Unmanned intelligent charging device based on fusion of three-axis sliding rail and six-degree-of-freedom mechanical arm

Abstract

The utility model discloses an unmanned intelligent charging device based on the fusion of a three-axis slide rail and a six-degree-of-freedom mechanical arm, and the device comprises the three-axis slide rail which is formed by the transmission connection of a Y-axis module, an X-axis module, and a Z-axis module; the mechanical arm is in transmission connection with the Z-axis module and can move at six degrees of freedom; the grabbing mechanism is in transmission connection with the mechanical arm; the control system is suitable for controlling the three-axis sliding rail and the mechanical arm in a fusion mode so as to drive the grabbing mechanism to grab a charging gun of the charging pile and move to be in butt joint with a charging port of a vehicle needing to be charged. By the adoption of the structure, in an XYZ coordinate system, the three-axis sliding rail can do three-dimensional space motion, the mechanical arm can do six-degree-of-freedom space motion, the three-axis sliding rail and the mechanical arm are subjected to fusion control through the control system, and the grabbing mechanism can intelligently grab the charging gun so as to quickly get close to a charging port of an electric car and adjust the posture to be accurately aligned with the charging port and automatically abut against the charging port. And intelligent charging of the unmanned electric vehicle is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of electric vehicle automatic charging, and in particular to an unmanned intelligent charging device based on the fusion of a three-axis slide rail and a six-degree-of-freedom mechanical arm. Background Art

[0002] The rapid development of electric vehicles and driverless vehicles, especially the rapid development of driverless vehicles, will greatly promote the construction, upgrading and transformation of new energy infrastructure. Unmanned intelligent charging technology is an urgent need to adapt to the rapid development of electric vehicles. However, the existing charging technology is the key bottleneck restricting the promotion and application of driverless electric vehicles.

[0003] The existing charging technologies and those under research mainly include: (1) conventional charging technology (AC slow charging); (2) fast charging technology (DC); (3) automatic charging robots; (4) integrated battery replacement technology, etc.

[0004] The first two charging technologies are manually operated charging and are only applicable to charging manned electric vehicles. Although the last two charging technologies can be used to charge unmanned electric vehicles, they also have obvious pain points. (1) Automatic charging robots: A wider passageway must be left between parking spaces, reducing the number of effective parking spaces; an automatic charging robot can only charge one vehicle. When multiple vehicles need to be charged at the same time, multiple robots are required, which makes charging less practical and more costly; the charging robot itself needs to be recharged in a timely manner and cannot be charged continuously, so the charging efficiency is too low. (2) Overall battery replacement technology: The technology is not unified, the interchangeability is poor, the construction cost is expensive, commercial profitability is difficult, promotion and popularization are difficult, and vehicle-battery consistency monitoring is difficult.

[0005] Therefore, it is necessary to improve the prior art to overcome the above defects in the prior art. Utility Model Content

[0006] The purpose of the utility model is to provide an unmanned intelligent charging device based on the fusion of a three-axis slide rail and a six-degree-of-freedom robotic arm, which has high practicality, low cost, good versatility, is easy to promote, and avoids reducing effective parking spaces.

[0007] The purpose of the utility model is to achieve the following technical solution: an unmanned intelligent charging device based on the fusion of a three-axis slide rail and a six-degree-of-freedom mechanical arm, comprising:

[0008] The three-axis slide rail comprises an X-axis module, a Y-axis module drivingly connected to the X-axis module, and a Z-axis module drivingly connected to the Y-axis module;

[0009] A robotic arm, which is transmission-connected to the Z-axis module and can move with six degrees of freedom;

[0010] A gripping mechanism, transmission-connected to the mechanical arm;

[0011] A control system is adapted to integrally control the three-axis slide rail and the robotic arm to drive the grasping mechanism to grasp the charging gun of the charging pile and move it to dock with the charging port of the vehicle to be charged.

[0012] Further, the X-axis module includes:

[0013] A support frame;

[0014] An X-axis slide rail fixed to the support frame;

[0015] An X-axis slider slidably connected to the X-axis slide rail;

[0016] An X-axis transfer seat fixedly connected to the X-axis slider and carried on the X-axis slide rail;

[0017] An X-axis drive assembly adapted to drive the X-axis transfer seat to move in the X-axis direction;

[0018] Wherein, the Y-axis module is fixed to the X-axis transfer seat.

