Aerial mobile charging robot system capable of flexibly adjusting galvanic pile

Abstract

An aerial mobile charging robot system capable of flexibly adjusting a galvanic pile comprises a suspension track, a charging robot, the galvanic pile, a power supply circuit, a power taking module and a control unit, the suspension track is arranged in a suspended mode, and the charging robot is suspended on the suspension track; comprising a charging robot body, a charging gun line, a charging gun line take-up and pay-off unit and a driving module, the charging gun line take-up and pay-off unit is used for achieving take-up and pay-off of the charging gun line, and the driving module can drive the charging robot to move along the track path of the suspension track under the control of the control unit. The electric pile is used for providing electric energy input for the plurality of charging robots, and the charging robots take electricity from the power supply line through the electricity taking module. The utility model relates to the field of new energy vehicle charging, which can provide a mobile charging service of charging while parking for an electric vehicle on any parking space below a suspension track, and the charging power can be flexibly scheduled.

Description

Technical Field

[0001] The utility model relates to the field of new energy vehicle charging, and particularly relates to an aerial mobile charging robot system for flexibly adjusting a power stack. Background Technique

[0002] With the development of the electric vehicle and charging pile industries, more and more disadvantages of fixed charging piles have gradually emerged, mainly including: (1) When vehicle owners look for charging piles, they often spend a lot of time searching for charging points, available charging piles, and queuing, resulting in serious charging anxiety problems. (2) The parking spaces suitable for building commercial charging piles are generally in relatively good locations, and the site costs are high, resulting in high comprehensive costs for station-mounted commercial charging piles. (3) There are problems of high construction costs and low utilization rates in building a large number of charging piles, which not only wastes resources but also increases the distribution pressure on the power grid. (4) The problem of fuel vehicles occupying the charging pile parking spaces cannot be solved, resulting in a situation of either wasting parking space resources or wasting charging pile resources.

[0003] The above problems are mainly caused by the mutual binding between charging parking spaces and fixed charging piles. To solve these problems, it is necessary to unbind the binding between the two. Mobile charging has been developed and improved well in recent years because it can unbind the charging parking space and the charging pile. In particular, aerial mobile charging moving along a suspension track has become a popular research direction in mobile charging due to its many advantages. The inventor has previously applied for an invention patent with the patent name "A Suspended Mobile Charging Pile System" and the application number "2023100936171", as well as a utility model patent with the patent name "A Suspended Mobile Charging Pile System with Four-Wheel Independent Drive and Steering" and the application number "2023201748902". The above two patents adopt a cross-track suspended contact power-taking mobile charging solution, which can achieve full coverage of the parking area of the parking lot by charging piles without the need to deploy a large number of charging piles. Electric vehicles within the area can be charged as they stop. No matter where the electric vehicle stops in the parking lot, it can be charged conveniently. Moreover, a large number of existing parking spaces in the parking lot are utilized, and there is no need to build a special charging station, nor does the vehicle owner need to specifically park the vehicle in a certain parking space. The number of charging piles can be flexibly deployed and adjusted according to the charging demand, which will neither cause a large number of charging pile resources to be idle nor can meet the charging demand to the greatest extent, and has very obvious technical advantages and industry value.

[0004] The technical solutions described in the above two patents have been successfully transformed into practical results. During the development of corresponding products by the enterprise under the inventor's name, it was found that since the weight of the charging power module is directly proportional to its output power, when the charging power increases to over 60KW, the weight of the power module becomes extremely heavy. If the method of increasing the power module is adopted to further improve the charging power, the total weight of the whole machine will exceed the limit load capacity of the walking drive mechanism, posing a great challenge to the load capacity of the suspension track and bringing potential safety hazards. Additionally, since the input voltage of the entire system is the common industrial power supply of 380V, with the increase in the charging power of each device, the input current will inevitably increase, which requires thickening the diameter of the copper cables in all input cables deployed along the suspension track, significantly increasing the deployment cost. Therefore, to further increase the charging power on the basis of 60KW, other technical solutions and technical routes are urgently needed. Summary of the Invention

[0005] The purpose of the present utility model is to provide an air mobile charging robot system with a flexible adjustable power stack. The charging robot can move along the track path of the suspension track and provide on-demand mobile charging services for electric vehicles in any parking space below the track. The power supply line deployed on the suspension track is connected to the power stack, and the power stack provides direct current. After taking power from the power supply line, the charging robot converts the direct current on the power supply line into direct current that can directly charge the battery of the electric vehicle, and the charging power of different charging robots suspended on the track can be flexibly adjusted.

