustment component to eliminate the left and right deviation H. After charging is completed, when the gun head is reset, the mechanism will return to the middle position under the action of the horizontal end reset spring;

[0024] Second, for the adjustment of the up and down errors, when there is an up and down deviation D between the stop position of the mobile charging robot and the standard docking position, the automatic recharging mechanism will cooperate with the vehicle-end guide groove of the robot through the horizontal pin during the docking process to offset the gun head to the middle position of the vehicle end by D in the vertical direction to eliminate the up and down deviation D. After charging is completed, the gun head mechanism will return to the middle position under the action of the vertical end reset spring;

[0025] Through the above-mentioned adjustment method, during the process of docking the recharging mechanism with the robot for charging, the error of the recharging mechanism in the left and right direction is eliminated by the set horizontal stroke adjustment component, and the error of the recharging mechanism in the vertical direction is eliminated by the set vertical stroke adjustment component.

[0026] In any of the above technical solutions, further, the angle adjustment component includes:

[0027] A flexible member raising block is fixedly connected to one side of the mounting plate, and a flexible member is fixedly arranged on one side of the flexible member raising block;

[0028] The charging guide assembly includes: a plug base plate with a square cross section, a gun head is provided in the middle of the plug base plate, and two parallel horizontal pins are provided at the lower end of the plug base plate, and the axis of the horizontal pins is perpendicular to the front side space of the plug base plate.

[0029] In the technical solution, the flexible component pad and the flexible component are made of flexible materials, such as elastic rubber materials; the flexible component pad is provided with two upper and lower blocks, and a cantilever beam is used between the flexible component pad and the flexible component. The cantilever beam installation method can enable the angle adjustment component to withstand a small degree of torsion in space according to the characteristics of the flexible material of the flexible component pad and the flexible component itself, and the flexible component pad and the flexible component can automatically recover after torsion, thereby providing a guarantee for eliminating errors at various angles when the equipment is recharged and docked;

[0030] Regarding the pitch angle error adjustment, due to the ground, parts installation and other reasons, when there is a pitch angle error β between the mobile charging robot's stop position and the standard docking position, the automatic recharging mechanism, during the docking process, uses the upper and lower flexible parts to raise the blocks and the cantilever beam between the flexible parts, and the horizontal pin cooperates with the guide groove at the vehicle end to rotate the gun head in the front and rear direction by a pitch angle β to eliminate the pitch angle error β;

[0031] Regarding the front and rear angle error adjustment, due to the ground, parts installation and other reasons, when there is a front and rear angle error α between the stop position of the mobile charging robot and the standard docking position, the automatic recharging mechanism, during the docking process, uses the upper and lower flexible parts to raise the blocks and the cantilever beam between the flexible parts, and the horizontal pin cooperates with the guide groove at the vehicle end to rotate the gun head in the horizontal direction by a front and rear angle α to eliminate the front and rear angle error α;

[0032] Regarding the horizontal angle error adjustment, due to the ground, parts installation and other reasons, when there is a horizontal angle error γ between the stop position of the mobile charging robot and the standard docking position, the automatic recharging mechanism, during the docking process, uses the upper and lower flexible parts to raise the blocks and the cantilever beam between the flexible parts, and at the same time, the horizontal pin cooperates with the guide groove at the vehicle end to rotate the gun head by a horizontal angle γ in the vertical direction to eliminate the horizontal angle error γ.

[0033] In any of the above technical solutions, further, the linear module includes:

[0034] A linear guide rail is fixedly arranged on the upper end surface of the base, a bearing seat is arranged on one side of the base, a ball bearing is arranged inside the bearing seat, a ball screw is arranged for the rotation of the ball bearing, a flat plate is arranged for sliding on the linear guide rail, a threaded block is fixedly arranged on the lower side of the flat plate, and the ball screw is connected to the middle of the threaded block;

[0035] The drive components include:

[0036] The motor includes a motor controller, which is arranged on the base, a first synchronous wheel is arranged at one end of the motor, a second synchronous wheel is arranged at one end of the ball screw, and a synchronous belt is arranged on the first synchronous wheel and the second synchronous wheel;

[0037] Specifically, the detection module includes:

[0038] The code scanning camera is arranged at the upper end of the plug base plate, and a micro switch is arranged on one side of the plug base plate.