[0019] Further, the X-axis drive assembly includes:

[0020] An X-axis rack fixed to the support frame and parallel to the X-axis slide rail;

[0021] An X-axis drive motor fixed to the X-axis transfer seat, and an X-axis gear meshing with the X-axis rack is connected to the output end thereof;

[0022] Wherein, the X-axis transfer seat is adapted to move along the X-axis slide rail under the drive of the X-axis drive motor.

[0023] Further, the Y-axis module includes:

[0024] A first mounting seat fixed to the X-axis module;

[0025] A Y-axis slide rail fixed to the first mounting seat;

[0026] A Y-axis slider slidably connected to the Y-axis slide rail;

[0027] A Y-axis transfer seat fixedly connected to the Y-axis slider;

[0028] A Y-axis drive assembly adapted to drive the Y-axis transfer seat to move in the Y-axis direction;

[0029] Wherein, the Y-axis slide rail, the Y-axis slider, the Y-axis transfer seat and the Y-axis drive assembly are all arranged on the side surface of the first mounting seat.

[0030] Among them, the Z-axis module is fixed on the Y-axis transfer seat.

[0031] Further, the Y-axis driving assembly includes:

[0032] A Y-axis rack, which is fixed on the first mounting seat and is parallel to the Y-axis slide rail;

[0033] A Y-axis driving motor, which is fixed on the Y-axis transfer seat, and a Y-axis gear meshing with the Y-axis rack is connected to the output end thereof;

[0034] Among them, the Y-axis transfer seat is adapted to move along the Y-axis slide rail under the drive of the Y-axis driving motor.

[0035] Further, the Z-axis module includes:

[0036] A second mounting seat, which is fixed on the Z-axis module;

[0037] A Z-axis slider, which is fixedly connected to the second mounting seat;

[0038] A Z-axis slide rail, which is slidably connected to the Z-axis slider;

[0039] A Z-axis transfer seat, which is fixedly connected to the Z-axis slide rail;

[0040] A Z-axis driving assembly, which is adapted to drive the Z-axis transfer seat to move along the Z-axis direction;

[0041] Among them, the robotic arm is arranged at the lower end of the Z-axis transfer seat in the Z-axis direction.

[0042] Further, the second mounting seat is a hollow through structure in the Z-axis direction, the Z-axis transfer seat is disposed through the second mounting seat, Z-axis slide rails are provided on both opposite sides of the Z-axis transfer seat, and the Z-axis sliders correspond to the Z-axis slide rails one by one.

[0043] Further, the control system includes:

[0044] A parking space information detection module, which is adapted to detect a vehicle to be charged parked in a parking space and send out charging vehicle parking information and charging port position information;

[0045] A motion control module, which in response to the vehicle parking information, integrally controls the three-axis slide rail, the robotic arm and the grasping mechanism to perform the grasping of the charging gun, the three-axis spatial motion and the six-degree-of-freedom spatial motion, so as to control the charging gun to be docked to the charging port of the vehicle to be charged;

[0046] A charging control module, which is used for sending a chargeable signal to the charging gun control platform when the charging gun is docked with the vehicle to be charged, and charging the vehicle to be charged.

[0047] Further, the control system further includes a 3D vision detection module disposed at the end of the robotic arm. The 3D vision detection module is adapted to capture an accurate three-dimensional image of the charging port of the vehicle to be charged, so as to obtain accurate three-dimensional parameters of the charging port of the vehicle to be charged. The motion control module responds to the accurate three-dimensional parameters of the 3D vision detection module to align and dock the charging gun with the charging port of the vehicle to be charged.