[0006] In order to achieve the above invention purpose, the corresponding technical solutions are as follows:

[0007] An air mobile charging robot system with a flexible adjustable power stack, comprising a suspension track, a charging robot, a power stack, a power supply line, a power taking module, and a control unit. The suspension track is laid in a suspended manner. A number of charging robots are provided and are all suspended on the suspension track. The charging robot includes a charging robot body, a charging gun line, a charging gun line retracting and extending unit, and a driving module. The charging gun line is connected to the charging robot body. The charging gun line retracting and extending unit is used to retract and extend the charging gun line. The driving module can drive the charging robot to move along the track path of the suspension track under the control of the control unit. The power stack is used to provide electrical energy input for the number of charging robots. The power supply line is connected to the power stack and is laid along the suspension track. The charging robot takes power from the power supply line through the power taking module.

[0008] Preferably, the stack is arranged on the ground, and the charging robot is suspended and deployed on the suspension track. The advantage of this deployment method is that when the charging power is large, it is not necessary to install heavy power modules in the charging robot to move along with it, reducing the volume of the charging robot and the load on the drive module and the suspension track, and improving the safety and reliability of the charging robot moving on the suspension track.

[0009] Preferably, the track path of the suspension track includes a plurality of straight sections, a plurality of intersections, and zero or more turning sections. The drive module is used to drive the charging robot to go straight or turn according to the needs of the traveling route at the intersection and turning section positions of the suspension track. When the charging robot has the ability to turn on the cross-type suspension track, the suspension track can truly achieve global deployment. Regardless of the layout of the parking spaces in the parking lot, the suspension track can be deployed to each parking space. Compared with single-track movement, when multiple charging robots move simultaneously on the cross track, it can well support the avoidance between charging robots, and there will be no path conflict that cannot be avoided and the path blockage problem that naturally exists in single-track movement.

[0010] Preferably, the suspension track includes a track supporting surface. The drive module adopts a four-wheel independent steering scheme, which includes a drive wheel independent in-situ steering module. The drive wheel independent in-situ steering module is used to enable the charging robot to turn at the intersection or turning section position of the suspension track, and after turning, it can move along the turned suspension track path under the drive of the drive module. The drive wheel independent in-situ steering module includes four independent steering drive wheel modules, which are arranged at the four corners of a square in the horizontal direction. Each independent steering drive wheel module includes a steering motor, a power motor, a rotating frame, and a wheel. The tread of the wheel contacts the track supporting surface during movement. The power motor is installed on the rotating frame, and the rotating frame is fixedly connected to the rotating shaft of the steering motor. The wheel is provided with rotational power by the power motor. The rotating shaft of the steering motor is along the vertical direction, and the rotating shaft of the power motor is along the horizontal direction. The axis line of the rotating shaft of the steering motor intersects the axis line of the rotating shaft of the power motor. The axis line of the rotating shaft of the steering motor passes through the center point where the tread of the wheel contacts the track supporting surface. Under the drive of the steering motor, each wheel can independently rotate in-situ around the center point where its tread contacts the track supporting surface. Under the drive of the power motor, each wheel can independently rotate forward and backward around its wheel axis line.

[0011] Preferably, the stack is a flexible stack that supports flexible power scheduling. The aerial mobile charging robot system with the flexible stack for power adjustment further includes a distribution and scheduling control unit, which can schedule and allocate the charging power of the several charging robots according to the output power of the flexible stack and the given power distribution rules. When using the stack as the input source for centralized energy supply to the charging robots, through a centralized and unified scheduling strategy, flexible scheduling and allocation of the charging power can greatly improve the operation efficiency of the entire charging station and the utilization rate of charging resources, and at the same time can also enhance the user charging experience.