[0039] In this technical solution, when the barcode scanning camera detects that the mobile charging robot stops at the docking position, the micro switch excites and controls the motor to start, and the first synchronous wheel and the second synchronous wheel realize power transmission through the belt drive. When the resistance at the load end of the second synchronous wheel is too large, the synchronous belt slips, thereby overloading the motor to prevent burning due to overload and causing safety hazards;

[0040] And when the ball screw rotates, the ball screw and the threaded block perform threaded transmission to drive the recharging base to move in the horizontal direction. The threaded transmission is self-locking, ensuring that the positions of the recharging base and the recharging backplane remain constant after movement. After the gun head and the mobile robot are successfully docked, the gun head will not easily separate from the charging port of the mobile robot, ensuring a smooth charging process.

[0041] Flexible automatic recharging scheduling system and method for mobile storage and charging equipment:

[0042] Step 1: First, the scanning camera recognizes the QR code and starts, and transmits the signal to the motor controller;

[0043] Step 2: The motor controller controls the motor to start, and the motor starts to drive the first synchronous wheel to rotate, and drives the second synchronous wheel and the ball screw to rotate through the synchronous belt. When the ball screw rotates, the ball screw and the thread block are threaded, driving the recharging base and the recharging back plate at the upper end of the thread block to move linearly along the track direction of the linear guide;

[0044] Step 3: As the recharging backplane moves, the vertical stroke adjustment component, the horizontal stroke adjustment component, and the angle adjustment component disposed on the recharging backplane move horizontally;

[0045] Step 4: As the movement continues, the horizontal pin is gradually inserted into the guide groove in the charging cart. Due to the ground, parts installation and other reasons, the mobile charging robot's stop position and the standard docking position cannot be accurately aligned every time. Therefore, in the process of inserting the plug base into the guide groove of the mobile charging robot, the vertical stroke adjustment component, the horizontal stroke adjustment component and the angle adjustment component adjust the relative position of the mobile charging robot and the gun head, thereby eliminating the position deviation when the two are docked, thereby ensuring that the gun head and the charging port of the robot can be docked smoothly;

[0046] Step 5: When the gun tip is smoothly inserted into the charging port and docked, the micro switch takes effect and the micro switch signal is transmitted to the motor controller to control the motor to stop rotating. At this time, the gun tip position stops and the charging operation begins.

[0047] The beneficial effects of the utility model are as follows: a mobile storage and charging device of the present scheme, during the recharging process of the mobile robot, the errors in the horizontal, vertical and pitch angles between the stop position of the mobile charging robot and the standard docking position are eliminated during docking through the independently designed vertical stroke adjustment component, horizontal stroke adjustment component and angle adjustment component, thereby ensuring the successful docking of the charging plug and the recharging machine, and effectively eliminating the influence of various docking errors on the recharging mechanism, greatly improving the docking success rate of the mobile charging robot during recharging, and reducing the labor maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a real product picture of the utility model;

[0049] Figure 2 It is a schematic diagram of the internal structure of the utility model;

[0050] Figure 3 It is a top view of the utility model;

[0051] Figure 4 It is a schematic diagram when the left and right errors are adjusted;

[0052] Figure 5 It is a schematic diagram of vertical error adjustment;

[0053] Figure 6 It is a schematic diagram of pitch angle error adjustment;

[0054] Figure 7 This is a schematic diagram of the front and rear angular errors during adjustment;

[0055] Figure 8 It is a schematic diagram of horizontal angle error adjustment;

[0056] Fig. 9 Installation and dimension drawing of flexible parts;

[0057] Fig.10 This is the overall architecture diagram of the automatic recharge system;

[0058] Fig.11 The following is a flowchart of the automatic recharge service.

[0059] The reference numerals in the figure are: 10, base; 11, anchor screw; 12, protective shell; 20, linear module; 21, linear guide; 22, bearing seat; 23, ball bearing; 24, ball screw; 25, flat plate; 26, threaded block; 30, recharging base; 31, recharging back plate; 40, vertical stroke adjustment assembly; 41, vertical end guide bearing; 42, vertical optical axis; 43, vertical end return spring; 50, horizontal stroke adjustment assembly; 51, cross fixing clamp ; 52. Horizontal optical axis; 53. Horizontal end return spring; 54. Linear end guide bearing; 55. Mounting plate; 60. Angle adjustment assembly; 61. Flexible component pad; 62 Flexible component; 70. Charging guide assembly; 71. Plug base plate; 72. Horizontal latch; 73. Gun head; 80. Detection module; 81. Scanning camera; 82. Micro switch; 90. Drive assembly; 91. Motor; 92. First synchronous wheel; 93. Synchronous belt; 94. Second synchronous wheel. DETAILED DESCRIPTION