[0048] Compared with the prior art, the utility model has the following beneficial effects: With the above structure, the three-axis slide rail can drive the grasping mechanism to move to different charging piles or positions to be charged, and cooperate with the robotic arm to adjust the grasping mechanism, so as to pick up, place and carry the charging guns of multiple charging piles, so as to realize unmanned intelligent fast charging for multiple electric vehicles. The structure is simple, the technology is mature, the cost is low, it is suitable for popularization and application, and it occupies a small area and has a high space utilization rate. It can be installed in a conventional charging parking space, and can also be improved by using the existing DC charging pile station to install and implement, which is conducive to the rapid popularization of the unmanned intelligent charging device; the three-axis slide rail can move in a three-dimensional space in the XYZ coordinate system, and the robotic arm can move in a six-degree-of-freedom space in the XYZ coordinate system. Through the integrated control of the two, the grasping mechanism can move in an arbitrary space curve in the XYZ coordinate system, so that the grasping mechanism can quickly approach the charging port of the tram, and adjust its posture to accurately align and automatically dock with it, realizing intelligent charging for driverless trams. Moreover, regardless of whether the charging port is set in the front-back direction or the left-right direction of the tram, the grasping mechanism can reliably drive the charging gun to dock with the charging port without being affected by the position of the charging port, and has good compatibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a schematic structural diagram of the unmanned intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm of the utility model.

[0050] Figure 2 is Figure 1 a partial schematic diagram of

[0051] Figure 3 is an exploded structural schematic diagram of the grasping mechanism and the charging gun of the utility model.

[0052] Figure 4 is a schematic structural diagram of the control system in the utility model.

[0053] Description of the reference numerals:

[0054] 100, charging gun; 200, three-axis slide rail; 210, X-axis module; 211, support frame; 212, X-axis slide rail; 213, X-axis slider; 214, X-axis transfer seat; 215, X-axis drive motor; 220, Y-axis module; 221, first mounting seat; 222, Y-axis slide rail; 223, Y-axis slider; 224, Y-axis transfer seat; 225, Y-axis drive motor; 230, Z-axis module; 231, second mounting seat; 232, Z-axis slide Block; 233, Z-axis slide rail; 234, Z-axis transfer seat; 235, Z-axis drive motor; 300, robotic arm; 400, grasping mechanism; 410, connecting seat; 420, clamping member; 421, positioning pin; 430, clamping drive assembly; 431, clamping motor; 432, transmission member; 500, control system; 510, parking space information detection module; 520, motion control module; 530, charging control module; 540, 3D vision detection module. DETAILED DESCRIPTION

[0055] 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. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0056] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0057] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0058] See also Figures 1 to 4As shown in the figure, a driverless intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm, corresponding to a preferred embodiment of the present utility model, is used for a charging pile, and includes: a three-axis slide rail 200, including an X-axis module 210, a Y-axis module 220 drivingly connected to the X-axis module 210, and a Z-axis module 230 drivingly connected to the Y-axis module 220; a robotic arm 300 drivingly connected to the Z-axis module 230; a grasping mechanism 400 drivingly connected to the robotic arm 300; and a control system 500 adapted to integrally control the three-axis slide rail 200 and the robotic arm 300 to drive the grasping mechanism 400 to grasp the charging gun 100 of the charging pile and move it to dock with the charging port of the vehicle to be charged.

[0059] With the above structure adopted by the present utility model, the three-axis slide rail 200 can drive the grasping mechanism 400 to move to different charging piles or positions to be charged, and cooperate with the robotic arm 300 to adjust the grasping mechanism 400, so as to pick up and transport the charging guns 100 of multiple charging piles, realizing driverless intelligent fast charging for multiple electric vehicles. The structure is simple, the technology is mature, the cost is low, it is suitable for popularization and application, and it occupies a small area and has a high space utilization rate. It can be installed in a conventional charging parking space, and can also be improved and installed by using the existing DC charging pile station yard, which is conducive to the rapid popularization of the driverless intelligent charging device; the three-axis slide rail 200 can perform three-dimensional space movement in the XYZ coordinate system, and the robotic arm 300 can perform six-degree-of-freedom space movement in the XYZ coordinate system. Through the integrated control of the two, the grasping mechanism 400 can perform arbitrary space curve movement in the XYZ coordinate system, so that the grasping mechanism 400 can quickly approach the charging port of the tram, adjust its posture to accurately align with it and automatically dock, realizing intelligent charging of the driverless tram. Moreover, regardless of whether the charging port is set in the front-back direction or the left-right direction of the tram, the grasping mechanism 400 can reliably drive the charging gun 100 to dock with the charging port without being affected by the position of the charging port, and has good compatibility.

