Aerial mobile charging robot system for full-automatic gun insertion and extraction

Abstract

An air mobile charging robot system of a full-automatic plugging gun comprises a charging robot, an air track, a power supply circuit, a robot fixing module and a control unit, and the charging robot comprises a charging robot body, a charging module, a mechanical arm, a charging gun cable, a charging gun, a walking module, a power taking module and a positioning guide module. The utility model relates to the field of new energy vehicle charging, a charging robot can move along a track path of an aerial track and provide a mobile charging service of charging while parking for an electric vehicle on any parking space below the track, and the whole charging process including gun insertion and gun pulling is full-automatic, so that the charging efficiency is greatly improved. After the charging robot is in place, the charging robot can automatically insert the gun to start charging, and after charging is completed or a user finishes charging, the charging gun can be automatically pulled out and automatically withdrawn to the initial state, so that the charging robot can continue to move to other parking spaces to provide charging service for other vehicles, and the charging resource utilization rate and the charging operation efficiency are greatly improved; and the user charging experience is improved.

Description

Technical Field

[0001] The utility model relates to the field of new energy vehicle charging, and in particular to an aerial mobile charging robot system with fully automatic gun insertion and extraction. Background Art

[0002] With the development of the electric vehicle and charging pile industries, more and more disadvantages of fixed charging piles have gradually been exposed, mainly including: (1) When looking for charging piles, car owners often need to spend a lot of time looking for charging points, looking for available charging piles, and queuing, which leads to serious charging anxiety. (2) Parking spaces suitable for the construction of commercial charging piles are generally located in relatively good locations, and the site costs are high, resulting in high overall costs for commercial charging piles. (3) The construction of a large number of charging piles will lead to high construction costs and low utilization rates, which not only wastes resources but also increases the power distribution pressure of the power grid. (4) The problem of charging pile parking spaces being occupied by fuel vehicles cannot be solved, resulting in a situation where either parking space resources or charging pile resources are wasted.

[0003] These issues are primarily caused by the interconnectedness between charging spaces and fixed charging piles. Solving these problems requires unbundling the two. Mobile charging, which can unbundle charging spaces and charging piles, has seen significant development and progress in recent years. In particular, aerial mobile charging, which travels along suspended tracks, has become a hot research area due to its numerous advantages. The inventor has previously applied to the State Intellectual Property Office for an invention patent named "A Suspended Mobile Charging Pile System" with application number "2023100936171", and a utility model patent named "A Four-Wheel Independent Drive and Steering Suspended Mobile Charging Pile System" with 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 with charging piles without the need to deploy a large number of charging piles. Electric vehicles in the area can be charged whenever they are parked. No matter where the electric vehicles are parked in the parking lot, they can be charged very conveniently. It also utilizes a large number of existing parking spaces in the parking lot. There is no need to build a special charging station, nor does it require car owners to park their cars in a certain parking space. The number of charging piles can be flexibly deployed and increased or decreased according to charging needs, which will not cause a large number of charging pile resources to be idle, and can also meet charging needs to the greatest extent. It has very obvious technical advantages and industry value.

[0004] The technical solutions described in the above two patents have now been commercialized. During the promotion and application of related products, the inventor's company discovered that although aerial mobile charging uncouples the binding relationship between charging parking spaces and charging piles, improving the utilization of charging resources, solving the problem of gasoline vehicles occupying parking spaces, and improving the user charging experience, some shortcomings remain to be addressed. First, after an electric vehicle is fully charged, a person still needs to unplug the charging plug before charging services can be provided to other electric vehicles. Second, if all aerial mobile charging piles in the parking lot are currently occupied, the owner cannot charge or schedule a charging queue without having to return to the parking lot and without supervision. Third, if the owner wants to schedule a late-night off-peak charge, this is also impossible without supervision. These shortcomings have a significant impact on charging operation efficiency, charging resource utilization, operator payback period, and user charging experience. Once these issues are resolved, aerial mobile charging solutions will have a disruptive advantage over traditional fixed charging piles. Therefore, a technical solution that can address these issues is urgently needed. Summary of the Invention

[0005] The purpose of this utility model is to provide an aerial mobile charging robot system with fully automatic gun insertion and removal, the charging robot can move along the track path of the aerial track, and provide mobile charging services for electric vehicles in any parking space under the track, and the entire charging process including gun insertion and removal is fully automatic. After the charging robot is in place, it will automatically insert the gun and start charging. After charging is completed or the user ends charging, it can automatically unplug the charging gun and automatically retract it to its initial state, so that it can continue to move to other parking spaces to provide charging services for other electric vehicles, greatly improving the utilization rate of charging resources and charging operation efficiency, accelerating the operator's payback period, and improving the user's charging experience.