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0061] In the description of the present application, it should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. For ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0062] like Figure 1-3 As shown, this embodiment provides a mobile charging storage device, including:

[0063] A base 10, the base 10 is installed on the ground by anchor screws 11, and a protective shell 12 is provided on the upper end of the base 10;

[0064] The linear module 20 is arranged at the upper end of the base 10 and is used to realize the horizontal movement of the equipment;

[0065] The recharging base 30 is slidably disposed on the linear module 20, and the upper end of the recharging base 30 is fixedly connected to the recharging back plate 31, and the recharging back plate 31 is used for installation and fixing;

[0066] The driving assembly 90 is fixedly disposed on one side of the base 10, and the transmission end of the driving assembly 90 is connected to the linear module 20 to drive the linear module 20 to move horizontally;

[0067] A vertical stroke adjustment component 40 is provided on the recharging back plate 31 and is used to adjust the degree of freedom deviation in the vertical direction;

[0068] A horizontal stroke adjustment component 50 is provided on the vertical stroke adjustment component 40 and is used to adjust the degree of freedom deviation in the horizontal direction;

[0069] An angle adjustment component 60 is provided on one side of the horizontal stroke adjustment component 50 and is used to adjust the degree of freedom deviation of the pitch angle;

[0070] The charging guide assembly 70 is fixedly mounted on one side of the angle adjustment assembly 60. The charging guide assembly 70 is used for guiding during charging docking, so as to enable the vertical stroke adjustment assembly 40, the horizontal stroke adjustment assembly 50 and the angle adjustment assembly 60 to adjust the degree of freedom error of the device in the horizontal, vertical and rotational directions, and to charge the rechargeable device;

[0071] The detection module 80 is fixedly arranged on one side of the charging guide assembly 70, and is used for QR code recognition and scanning, detecting the docking status of the charging guide assembly 70 and the charging end, and automatically controlling the start and stop of the driving assembly 90.

[0072] In the technical solution, a guide groove is provided at one end of the robot to be charged, and the guide groove is used for guiding during docking, and the mobile charging robot in the utility model can also be a small car with automatic mobile recharging function or other movable charging equipment;

[0073] When the mobile charging robot is recharging, the mobile charging robot to be charged stops at the front side of the base 10. At this time, the detection module 80 scans the code and detects the robot to be charged. Then, the detection module 80 excites and controls the driving component 90 to start. After the driving component 90 starts, it drives the linear module 20 to slide in the horizontal direction. While the linear module 20 slides horizontally, it drives the recharging base 30 and the recharging back plate 31 above the fixed linear module 20 to make a linear motion along the moving direction of the linear module 20.

[0074] As the recharging base 30 and the recharging back plate 31 move, the vertical stroke adjustment assembly 40, the horizontal stroke adjustment assembly 50 and the angle adjustment assembly 60 arranged on the recharging back plate 31 move horizontally. After moving a certain distance, the charging guide assembly 70 is gradually inserted into the guide groove of the mobile charging robot. Due to the ground, parts installation and other reasons, the stop position of the mobile charging robot and the standard docking position cannot be guaranteed to be accurately aligned every time, and the charging guide assembly 70 and the charging port of the mobile charging robot cannot be guaranteed to be accurately aligned every time;

[0075] During the process of the charging guide assembly 70 being continuously inserted into the guide groove of the robot, the vertical stroke adjustment assembly 40, the horizontal stroke adjustment assembly 50 and the angle adjustment assembly 60 adjust the relative position of the charging robot and the charging guide assembly 70 and eliminate the error between the relative positions of the two, thereby ensuring that the charging port of the charging robot can be smoothly docked;

[0076] Finally, when the charging guide assembly 70 is smoothly inserted into the charging port of the charging robot, the detection module 80 detects that the device and the mobile charging robot have been docked, controls the driving assembly 90 to stop rotating, thereby stopping the moving position of the charging guide assembly 70, and the device starts to charge the robot.