[0060] Further, the X-axis module 210 includes a support frame 211, an X-axis slide rail 212, an X-axis slider 213, an X-axis transfer seat 214, and an X-axis drive assembly. The support frame 211 can be fixed to a wall, the ground, a roof beam or other support surfaces according to the site conditions and extends along the X-axis direction. The length direction of the X-axis slide rail 212 is parallel to the X-axis direction and is fixed to the support frame 211. The X-axis slider 213 is slidably connected to the X-axis slide rail 212, the X-axis transfer seat 214 is fixedly connected to the X-axis slider 213, and the X-axis drive assembly is adapted to drive the X-axis transfer seat 214 to move along the X-axis direction.

[0061] Preferably, the X-axis slide rail 212 is fixed to the top surface of the support frame 211, and the X-axis transfer seat 214 is carried on the X-axis slide rail 212 to improve the load-bearing capacity of the X-axis module 210. The number of X-axis slide rails 212 is two, and they are arranged oppositely in the Y-axis direction. At least one X-axis slider 213 is provided on each X-axis slide rail 212. The X-axis transfer seat 214 is connected to the X-axis sliders 213 on different X-axis slide rails 212 on both sides in the Y-axis direction, thereby improving the stability and reliability of the X-axis transfer seat 214 during the transfer process.

[0062] In an embodiment, the X-axis drive assembly can adopt an electric cylinder structure provided on the support frame 211 to drive the X-axis transfer seat 214 to move. Preferably, in this embodiment, the X-axis drive assembly includes an X-axis rack (not shown in the figure) and an X-axis drive motor 215. The X-axis rack is fixed to the support frame 211 and is parallel to the X-axis slide rail 212. The X-axis drive motor 215 is fixed to the X-axis transfer seat 214, and an X-axis gear (not shown in the figure) meshing with the X-axis rack is connected to the output end thereof. The X-axis gear is adapted to rotate under the drive of the X-axis drive motor 215 and move along the X-axis rack, thereby driving the X-axis transfer seat 214 to move along the X-axis slide rail 212. With the above X-axis drive assembly, the structure is simpler, the moving speed is higher, and the load capacity is better.

[0063] Further, the Y-axis module 220 is fixed to the X-axis transfer seat 214. The Y-axis module 220 includes a first mounting seat 221, a Y-axis slide rail 222, a Y-axis slider 223, a Y-axis transfer seat 224, and a Y-axis drive assembly. The first mounting seat 221 is a strip-shaped structure, and its length direction is parallel to the Y-axis direction. The first mounting seat 221 is fixed to the X-axis transfer seat 214. The Y-axis slide rail 222 is fixed to the first mounting seat 221, and its length direction is parallel to the Y-axis direction. The Y-axis slider 223 is slidably connected to the Y-axis slide rail 222, the Y-axis transfer seat 224 is fixedly connected to the Y-axis slider 223, and the Y-axis drive assembly is adapted to drive the Y-axis transfer seat 224 to move in the Y-axis direction.

[0064] Preferably, the first mounting seat 221 is fixed to the top surface of the X-axis transfer seat 214 to improve the load-bearing strength of the first mounting seat 221. The Y-axis slide rail 222, the Y-axis slider 223, the Y-axis transfer seat 224, and the Y-axis drive assembly are all arranged on the side surface of the first mounting seat 221 to facilitate the installation of the Z-axis module 230 and its movement in the Z-axis direction.

[0065] The number of Y-axis slide rails 222 is two, and they are arranged oppositely in the Z-axis direction. At least one Y-axis slider 223 is provided on each Y-axis slide rail 222. The Y-axis transfer seat 224 is connected to the Y-axis sliders 223 on different Y-axis slide rails 222 on both sides in the Z-axis direction, thereby improving the stability and reliability of the Y-axis transfer seat 224 during the transfer process.

[0066] The structure of the Y-axis drive assembly is similar to that of the X-axis drive assembly. The Y-axis drive assembly includes a Y-axis rack (not shown) and a Y-axis drive motor 225, wherein the Y-axis rack is fixed to the first mounting seat 221 and is parallel to the Y-axis slide rail 222, and the Y-axis drive motor 225 is fixed to the Y-axis transfer seat 224, and its output end is connected to a Y-axis gear meshing with the Y-axis rack, and the Y-axis transfer seat 224 is suitable for moving along the Y-axis slide rail 222 under the drive of the Y-axis drive motor 225.