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

[0007] An aerial mobile charging robot system with fully automatic gun insertion and removal is used to achieve fully automatic charging of electric vehicles, including a charging robot, an aerial track, a power supply line, a robot fixing module, and a control unit. The charging robot includes a charging robot body, a charging module, a robotic arm, a charging gun cable, a charging gun, a walking module, a power supply module, and a positioning and guiding module. The charging robot is suspended and deployed on the aerial track, and can move along the aerial track through the walking module, and can draw power from the power supply line deployed along the aerial track through the power supply module; the charging gun is connected to the charging robot body through the robotic arm, and the charging gun cable is laid along the robotic arm, with one end of the charging gun cable connected to the charging gun and the other end connected to the charging module. It should be noted that the connection between the charging gun cable and the charging module can be direct or indirect; the walking module can drive the charging robot to move along the track path of the aerial track, and the charging robot draws power from the power supply line through the power supply module; The robotic arm is used to drive the charging gun to automatically insert and remove the gun from the electric vehicle charging port. The positioning and guidance module is used to provide positioning and guidance for the robotic arm, guiding the robotic arm to accurately move with the charging gun to the electric vehicle charging port and insert the gun. The robot fixing module is used to fix the charging robot body when the charging robot moves to the charging station for charging the electric vehicle, so that it does not move or shake when the robotic arm performs the automatic insertion and removal of the gun. The movement and power supply control of the charging robot, the movement control of the robotic arm, the control of the robot fixing module, and the control of the positioning and guidance module are all implemented by the control unit. The control unit can be a single integrated controller or composed of multiple controllers.

[0008] Preferably, a first preferred embodiment of enabling the charging robot to have the ability to change track and turn is that the track path of the aerial track includes a plurality of straight sections, a plurality of intersections, and greater than or equal to zero turning sections, and the walking module can drive the charging robot to go straight or turn at the intersections and turning sections of the aerial track according to the needs of the travel route; the aerial track includes a track supporting surface, and the walking 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 the intersection or turning section of the aerial track, and after turning, it can move along the turned aerial track path under the drive of the walking module. Preferably, the driving wheel independent in-situ steering module includes four independent steering driving wheel modules, which are arranged at the four corners of a square in the horizontal direction. Each independent steering driving 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. 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.

[0009] Preferably, a second preferred embodiment that enables the charging robot to have the ability to change track and turn is that the track path of the aerial track includes a number of straight sections, a number of intersections, and greater than or equal to zero turning sections, and a track turntable is provided at each intersection and turning section of the aerial track. The track turntable can rotate along the horizontal plane under the control of the control unit. When the walking module of the charging robot is located in the track turntable, the track turntable can drive the charging robot to rotate together. After turning into place, the walking module can move straight forward in the direction of the rotated track.

[0010] When the charging robot has the ability to turn on the intersecting aerial track, the aerial track can be truly deployed globally. Regardless of the parking space layout of the parking lot, the aerial track can be deployed to every parking space. Compared with monorail movement, when multiple charging robots on the intersecting track move simultaneously, it can well support avoidance between charging robots, and there will be no unavoidable path conflicts and path congestion problems that are inherent in monorail movement. For fully automatic charging, the ability to change tracks becomes particularly important, because the vast majority of electric vehicle charging ports are on the side of the vehicle body, and the arm reach of the robotic arm used for fully automatic charging is limited, usually within 1.5 meters. Therefore, the charging robot must have the ability to change tracks from the main track parallel to the rear of the vehicle to the branch track parallel to the side of the vehicle. Otherwise, it will be limited by the arm reach and cannot achieve fully automatic charging through the robotic arm, especially when the charging port is located on the side of the vehicle near the front.

[0011] Preferably, the aerial mobile charging robot system for the fully automatic plug-in gun also includes an automatic lid opening module. The automatic lid opening module communicates wirelessly with a target electric vehicle that supports automatic charging lid opening, thereby controlling the opening of the charging lid of the target electric vehicle. The implementation of the automatic lid opening function further facilitates the application of the fully automatic plug-in gun.

[0012] Preferably, the first preferred embodiment of the robot fixing module includes a fixing part and an electric clamping part. The fixing part is installed on both sides of the aerial track of the charging station. This section of the aerial track is called the target docking track. There are several electric clamping parts, all of which are installed on the charging robot body. The electric clamping part includes a clamping claw. The movable stroke direction of the clamping claw is perpendicular to the track path direction of the target docking track. When the charging robot moves to a certain charging station, the electric clamping part can drive the clamping claw to press against the fixing part, thereby fixing the charging robot body. When it needs to be loosened, it is only necessary to drive the clamping claw to move in the opposite direction. Since the movable stroke direction of the clamping claw is perpendicular to the track path direction of the target docking track, the interference between the clamping claw and the fixing part when the charging robot walks on the target docking track can be avoided by putting the clamping claw in a loose state.