[0012] Preferably, the stack outputs direct current electricity of a specific voltage, the power supply line is a DC bus, and a power module for converting DC to DC is provided on the charging robot body to convert the direct current electricity of the specific voltage output by the stack into direct current electricity of the voltage required at the charging load end. Preferably, the DC bus is provided with a liquid cooling and heat dissipation unit. Preferably, the DC bus adopts a power transmission method with high voltage and large current, and the voltage of the direct current electricity output from the stack to the DC bus is greater than or equal to 600V. Using a high-voltage DC bus as the power supply line for the charging robot has very significant advantages. The power transmission characteristic of the high-voltage DC bus is that it transmits direct current electricity through high voltage and then steps down to the direct current electricity of the voltage required for charging electric vehicles at the load end. In this way, according to the characteristics of high-voltage power transmission, the diameter of the cable required for the power supply line deployed along the suspension track will be greatly reduced, which can significantly reduce the cost of deploying the power supply line along the suspension track. In addition, the setting of liquid cooling and heat dissipation can further improve the current-carrying capacity without changing the diameter of the power supply line cable.

[0013] Preferably, in another embodiment of the present utility model for enabling the charging robot to have the functions of traveling and turning along the suspension track, the aerial mobile charging robot system with the flexible stack for power adjustment further includes a steering unit. The track path of the suspension track includes several straight sections, several intersections, and zero or more turning sections. The steering unit is a track turntable, and the track turntable is provided at each intersection and turning section of the suspension track. The track turntable can drive the charging robot to rotate together. After the steering is in place, the driving module can go straight ahead in the direction of the rotated track.

[0014] Preferably, the charging gun line retracting and extending unit is a winding type gun line retracting and extending module. The winding type gun line retracting and extending module includes a slip ring and a winding motor. The slip ring includes a slip ring stator and a slip ring rotor. The winding motor can drive the slip ring rotor to rotate under the control of the control unit, so as to realize the winding type retracting and extending of the charging gun line.

[0015] Preferably, the charging gun cable retracting and extending unit is a robotic arm retracting and extending module, which includes a multi-joint robotic arm and joint motors. The robotic arm retracting and extending module is installed on the charging robot body, and the charging gun cable is arranged along the multi-joint robotic arm. Under the control of the control unit, the joint motors can drive the multi-joint robotic arm to drive the charging gun cable to achieve folding retraction and extension.

[0016] Preferably, the charging gun cable retracting and extending unit is an automatic plugging and unplugging gun robotic arm, which is installed on the charging robot body and includes multiple degrees of freedom joints. The charging gun cable is arranged along the automatic plugging and unplugging gun robotic arm. Under the control of the control unit, the automatic plugging and unplugging gun robotic arm can drive the charging gun cable to achieve folding retraction and extension as well as automatic plugging and unplugging gun operations.

[0017] The beneficial effects of the present utility model are as follows:

[0018] (1) The present utility model uses an electric stack as the input source for centralized energy supply to the charging robot, and through a centralized and unified scheduling strategy, flexibly schedules and distributes the charging power, which can greatly improve the operation efficiency of the entire charging station and the utilization rate of charging resources. At the same time, it can also enhance the user's charging experience;

[0019] (2) In the present utility model, the electric stack is arranged on the ground, and the charging robot is suspended and deployed on the suspension track. The advantage of this deployment method is that when the charging power is large, there is no need to install heavy power modules in the charging robot to follow, which reduces the volume of the charging robot and also reduces the load on the drive module and the suspension track, improving the safety and reliability of the charging robot moving on the suspension track;

[0020] (3) The present utility model uses a high-voltage DC bus as the power supply line for the charging robot. According to the characteristics of high-voltage power transmission, at the same power, the higher the voltage, the smaller the current. Therefore, the diameter of the cable required for the power supply line deployed along the suspension track can be greatly reduced, which will directly greatly reduce the cost of deploying the power supply line along the suspension track;

[0021] (4) The charging robot described in the present utility model has the ability to turn on the cross-type suspension track. Therefore, regardless of the layout of the parking spaces in the parking lot, the suspension track can be deployed to each parking space. Compared with single-rail movement, when multiple charging robots move simultaneously on the cross track, it can well support the avoidance between charging robots, and there will be no path conflict that cannot be avoided and the path blockage problem that naturally exists in single-rail movement;

[0022] (5) When the charging gun cable retracting and extending unit is an automatic plugging and unplugging gun robotic arm, it can also support fully automatic plugging and unplugging gun operations, providing users with a fully automatic charging experience.