[0067] Further, the Z-axis module 230 is fixed on the Y-axis transfer seat 224. The Z-axis module 230 includes a second mounting seat 231, a Z-axis slider 232, a Z-axis slide rail 233, a Z-axis transfer seat 234 and a Z-axis drive assembly. The second mounting seat 231 is fixed on the Y-axis transfer seat 224, the Z-axis slider 232 is fixedly connected to the second mounting seat 231, and the Z-axis slide rail 233 is slidably connected to the Z-axis slider 232. The Z-axis transfer seat 234 is a long strip structure, the length direction of which is parallel to the Z-axis direction, and is fixedly connected to the Z-axis slide rail 233. The Z-axis drive assembly is suitable for driving the Z-axis transfer seat 234 to move along the Z-axis direction.

[0068] Preferably, the second mounting seat 231 is a hollow through structure in the Z-axis direction, and the Z-axis transfer seat 234 is inserted into the second mounting seat 231. Z-axis slide rails 233 are provided on the opposite sides of the Z-axis transfer seat 234, and the Z-axis slider 232 corresponds to the Z-axis slide rail 233 one by one, so that the Z-axis transfer seat 234 can move smoothly and reliably along the Z-axis direction.

[0069] The structure of the Z-axis drive assembly is similar to that of the X-axis drive assembly. The Z-axis drive assembly includes a Z-axis rack (not shown) and a Z-axis drive motor 235. The Z-axis rack is fixed on the Z-axis transfer seat 234 and is parallel to the Z-axis slide rail 233. The Z-axis drive motor 235 is fixed on the second mounting seat 231, and its output end is connected to a Z-axis gear (not shown) meshing with the Z-axis rack.

[0070] Furthermore, the robot arm 300 is disposed at the lower end of the Z-axis transfer base 234 in the Z-axis direction. The robot arm 300 is a conventional six-degree-of-freedom robot, and the utility model is not described in detail herein.

[0071] Furthermore, the gripping mechanism 400 includes a connecting base 410, a clamping member 420 and a clamping drive assembly 430. The connecting base 410 is connected to the output end of the robotic arm 300. The clamping drive assembly 430 is arranged on the connecting base 410. There are two clamping members 420, which are arranged relative to each other. The clamping drive assembly 430 is transmission-connected to the clamping member 420 and is suitable for driving the clamping member 420 to move toward or away from each other to clamp or release the charging gun 100.

[0072] The clamping drive assembly 430 includes a clamping motor 431 and a transmission member 432. The clamping motor 431 is mounted on the connecting seat 410, and a driving gear (not shown in the figure) is connected to the output end thereof. The number of the transmission members 432 is two and they are arranged oppositely. Both of the transmission members 432 are slidably connected to the connecting seat 410. A rack portion is formed on the transmission member 432. The driving gear is located between the two transmission members 432 and meshes with different rack portions respectively. The two clamping members 420 are respectively fixed to different transmission members 432. The transmission member 432 drives the clamping member 420 to move towards or away from each other in response to the rotation of the driving gear, thereby clamping or releasing the charging gun 100.

[0073] Further, the control system 500 is electrically connected to the three-axis slide rail 200, the robotic arm 300 and the grasping mechanism 400. The control system 500 can perform integrated control on the above-mentioned mechanisms to enable the grasping mechanism 400 to perform large-distance rapid movement and six-degree-of-freedom attitude adjustment of micro-distance in the X-axis, Y-axis and Z-axis directions, so as to control the grasping mechanism 400 to grasp the charging gun 100 and accurately align and dock it with the electric vehicle charging port. While realizing the intelligent charging of driverless electric vehicles, the docking speed is faster, and a single charging device can perform intelligent control operations on 2 to 10 charging guns 100 on 1 to 5 charging piles, and perform intelligent charging for 2 to 10 electric vehicles, realizing the rapid response and power matching for electric vehicles in any charging space.