[0013] Preferably, the first preferred embodiment of the electric clamping part adopts a single clamping jaw design, and the fixing part is four fixing columns arranged on both sides of the target docking track, with two on each side. The number of the electric clamping parts is also four, and their setting positions correspond one-to-one to the positions of the four fixing columns. When performing the fixing operation of the charging robot body, the clamping jaws of the two electric clamping parts on the same side of the target docking track move in the same direction, while the clamping jaws of the two electric clamping parts on the other side move in opposite directions. After moving into position, each clamping jaw firmly presses against the corresponding fixing column, thereby fixing the charging robot body. When it needs to be loosened, the clamping jaw can be driven to move in the opposite direction.

[0014] Preferably, the second preferred embodiment of the electric clamping part adopts a double-claw design that embraces each other. The fixing part is four fixed columns arranged on both sides of the target docking track, with two on each side. The number of the electric clamping parts is also four, and their setting positions correspond one-to-one to the positions of the four fixed columns. When performing the fixing operation of the charging robot body, the two clamping jaws of each electric clamping part embrace each other and clamp the corresponding fixed column, thereby achieving the fixation of the charging robot body. When loosening is required, just drive the two clamping jaws of each electric clamping part to move in the opposite direction.

[0015] Preferably, the second preferred embodiment of the robot fixing module is a pin shaft and pin hole electric plug-in module, including a pin shaft and a pin hole, one of the pin shaft and the pin hole is fixedly installed, and the other is installed on the charging robot body. When the charging robot moves to a certain charging station, the pin shaft and the pin hole electric plug-in module can be plugged in under the control of the control unit, thereby fixing the charging robot body. When loosening is required, it is sufficient to separate the pin shaft and the pin hole.

[0016] Preferably, the third preferred embodiment of the robot fixing module is a track wall self-fixing module, which is installed on the charging robot and includes a self-fixing drive module and a force-applying part. When the charging robot moves to a certain charging station, the force-applying part can be driven by the self-fixing drive module to press against the inner wall of the aerial track from the inside to the outside or to hold the outer wall of the aerial track from the outside to the inside, thereby fixing the charging robot body. When it needs to be loosened, just drive the force-applying part in the opposite direction.

[0017] Preferably, the fourth preferred embodiment of the robot fixing module is an external clamping module, which is installed on both sides of the aerial track of the charging station. When the charging robot moves to a certain charging station, the external clamping module can clamp the charging robot body from both sides, thereby fixing the charging robot body. When it needs to be released, just release the clamping state.

[0018] Preferably, the first preferred embodiment of the positioning and guidance module is a 3D structured light camera recognition and positioning module. 3D structured light is a widely used technology in 3D vision technology, offering excellent recognition and positioning accuracy. However, it also has its drawbacks, including significantly reduced accuracy and precision in strong outdoor sunlight and a limited field of view.

[0019] Preferably, the second preferred embodiment of the positioning and guidance module is a binocular 2D camera recognition and positioning module. Binocular 2D cameras are a rapidly developing 3D vision solution. While their recognition and positioning accuracy is not as good as that of 3D structured light, they have the advantages of being unaffected by sunlight, having lower hardware costs, and a wider field of view.

[0020] Furthermore, the aerial mobile charging robot system for fully automatic plugging and unplugging guns also includes a charging QR code scheduling system. The charging stations are arranged along the track path of the aerial track. Each charging station is provided with a charging QR code and each charging station corresponds one-to-one to the charging QR code set thereon. The user calls an idle charging robot through the charging QR code, and the charging QR code scheduling system realizes the scheduling and path planning of the charging robot.

[0021] Beneficial effects of the utility model:

[0022] On the one hand, aerial mobile charging allows charging piles to reach any parking space, providing mobile charging services for electric vehicles in any parking space under the track. On the other hand, it also solves the problem of gasoline vehicles occupying parking spaces. The fully automatic plug-in gun solution solves the full automation of the entire charging process and procedures.

[0023] From a user's perspective, since the user doesn't need to manually plug and unplug the charger, the charging process is completely streamlined, especially after a full charge. This eliminates the need for users to rush over to unplug the charger after charging, and also prevents the situation where a charging robot, unplugged, is unable to charge other electric vehicles in a parking space. This significantly improves the user's charging experience. Furthermore, fully automated queue charging and scheduled charging are possible. The advantage of queue charging is that even if all charging robots are currently occupied, as soon as a robot becomes available, it automatically charges users in the queue in the order they are waiting. The advantage of scheduled charging is that in cities with peak and off-peak electricity pricing, users can schedule charging during late-night hours when electricity is cheaper, significantly reducing both charging costs and vehicle usage costs. For charging operators, this significantly improves charging resource utilization and operational efficiency, accelerating their payback period and profitability. For the power grid, it can achieve peak load shifting, improving the utilization of distribution network resources, and reducing pressure on the grid. Therefore, compared to traditional fixed charging stations and manual aerial mobile charging solutions, fully automated aerial mobile charging offers disruptive advantages and significant technical benefits.