[0077] In a preferred embodiment of the present invention:

[0078] like Figure 2-5 As shown, specifically, the vertical stroke adjustment assembly 40 includes:

[0079] The vertical end guide bearing 41 is fixedly arranged on the two vertical side surfaces of the recharging back plate 31, and a vertical optical axis 42 is slidably arranged in the middle of the vertical end guide bearing 41. A vertical end return spring 43 is sleeved on the lower side of the vertical optical axis 42, and the lower side of the vertical end return spring 43 abuts against the recharging base 30;

[0080] The horizontal stroke adjustment assembly 50 includes: a cross fixing clamp 51, which is fixedly arranged at both ends of the vertical optical axis 42, and the upper side of the vertical end return spring 43 is abutted against the lower end surface of the cross fixing clamp 51; a horizontal optical axis 52 is fixedly arranged on the cross fixing clamp 51, a linear end guide bearing 54 is slidably arranged in the middle of the horizontal optical axis 52, one side of the linear end guide bearing 54 is fixedly connected to the mounting plate 55, and a horizontal end return spring 53 is sleeved on the horizontal optical axis 52, and the two ends of the horizontal end return spring 53 are respectively abutted against the outer side surfaces of the cross fixing clamp 51 and the mounting plate 55.

[0081] In the present technical solution, first, for the adjustment of the left and right errors, when there is a left and right deviation H between the stop position of the mobile charging robot and the standard docking position (the deviation is recorded as H here), the automatic recharging mechanism will cooperate with the guide groove of the robot trolley through the horizontal pin 72 during the docking process, and offset the gun head 73 to the middle position of the vehicle end by H through the horizontal stroke adjustment component 50 to eliminate the left and right deviation H. After charging is completed, when the gun head 73 is reset, the mechanism will return to the middle position under the action of the horizontal end reset spring 53;

[0082] Second, for the adjustment of the up and down errors, when there is an up and down deviation D between the stop position of the mobile charging robot and the standard docking position, the automatic recharging mechanism will cooperate with the vehicle end guide groove of the robot through the horizontal pin 72 during the docking process to offset the gun head 73 to the middle position of the vehicle end by D in the vertical direction to eliminate the up and down deviation D. After charging is completed, the gun head 73 will return to the middle position under the action of the vertical end reset spring 43;

[0083] Through the above-mentioned adjustment method, in the process of docking the recharging mechanism with the robot for charging, the error of the recharging mechanism in the left and right direction is eliminated by the horizontal stroke adjustment component 50 set, and the error of the recharging mechanism in the vertical direction is eliminated by the vertical stroke adjustment component 40 set.

[0084] In a preferred embodiment of the present invention:

[0085] like Figure 6-9 As shown, specifically, the angle adjustment component 60 includes:

[0086] A flexible member heightening block 61 is fixedly connected to one side of the mounting plate 55, and a flexible member 62 is fixedly provided on one side of the flexible member heightening block 61;

[0087] The charging guide assembly 70 includes: a plug base plate 71 with a square cross-section, a gun head 73 is provided in the middle of the plug base plate 71, and two parallel horizontal pins 72 are provided at the lower end of the plug base plate 71, and the axis of the horizontal pins 72 is perpendicular to the front side space of the plug base plate 71.

[0088] In the present technical solution, the flexible member pad 61 and the flexible member 62 are made of flexible materials, such as elastic rubber materials; the flexible member pad 61 is provided with two upper and lower ones, and a cantilever beam installation method is adopted between the flexible member pad 61 and the flexible member 62. The cantilever beam installation method can enable the angle adjustment component 60 to withstand a small degree of torsion in space according to the characteristics of the flexible materials of the flexible member pad 61 and the flexible member 62 themselves, and the flexible member pad 61 and the flexible member 62 can automatically recover after torsion, thereby providing a guarantee for eliminating errors at various angles when the equipment is recharged and docked;

[0089] Regarding the pitch angle error adjustment, due to the ground, parts installation and other reasons, when there is a pitch angle error β between the stop position of the mobile charging robot and the standard docking position, the automatic recharging mechanism, during the docking process, uses the upper and lower flexible member pads 61 and the cantilever beam between the flexible member 62 to rotate the gun head 73 in the front-to-back direction by a pitch angle β to eliminate the pitch angle error β.

[0090] Regarding the front and rear angle error adjustment, due to the ground, parts installation and other reasons, when there is a front and rear angle error α between the stop position of the mobile charging robot and the standard docking position, the automatic recharging mechanism, during the docking process, uses the upper and lower flexible member pads 61 and the cantilever beam between the flexible member 62 to rotate the gun head 73 in the horizontal direction by a front and rear angle α through the cooperation of the horizontal pin 72 and the vehicle end guide groove to eliminate the front and rear angle error α;

[0091] Regarding the horizontal angle error adjustment, due to the ground, parts installation and other reasons, when there is a horizontal angle error γ between the stop position of the mobile charging robot and the standard docking position, the automatic recharging mechanism, during the docking process, uses the upper and lower flexible parts to raise the blocks 61 and the cantilever beam between the flexible parts 62, and at the same time, the horizontal pin 72 cooperates with the guide groove at the vehicle end to rotate the gun head by a horizontal angle γ in the vertical direction to eliminate the horizontal angle error γ.