[0074] Specifically, a plurality of charging piles and parking spaces are arranged side by side along the X-axis direction, and at least one charging gun 100 is provided on each charging pile. The control system 500 includes a parking space information detection module 510, a motion control module 520 and a charging control module 530. The parking space information detection module 510 is adapted to detect the vehicle to be charged parked in the parking space and send out information such as the parked information of the charging vehicle and the position information of the charging port. A corresponding parking space information detection module 510 is provided on each parking space. The parking space information detection module 510 can be an infrared sensor, a geomagnetic sensor, an ultrasonic sensor, an image sensor, etc., which is not limited in this embodiment. Through the corresponding setting of the parking space information detection module 510 and the parking space, the simultaneous detection of multiple vehicles to be charged can be realized; through the setting of multiple charging guns 100 and one or more charging piles, the unmanned intelligent charging of multiple vehicles to be charged can be conveniently realized simultaneously.

[0075] The motion control module 520 responds to the vehicle docking information and fuses to control the three-axis slide rail, the robotic arm 300, and the grasping mechanism 400 to perform the grasping, three-axis spatial movement, and six-degree-of-freedom spatial movement of the charging gun 100, so as to control the charging gun 100 to dock with the charging port of the vehicle to be charged. The charging control module 530 is used to send a rechargeable signal to the control platform (charging pile) of the charging gun 100 when the charging gun 100 is successfully docked with the vehicle to be charged, and charge the vehicle to be charged. The motion control module 520 and the charging control module 530 can both adopt a conventional PLC control structure, which will not be elaborated herein for the present utility model.

[0076] Preferably, the control system 500 further includes a 3D vision detection module 540 disposed at the end of the robotic arm 300. The 3D vision detection module 540 is adapted to capture the precise three-dimensional image of the charging port of the vehicle to be charged, so as to obtain the precise three-dimensional parameters of the charging port of the vehicle to be charged. The motion control module 520 responds to the precise three-dimensional parameters of the 3D vision detection module 540 to align and dock the charging gun 100 with the charging port of the vehicle to be charged. The 3D vision detection module 540 includes components such as a high-precision camera (for capturing images or video streams) and a processor (for processing and analyzing the captured images or video streams). By setting the 3D vision detection module 540, when the vehicle to be charged is parked irregularly or the positions of the charging ports are inconsistent, the motion control module 520 can always reliably align and dock the charging gun 100 with the charging port, and can also capture the image of the charging gun 100 on the charging pile or the image of the placement area where the charging gun 100 is placed, so as to reliably remove or place the charging gun 100 from the charging pile.

[0077] Preferably, when the charging gun 100 is docked with the charging port, the 3D vision detection module 540 can also detect the insertion depth of the charging gun 100 in real time, and when the insertion depth reaches the preset depth, the docking of the charging gun 100 with the vehicle to be charged is completed. Alternatively, the control system 500 can also detect the insertion depth through displacement sensors, contact sensors, pressure sensors, etc. provided on the charging gun 100, which is not limited herein for the present utility model.

[0078] Furthermore, when the vehicle to be charged is fully charged, a full charge signal is sent to the charging pile that supplies power to it. The charging control module 530 controls the charging gun 100 to stop charging. The motion control module 520 controls the grasping mechanism 400 to move to the corresponding charging gun 100 based on the three-axis slide rail 200 and the robotic arm 300, so as to clamp and pull out the charging gun 100, and then return it to the corresponding charging pile, realizing the closed-loop control of the entire unmanned charging process, and ensuring the orderly progress of rapid unmanned charging for multiple vehicles.

[0079] The above are only the embodiments of the present application, and do not thereby limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present application.

Claims

1. An unmanned intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm, for use in a charging pile, characterized in that, Comprising: A three-axis slide rail (200), including an X-axis module (210), a Y-axis module (220) drivingly connected to the X-axis module (210), and a Z-axis module (230) drivingly connected to the Y-axis module (220); A robotic arm (300), drivingly connected to the Z-axis module (230) and capable of moving with six degrees of freedom; A grasping mechanism (400), drivingly connected to the robotic arm (300); A control system (500), adapted to integrally control the three-axis slide rail (200) and the robotic arm (300) to drive the grasping mechanism (400) to grasp the charging gun (100) of the charging pile and move it to dock with the charging port of the vehicle to be charged.

2. The unmanned intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm as claimed in claim 1, wherein, The X-axis module (210) includes: A support frame (211); An X-axis slide rail (212), fixed to the support frame (211); An X-axis slider (213), slidably connected to the X-axis slide rail (212); An X-axis transfer seat (214), fixedly connected to the X-axis slider (213) and carried on the X-axis slide rail (212); An X-axis drive assembly, adapted to drive the X-axis transfer seat (214) to move along the X-axis direction; Wherein, the Y-axis module (220) is fixed to the X-axis transfer seat (214).