[0023] It should be noted that the beneficial effects of the present utility model are not limited to the above description. The beneficial effects can be understood in combination with specific technical solutions and preferred implementation manners, and descriptions of the technical effects and beneficial effects of a specific technical solution or preferred implementation manner are also interspersed in the summary of the invention and the following embodiments of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a partial deployment schematic diagram of the aerial mobile charging robot system of the flexible adjustable power stack described in the present utility model.

[0025] Figure 2 It is a power supply scheme and connection schematic diagram of the aerial mobile charging robot system of the flexible adjustable power stack described in the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The present utility model will be further described in detail below in combination with the embodiments, implementation manners and drawings of the present utility model. It should be noted that the described embodiments or implementation manners are only a part of the embodiments or implementation manners of the present utility model, rather than all of them. The drawings are only schematic diagrams for convenience of description, rather than a complete limitation of the implementation manners of the present utility model. Based on the embodiments or implementation manners in the present utility model, all other embodiments or implementation manners obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0027] The following descriptions of the embodiments or implementation manners of the present utility model are actually only illustrative and shall in no way be construed as any limitation to the present utility model and its application or use.

[0028] Figure 1 It shows a three-dimensional schematic diagram of the outdoor deployment of the aerial mobile charging robot system of the flexible adjustable power stack described in the present utility model. The aerial mobile charging robot system of the flexible adjustable power stack includes a suspension track, a charging robot, a power stack 1, a power supply line, a power taking module, and a control unit. Figure 1In the outdoor deployment embodiment shown, the hanging track is hoisted and suspended by the column 4. The main structure of the hanging track includes the main path 2, the branch path 3, and the T-shaped tee 5. A plurality of charging robots are provided and are all suspended on the hanging track. The charging robot includes a charging robot body 6, a charging gun cable, a charging gun cable retracting and extending unit, and a driving module. The charging gun cable is connected to the charging robot body 6. The charging gun cable retracting and extending unit is used to retract and extend the charging gun cable. The driving module can drive the charging robot to move along the track path of the hanging track under the control of the control unit. The power stack 1 is used to provide power input for the plurality of charging robots. The power supply line is connected to the power stack 1 and is arranged along the hanging track. The charging robot draws power from the power supply line through the power taking module.

[0029] Figure 1 The charging robot shown adopts a robotic arm retracting and extending module as the charging gun cable retracting and extending unit. In this embodiment, the robotic arm retracting and extending module is a software-hardware combined robotic arm, including a multi-joint robotic arm 7 and a joint motor. The charging gun cable includes a charging cable 8 and a charging gun 9. The software-hardware combined robotic arm is installed below the charging robot body 6. The charging cable 8 is arranged along the multi-joint robotic arm 7. Under the control of the control unit, the joint motor can drive the multi-joint robotic arm 7 to drive the charging gun cable to achieve folding retraction and extension. The charging gun 9 can be inserted into a joint of the multi-joint robotic arm 7 when it is not working.

[0030] Regarding the power stack, its implementation method is currently relatively mature. High-charging-power power modules can be deployed inside the power stack 1. In the deployment architecture, either a single high-power module can be used, or many small power modules can be stacked and deployed as a power module cluster.

[0031] Preferably, as Figure 1 shown, the power stack 1 is arranged on the ground, and the charging robots are suspended and deployed on the hanging track. The advantage of this deployment method is that when the charging power is large, it is not necessary to install heavy power modules in the charging robots to move along, which reduces the volume of the charging robots and also reduces the load on the driving module and the hanging track, improving the safety and reliability of the charging robots when traveling on the hanging track.