[0092] In a preferred embodiment of the present invention:

[0093] like Figure 2-3 As shown, specifically, the linear module 20 includes:

[0094] A linear guide 21 is fixedly arranged at the upper end surface of the base 10. A bearing seat 22 is arranged at one side of the base 10. A ball bearing 23 is arranged inside the bearing seat 22. A ball screw 24 is rotatably arranged in the ball bearing 23. A flat plate 25 is slidably arranged on the linear guide 21. A threaded block 26 is fixedly arranged at the lower side of the flat plate 25. The ball screw 24 is connected to the middle of the threaded block 26.

[0095] The driving assembly 90 includes: a motor 91, which is arranged on the base 10, a first synchronous wheel 92 is arranged at one end of the motor 91, a second synchronous wheel 94 is arranged at one end of the ball screw 24, and a synchronous belt 93 is arranged on the first synchronous wheel 92 and the second synchronous wheel 94;

[0096] Specifically, the detection module 80 includes: a code scanning camera 81, which is arranged on the upper end of the plug base plate 71, and a micro switch 82 is provided on one side of the plug base plate 71.

[0097] In the present technical solution, when the barcode scanning camera 81 detects that the mobile charging robot stops at the docking position, the micro switch 82 excites and controls the motor 91 to start, and the first synchronous wheel 92 and the second synchronous wheel 94 realize power transmission through the belt drive. When the resistance at the load end of the second synchronous wheel 94 is too large, the synchronous belt 93 slips, thereby overloading the motor 91 to prevent the motor 91 from burning due to overload and causing safety hazards;

[0098] And when the ball screw 24 rotates, the ball screw 24 and the threaded block 26 perform threaded transmission to drive the recharging base 30 to move in the horizontal direction. The threaded transmission has self-locking properties, ensuring that the positions of the recharging base 30 and the recharging backplane 31 remain constant after movement. After the gun head 73 is successfully docked with the mobile robot, the gun head 73 will not be easily separated from the charging port of the mobile robot, ensuring a smooth charging process.

[0099] The installation dimensions of the flexible member 62 determine the length of its cantilever beam, and the deformability of the flexible member 62 is determined by the material and the cantilever beam length. Therefore, when the material is determined, the deformation capacity of the flexible member can be adjusted by adjusting the spacing between the installation holes. The flexible member 62 is divided into an upper flexible member and a lower flexible member. The upper flexible member fixing holes A and B are connected to the padding block on the back plate, and the horizontal spacing between points AB is l1; the upper flexible member fixing holes C and D are connected to the upper end of the plug base plate, and the horizontal spacing between points CD is l2; the lower flexible member fixing holes E and F are connected to the lower end of the plug base plate, and the horizontal spacing between points EF is l3; the lower flexible member fixing holes H and I are connected to the padding block on the back plate, and the horizontal spacing between points HI is l4; the lower flexible member fixing holes G and J are connected to the padding block on the back plate, and the horizontal spacing between points GJ is l5; the two groups of holes at points HI and GJ are selected according to usage requirements. If the pitch angle of the horizontal pin 72 is a depression angle, select the GJ point for fixing; if the pitch angle of the horizontal pin 72 is an elevation angle, select the HI point for fixing; the vertical spacing between points AC of the upper flexible member is h1; the vertical spacing between points EG of the lower flexible member is h2; the front-to-back spacing between points AC of the upper flexible member is d1; the front-to-back spacing between points EG of the lower flexible member is d2.

[0100] In addition, the horizontal spacing l1 between points AB ranges from 25 to 40 mm, preferably from 30 to 35 mm.

[0101] The CD point horizontal spacing l2 has a range of 70-90mm, preferably 75-85mm; the EF point horizontal spacing l3 has a range of 85-100mm, preferably 90-95mm; the HI point horizontal spacing l4 has a range of 35-50mm, preferably 40-45mm; the GJ point horizontal spacing l5 has a range of 120-135mm, preferably 125-130mm; the upper flexible part AC The vertical spacing h1 of the points ranges from 65-80mm, and the preferred range is 70-75mm; the vertical spacing h2 of the lower flexible part EG point ranges from 35-50mm, and the preferred range is 40-45mm; the front-to-back spacing d1 of the upper flexible part AC point ranges from 25-40mm, and the preferred range is 30-35mm; the front-to-back spacing d2 of the lower flexible part EG point ranges from 25-40mm, and the preferred range is 30-35mm.