3. The unmanned intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm according to claim 2, wherein The X-axis drive assembly includes: An X-axis rack, fixed to the support frame (211) and parallel to the X-axis slide rail (212); An X-axis drive motor (215), fixed to the X-axis transfer seat (214), and an X-axis gear meshing with the X-axis rack is connected to the output end thereof; Wherein, the X-axis transfer seat (214) is adapted to move along the X-axis slide rail (212) under the drive of the X-axis drive motor (215).

4. The unmanned intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm as claimed in claim 1, wherein The Y-axis module (220) includes: A first mounting seat (221), fixed to the X-axis module (210); A Y-axis slide rail (222), fixed to the first mounting seat (221); A Y-axis slider (223), slidably connected to the Y-axis slide rail (222); A Y-axis transfer seat (224), fixedly connected to the Y-axis slider (223); A Y-axis drive assembly, adapted to drive the Y-axis transfer seat (224) to move along the Y-axis direction; Wherein, the Y-axis slide rail (222), the Y-axis slider (223), the Y-axis transfer seat (224) and the Y-axis drive assembly are all arranged on the side surface of the first mounting seat (221); Wherein, the Z-axis module (230) is fixed to the Y-axis transfer seat (224).

5. The unmanned intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm as claimed in claim 4, wherein, The Y-axis drive assembly includes: A Y-axis rack, fixed to the first mounting seat (221) and parallel to the Y-axis slide rail (222); A Y-axis drive motor (225), fixed to the Y-axis transfer seat (224), and a Y-axis gear meshing with the Y-axis rack is connected to the output end thereof; Wherein, the Y-axis transfer seat (224) is adapted to move along the Y-axis slide rail (222) under the drive of the Y-axis drive motor (225).

6. The unmanned intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm according to claim 1, wherein The Z-axis module (230) includes: The second mounting base (231) is fixed on the Y-axis module (220); The Z-axis slider (232) is fixedly connected to the second mounting base (231); The Z-axis slide rail (233) is slidably connected to the Z-axis slider (232); The Z-axis transfer base (234) is fixedly connected to the Z-axis slide rail (233); The Z-axis drive assembly is adapted to drive the Z-axis transfer base (234) to move along the Z-axis direction; Wherein, the robotic arm (300) is arranged at the lower end of the Z-axis transfer base (234) in the Z-axis direction.

7. The unmanned intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm as claimed in claim 6, wherein The second mounting base (231) is a hollow through structure in the Z-axis direction, the Z-axis transfer base (234) passes through the second mounting base (231), and the Z-axis slide rails (233) are arranged on both opposite sides of the Z-axis transfer base (234), and the Z-axis sliders (232) correspond to the Z-axis slide rails (233) one by one.

8. The unmanned intelligent charging device based on the fusion of a three-axis slide rail and a six-degree-of-freedom robotic arm according to claim 1, characterized in that, The control system (500) includes: A parking space information detection module (510) is adapted to detect the vehicle to be charged parked in the parking space and send out the charging vehicle parking information and the charging port position information; A motion control module (520), in response to the vehicle parking information, integrally controls the three-axis slide rail (200), the robotic arm (300) and the grasping mechanism (400) to perform the grasping, three-axis space motion and six-degree-of-freedom space motion of the charging gun (100) to control the charging gun (100) to dock to the charging port of the vehicle to be charged; A charging control module (530) is used to send a rechargeable signal to the control platform of the charging gun (100) when the charging gun (100) is successfully docked with the vehicle to be charged, and charge the vehicle to be charged.

9. The unmanned intelligent charging device based on the integration of a three-axis slide rail and a six-degree-of-freedom robotic arm as claimed in claim 8, wherein The control system (500) further includes a 3D vision detection module (540) arranged at the end of the robotic arm (300). The 3D vision detection module (540) is adapted to capture the precise three-dimensional image of the charging port of the vehicle to be charged to obtain the precise three-dimensional parameters of the charging port of the vehicle to be charged. The motion control module (520) responds to the precise three-dimensional parameters of the 3D vision detection module (540) to align and dock the charging gun (100) with the charging port of the vehicle to be charged.

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