[0032] As Figure 1 、 Figure 2As shown, preferably, civil alternating current (AC) or industrial AC is input into the stack 1 through the AC transmission line 1001. The stack 1 outputs direct current (DC) with a specific voltage. The power supply line is the DC bus 1002. A DC-DC power module is provided on the charging robot body 6 for converting the DC with a specific voltage output by the stack 1 into DC with the voltage required by the charging load end. Preferably, the DC bus 1002 adopts a power transmission method with large voltage and current carrying capacity, and the voltage of the DC output from the stack 1 to the DC bus 1002 is greater than or equal to 600V. Preferably, the voltage on the DC bus 1002 is 1500V.

[0033] Regarding the four-wheel independent steering solution for the charging robot to travel and turn on the suspension track, specific implementation methods have been provided in the two patent documents submitted by the present inventors before and mentioned in the background art of the present invention, and will not be elaborated here.

[0034] Preferably, another embodiment of enabling the charging robot of the present invention to have the functions of traveling and turning along the suspension track is that the flexible adjustable power stack aerial mobile charging robot system further includes a steering unit. The track path of the suspension track includes several straight sections, several intersections, and zero or more turning sections. The steering unit is a track turntable, and the track turntable is provided at each intersection and turning section of the suspension track. The track turntable can drive the charging robot to rotate together. After the steering is in place, the driving module can go straight ahead in the direction of the rotated track.

[0035] Preferably, the charging gun cable retracting and extending unit can also be a winding type gun cable retracting and extending module. The winding type gun cable retracting and extending module includes a slip ring and a winding motor. The slip ring includes a slip ring stator and a slip ring rotor. The winding motor can drive the slip ring rotor to rotate under the control of the control unit, so as to realize the winding and retracting of the charging gun cable. The slip ring is a kind of special component in the electrical industry for connecting conductive cables under rotating working conditions.

[0036] Preferably, the charging gun cable retracting and extending unit is an automatic plugging and unplugging gun robotic arm. The automatic plugging and unplugging gun robotic arm is installed on the charging robot body and includes multiple degrees of freedom joints. The charging gun cable is arranged along the automatic plugging and unplugging gun robotic arm. Under the control of the control unit, the automatic plugging and unplugging gun robotic arm can drive the charging gun cable to realize folding retracting and extending and automatic plugging and unplugging gun operations.

[0037] Regarding the power taking module, specific implementation methods have been provided in the two patent documents submitted by the present inventors before and mentioned in the background art of the present invention, and will not be elaborated here.

[0038] Preferably, the control unit should at least have the capabilities of data analysis, processing, and control. It can be a general-purpose chip, such as a central processing unit (CPU), a microcontroller unit (MCU), etc., or a dedicated processing and control chip, or a circuit board module with the above chips as the main control chip. Programs or software for implementing corresponding functions are usually loaded on the control unit. The present invention does not limit the type of the control unit. Any simple change in the type of the control unit based on the present invention shall fall within the protection scope of the present invention.

Claims

1. An aerial mobile charging robot system with flexible call for battery stack, characterized in that: Including suspension rails, charging robots, battery stacks, power supply lines, power supply modules, and control units. The hanging track is arranged in a suspended manner, and a plurality of charging robots are provided, all of which are suspended on the hanging track. The charging robot comprises a charging robot body, a charging gun line, a charging gun line retraction unit, and a driving module. The charging gun line is connected to the charging robot body, and the charging gun line retraction unit is used to realize the retraction and extension of the charging gun line. The driving module can drive the charging robot to move along the track path of the hanging track under the control of the control unit. The battery stack is used to provide power input for the plurality of charging robots. The power supply line is connected to the battery stack and is arranged along the hanging track. The charging robot draws power from the power supply line through the power taking module.

2. The aerial mobile charging robot system with flexible call battery stack according to claim 1 is characterized in that: The track path of the suspension track includes a plurality of straight sections, a plurality of intersections, and greater than or equal to zero turning sections. The driving module is used to drive the charging robot to go straight or turn at the intersections and turning sections of the suspension track according to the needs of the travel route.

3. The aerial mobile charging robot system with flexible call battery stack according to claim 1 is characterized in that: The battery stack is a flexible battery stack that supports flexible power scheduling. The aerial mobile charging robot system that flexibly calls the battery stack also includes an allocation scheduling control unit, which can schedule and allocate the charging power of the several charging robots according to the output power of the flexible battery stack and a given power allocation rule.