[0102] In a preferred embodiment of the present invention:

[0103] like Figure 10-11 As shown, a flexible automatic recharging scheduling system and method for mobile storage and charging equipment:

[0104] Step 1: First, the scanning camera 81 recognizes the QR code and then starts, and transmits the signal to the motor controller;

[0105] Step 2: The motor controller controls the motor 91 to start, and the motor 91 starts to drive the first synchronous wheel 92 to rotate, and drives the second synchronous wheel 94 and the ball screw 24 to rotate through the synchronous belt 93. When the ball screw 24 rotates, the ball screw 24 and the thread block 26 are threadedly transmitted, driving the recharging base 30 and the recharging back plate 31 at the upper end of the thread block 26 to move linearly along the track direction of the linear guide 21;

[0106] Step 3: As the recharging back plate 31 moves, the vertical stroke adjustment assembly 40, the horizontal stroke adjustment assembly 50 and the angle adjustment assembly 60 arranged on the recharging back plate 31 move horizontally;

[0107] Step 4: As the movement continues, the horizontal pin 72 is gradually inserted into the guide groove in the charging cart. Due to the ground, parts installation and other reasons, the stop position of the mobile charging robot and the standard docking position cannot be guaranteed to be accurately aligned every time. Therefore, in the process of inserting the plug base plate 71 into the guide groove of the mobile charging robot, the vertical stroke adjustment component 40, the horizontal stroke adjustment component 50 and the angle adjustment component 60 adjust the relative position of the mobile charging robot and the gun head 73, thereby eliminating the position deviation when the two are docked, thereby ensuring that the gun head 73 and the charging port of the robot can be docked smoothly;

[0108] Step 5: When the gun tip 73 is smoothly inserted into the charging port and docked, the micro switch 82 takes effect, and the micro switch 82 transmits information to the motor controller to control the motor 91 to stop rotating. At this time, the gun tip 73 is stationary and the charging operation begins.

[0109] In this technical solution, the energy dispatch management platform (Sator OPS) is responsible for the management of the mobile charging robot's intelligent recharging system, realizing the full life cycle management of core modules such as terminal equipment, process control, strategy setting, task dispatching and recovery, data monitoring, monitoring warning, and algorithm tuning, truly realizing the full automatic recharging process control in unmanned stations, and can ensure the recharging efficiency while ensuring the maximum support for business needs through reasonable suggestions from AI algorithms and adjustment of platform parameters; while complying with the interface standard protocol, it also has an identity authentication mechanism. For non-authenticated devices, even if they are physically connected, they cannot be called for charging; during the charging process, dynamic monitoring of charging data is realized according to the interface standard protocol, and the robot battery management system safety strategy and platform AI algorithm are coordinated to ensure charging safety and perform life diagnosis on the robot's energy storage battery;

[0110] Digital management of the entire life cycle of terminal equipment: The platform implements one-machine-one-code management of automatic recharging piles. After the recharging piles are deployed, the platform establishes a communication connection with the recharging piles. Relying on online communication and offline reporting mechanisms, the platform implements digital management of the entire life cycle of terminal equipment; Platform big data has thousands of faces: Based on the application of the platform object model and combined with the differentiation of actual deployment scenarios, each terminal has achieved the most appropriate parameter setting in actual deployment and subsequent applications, and cooperated with AI machine learning to continuously optimize and improve, truly realizing thousands of faces for thousands of machines. At the same time, it also reversely supports the improvement and enrichment of the platform object model and continuously expands the adaptable scenarios of the terminals.

[0111] Recharging location coordinate parameter setting: After the mobile charging robot and the intelligent recharging system are initialized and connected, the corresponding Figure X The four-dimensional coordinates such as A, Y, Z and angle are transmitted to all charging robots in the station through the energy dispatching management platform, providing unified target guidance for the recharging location.

[0112] Formulate a recharging scheduling strategy: The energy scheduling management platform uses AI algorithms to make comprehensive calculations based on site operation data, terminal equipment status assessment, future business needs and recharging costs, and formulate the most reasonable site recharging parameters and recharging task scheduling plans;

[0113] Set the recharging threshold within the station (low battery threshold and recharging order-accepting threshold): You can set a unified threshold for each station, or set differentiated thresholds for different terminals and different areas. For example, when the SOC of the charging robot is lower than the threshold (such as 8%), the platform establishes a corresponding recharging task and calculates the priority with other recharging tasks; when the recharging reaches the set threshold (AI automatically sets the SOC order-accepting threshold during recharging), the recharging process can be interrupted and the charging process can be continued.

[0114] When multiple recharging tasks are established at the same time, the platform will comprehensively consider the charging service demand of new energy vehicles, grid electricity prices, temperature data of the robot's energy storage battery, and remaining power SOC, and make reasonable dispatches based on the following judgment principles.

[0115] Under the premise that the SOC of the energy storage batteries are similar and above the low power threshold, the cell temperature of the energy storage batteries is in a healthy range (such as 15°C ~ 35°C) and will be given priority for recharging; and the robot with a temperature below the low temperature threshold starts liquid heating to heat the battery, and the robot with a temperature above the high temperature threshold starts liquid cooling to cool the battery.

[0116] If the cell temperature of the energy storage battery is within the healthy range, the robot with a lower SOC value will be given priority for recharging; if the SOC of the energy storage battery is below the low power threshold, the priority for recharging is the highest; if the robot is idle and the SOC is below the set high threshold (such as 95%), recharging will be arranged; if the charging demand in the current and future high electricity price period is predicted, the platform will not arrange recharging for the time being, or if there is a certain power gap, only appropriate power will be scheduled for recharging; when entering the low electricity price period, the robot will be immediately scheduled for recharging;

[0117] Based on the charging service demand of new energy vehicles, the priority of robots whose remaining power can meet two or more charging service demands will be lowered, and priority will be given to robots that can only meet one or less charging service demands to recharge and replenish their power; during the period of low electricity prices, centralized charging will be arranged on the premise of meeting the charging service demand.

[0118] Manual intervention scheduling: For special recharging needs of the station, it is necessary to increase the priority of a certain recharging task. Through system parameter adjustment, manual intervention scheduling can be achieved to maximize the coordination with business needs;

[0119] Regular maintenance scheduling plan: Considering the life of the charging robot equipment, the platform can establish a maintenance charging test task plan. By calculating the sum of parameters such as business volume demand forecast, equipment operating status, and recharging cost, a linear recharging scheduling plan is established to ensure the optimal status of the robot.

[0120] Recharging control strategy: The robot goes to the coordinate point for recharging according to the scheduling task and automatically docks. After docking, the docking status and robot identity need to be identified. Only after confirmation can the robot enter the recharging state.

[0121] Recharge docking monitoring: After the task is assigned, the platform monitors the task nodes and data throughout the process. If the current robot fails to dock with the recharge system for several times (which can be set), the platform will create a new recharge task and transfer the robot to other recharge points for polling and dispatch. If multiple dockings fail multiple times, the platform warning system will be triggered to perform maintenance operations.

[0122] Recharge identity authentication: After the robot is connected to the recharge system, a handshake connection will be established according to the standard protocol, and the robot's identity code (such as VIN code message) will be uploaded to the platform. The platform will verify the identity code.

[0123] If the identity code verification is passed (after confirmation of compliance), the standard charging process is executed; if the identity code verification is not passed, the recharging process is interrupted, the identity code is re-verified to the robot, and after confirmation, the recharging task is re-established and the polling queue is performed;

[0124] Recharge process monitoring: During the recharge process, the platform dynamically monitors the recharge process data throughout the entire process. If any parameter abnormalities occur or the early warning mechanism is triggered, the recharge task will be immediately interrupted and the alarm information will be reported. After the problem is eliminated, the execution will continue.

[0125] Business response during the recharging process: During the recharging process, if an order is generated, the current recharging progress and order history data need to be compared to decide whether to continue the recharging task or interrupt the recharging and proceed to execute the order. During the recharging process, if an execution order is received and the robot's recharged capacity reaches or exceeds the average charging capacity requirement of the historical orders of the ordering vehicle within 4 weeks, the recharging process is interrupted and the order is executed.

[0126] When it is not possible to refer to the average charging capacity of the ordered vehicle's 4-week historical orders, refer to the average charging capacity of the 4-week historical orders within this station: if it reaches or exceeds the average charging capacity of the 4-week historical orders within this station, proceed to execute the order; if it does not reach the average charging capacity of the 4-week historical orders within this station, continue to execute the recharging task.