4. The aerial mobile charging robot system with flexible call battery stack according to claim 1 is characterized in that: The battery stack outputs direct current of a specific voltage, the power supply line is a DC bus, and the charging robot body is provided with a DC-to-DC power module for converting the direct current of a specific voltage output by the battery stack into direct current of a voltage required by a charging load end.

5. The aerial mobile charging robot system with flexible call for battery stack according to claim 4 is characterized in that: The DC bus is provided with a liquid cooling unit.

6. The aerial mobile charging robot system with flexible call for battery stack according to claim 4 is characterized in that: The DC bus adopts a high-voltage current-carrying power transmission method, and the voltage of the DC power output by the battery stack to the DC bus is greater than or equal to 600V.

7. The aerial mobile charging robot system with flexible call for battery stack according to claim 2 is characterized in that: The suspension track includes a track support surface, and the drive module includes a drive wheel independent in-situ steering module, and the drive wheel independent in-situ steering module is used to enable the charging robot to turn at an intersection or a turning section of the suspension track, and after turning, it can move along the turned suspension track path under the drive of the drive module; the drive wheel independent in-situ steering module includes four independent steering drive wheel modules, which are arranged at the four corners of a square in the horizontal direction, and each independent steering drive wheel module includes a steering motor, a power motor, a rotating frame, and a wheel. The tread of the wheel contacts the track support surface during movement, and the The power motor is installed on a rotating frame, and the rotating frame is fixedly connected to the rotating shaft of the steering motor. The wheel is provided with rotational power by the power motor. The rotating shaft of the steering motor is in the vertical direction, and the rotating shaft of the power motor is in the horizontal direction. The axis centerline of the rotating shaft of the steering motor intersects with the axis centerline of the rotating shaft of the power motor. The axis centerline of the rotating shaft of the steering motor passes through the center point where the tread of the wheel contacts the track supporting surface. Under the drive of the steering motor, each wheel can independently rotate in place around the center point where its tread contacts the track supporting surface. Under the drive of the power motor, each wheel can independently rotate forward and reverse around the centerline of its wheel axle.

8. The aerial mobile charging robot system with flexible call for battery stack according to claim 1 is characterized in that: It also includes a steering unit. The track path of the suspension track includes a plurality of straight sections, a plurality of intersections, and greater than or equal to zero turning sections. The steering unit is a track turntable. The track turntable is provided at each intersection and turning section of the suspension track. The track turntable can drive the charging robot to rotate together. After the steering is in place, the driving module can move straight in the direction of the rotated track.

9. The aerial mobile charging robot system with flexible call for battery stack according to claim 1 is characterized in that: The charging gun wire retracting unit is a winding gun wire retracting module, which includes a slip ring and a winding motor. The slip ring includes a slip ring stator and a slip ring rotor. Under the control of the control unit, the winding motor can drive the slip ring rotor to rotate, thereby realizing the winding retracting of the charging gun wire.

10. The aerial mobile charging robot system with flexible call for battery stack according to claim 1, characterized in that: The charging gun wire retracting unit is a robotic arm retracting module, which includes a multi-joint robotic arm and a joint motor. The robotic arm retracting module is installed on the charging robot body. The charging gun wire is arranged along the multi-joint robotic arm. Under the control of the control unit, the joint motor can drive the multi-joint robotic arm to drive the charging gun wire to achieve folding and retracting.

11. The aerial mobile charging robot system with flexible call for battery stack according to claim 1, characterized in that: The charging gun wire retracting and releasing unit is an automatic gun plugging and unplugging mechanical arm, which is installed on the charging robot body and includes multiple degrees of freedom joints. The charging gun wire is arranged along the joint arm of the automatic gun plugging and unplugging mechanical arm. Under the control of the control unit, the automatic gun plugging and unplugging mechanical arm can drive the charging gun wire to realize folding and retracting as well as automatic gun plugging and unplugging operation.

12. The aerial mobile charging robot system with flexible call for battery stack according to claim 1, characterized in that: The battery stack is arranged on the ground, and the charging robot is suspended and deployed on the suspension track.

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