[0127] The embodiments of the present application are described above in conjunction with the accompanying drawings. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A mobile storage and charging device, characterized in that: include: A base (10), the base (10) being installed on the ground via anchor screws (11), and a protective shell (12) being provided at the upper end of the base (10); A linear module (20), arranged at the upper end of the base (10), for realizing horizontal movement of the device; A recharging base (30) is slidably arranged on the linear module (20), and the upper end of the recharging base (30) is fixedly connected to a recharging back plate (31), and the recharging back plate (31) is used for installation and fixing; A driving assembly (90) is fixedly arranged on one side of the base (10), and a transmission end of the driving assembly (90) is connected to the linear module (20) to drive the linear module (20) to move horizontally; A vertical stroke adjustment component (40), arranged on the recharging back plate (31), for adjusting the degree of freedom deviation in the vertical direction; A horizontal stroke adjustment component (50), arranged on the vertical stroke adjustment component (40), for adjusting the degree of freedom deviation in the horizontal direction; An angle adjustment component (60) is arranged on one side of the horizontal stroke adjustment component (50) and is used to adjust the degree of freedom deviation in the pitch angle; A charging guide assembly (70) is fixedly mounted on one side of the angle adjustment assembly (60), and the charging guide assembly (70) is used for guiding during charging docking, so as to enable the vertical stroke adjustment assembly (40), the horizontal stroke adjustment assembly (50) and the angle adjustment assembly (60) to adjust the degree of freedom error of the device in the horizontal, vertical and rotational directions, and to charge the recharging device; A detection module (80) is fixedly arranged on one side of the charging guide component (70) and is used for two-dimensional code recognition and scanning, detecting the docking status of the charging guide component (70) and the charging terminal, and automatically controlling the start and stop of the driving component (90); The vertical stroke adjustment assembly (40) includes a vertical end guide bearing (41), which is fixedly arranged on the two vertical side surfaces of the recharging back plate (31), and a vertical optical axis (42) is slidably arranged in the middle of the vertical end guide bearing (41), and a vertical end return spring (43) is sleeved on the lower side of the vertical optical axis (42), and the lower side of the vertical end return spring (43) is against the recharging base (30); the charging guide assembly (70) includes a plug base plate (71), the cross-section of the plug base plate (71) is square, and a gun head (73) is arranged in the middle, and two parallel horizontal pins (72) are arranged at the lower end of the plug base plate (71), and the axis of the horizontal pin (72) is perpendicular to the front side space of the plug base plate (71).

2. A mobile charging storage device according to claim 1, characterized in that: The horizontal stroke adjustment component (50) comprises: A cross fixing clamp (51) is fixedly arranged at both ends of the vertical optical axis (42), and the upper side of the vertical end return spring (43) abuts against the lower end surface of the cross fixing clamp (51); a horizontal optical axis (52) is fixedly arranged on the cross fixing clamp (51), a linear end guide bearing (54) is slidably arranged in the middle of the horizontal optical axis (52), one side of the linear end guide bearing (54) is fixedly connected to the mounting plate (55), and a horizontal end return spring (53) is sleeved on the horizontal optical axis (52), and the two ends of the horizontal end return spring (53) respectively abut against the outer side surfaces of the cross fixing clamp (51) and the mounting plate (55).

3. A mobile charging storage device according to claim 2, characterized in that: The angle adjustment assembly (60) comprises: A flexible member raising block (61) is fixedly connected to one side of the mounting plate (55), and a flexible member (62) is fixedly provided on one side of the flexible member raising block (61).

4. A mobile charging storage device according to claim 1, characterized in that: The linear module (20) comprises: A linear guide rail (21) is fixedly arranged at the upper end surface of the base (10); a bearing seat (22) is arranged on one side of the base (10); a ball bearing (23) is arranged inside the bearing seat (22); a ball screw (24) is rotatably arranged on the ball bearing (23); a flat plate (25) is slidably arranged on the linear guide rail (21); a threaded block (26) is fixedly arranged on the lower side of the flat plate (25); and the ball screw (24) is connected to the middle part of the threaded block (26).

5. A mobile charging storage device according to claim 4, characterized in that: The drive assembly (90) comprises: A motor (91) is arranged on the base (10), one end of the motor (91) is provided with a first synchronous wheel (92), one end of the ball screw (24) is provided with a second synchronous wheel (94), and the first synchronous wheel (92) and the second synchronous wheel (94) are provided with a synchronous belt (93).

6. A mobile charging storage device according to claim 5, characterized in that: The detection module (80) comprises: A code scanning camera (81) is arranged at the upper end of the plug base plate (71), and a micro switch (82) is provided on one side of the plug base plate (71).

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