[0024] In the present invention, in addition to the aerial mobile charging technology, the cross-track track change and steering technology, and the robotic arm and vision collaborative multi-axis linkage technology, another very critical technology is the automatic fixation technology for the charging robot. Since the charging robot travels on the aerial track and can change tracks, in order to have the ability to move and change tracks, it must have at least four degrees of freedom in the front, back, left and right directions. However, when the charging robot uses the robotic arm to perform the action of plugging and unplugging the gun at the charging station, it must ensure that the charging robot body is completely fixed. Therefore, the requirement for the robot fixing module is that when the charging robot moves along the track path of the aerial track, there must be no interference between the fixed part and the moving part of the robot fixing module. However, when the charging robot travels to the charging station, the robot fixing module must be able to fully and effectively fix the charging robot body. The robot fixing module solutions proposed in the present invention can meet the above requirements.

[0025] It should be noted that the beneficial effects of the present invention are not limited to the above description, and can be understood in combination with specific technical solutions and preferred implementation methods. In addition, descriptions of the technical effects and beneficial effects of a specific technical solution or preferred implementation method are also interspersed in the invention content of the present invention and the implementation methods thereafter. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1This is a schematic diagram of the fully automatic gun plugging and unplugging aerial mobile charging robot of the present invention charging an electric vehicle at a certain charging station on the aerial track.

[0027] Figure 2 It is a detailed schematic diagram of the aerial mobile charging robot and the robot fixing module of the fully automatic plug-in gun. The electric clamping part in the figure adopts its first preferred embodiment, that is, a single clamping claw design.

[0028] Figure 3 This is a schematic diagram of the aerial mobile charging robot for fully automatic gun insertion and extraction, including a walking module.

[0029] Figure 4 It is a schematic diagram of the electric clamping part in the released state when the clamping claws are in the first preferred embodiment.

[0030] Figure 5 It is a schematic diagram of the electric clamping part adopting its first preferred embodiment when the clamping claw presses against the corresponding fixed column. DETAILED DESCRIPTION

[0031] The present invention will be further described and explained in detail below in conjunction with the embodiments, implementation methods, and accompanying drawings of the present invention. It should be noted that the embodiments or implementation methods described are only part of the embodiments or implementation methods of the present invention, rather than all of the embodiments or implementation methods. The accompanying drawings are only schematic diagrams for convenience of explanation, rather than complete limitations on the implementation methods of the present invention. Based on the embodiments or implementation methods of the present invention, all other embodiments or implementation methods obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] The following description of the embodiments or implementations of the present invention is merely illustrative in nature and is in no way intended to limit the present invention and its application or use.

[0033] like Figure 1-5As shown, the charging robot includes a charging robot body 3, a charging module, a robotic arm 2, a charging gun cable, a charging gun 11, a walking module, a power supply module 14, and a positioning and guiding module 10. The charging robot is suspended and deployed on the aerial track 7, and can move along the aerial track 7 through the walking module, and can draw electricity from the power supply line deployed along the aerial track 7 through the power supply module 14; the charging gun 11 is connected to the charging robot body 3 through the robotic arm 2, and the charging gun cable is arranged along the robotic arm 2, with one end of the charging gun cable connected to the charging gun 11 and the other end connected to the charging module; the walking module can drive the charging robot to move along the track path of the aerial track 7, and the charging robot draws electricity from the power supply line through the power supply module; the robotic arm 2 is used to drive the charging gun 11 to realize the charging of electric vehicles. 1, the automatic plugging and unplugging of the gun at the charging port 101 of the electric vehicle, the positioning and guiding module 10 is used to provide positioning and guidance for the robot arm 2, and can guide the robot arm 2 to accurately move with the charging gun 11 to the position of the electric vehicle charging port and perform the gun plugging action; the robot fixing module is used to fix the charging robot body 3 when the charging robot moves to the charging station for charging the electric vehicle 1, so that it will not move or shake when the robot arm 2 performs the automatic plugging and unplugging of the gun; the movement and power supply control of the charging robot, the action control of the robot arm 2, the control of the robot fixing module, and the control of the positioning and guiding module 10 are all realized by the control unit.

[0034] Figure 1 The diagram shows the charging robot charging an electric car at a certain charging station on the aerial track 7. In the figure, the aerial track 7 is a crisscross pattern with branches symmetrically distributed on both sides of the main road. The robot fixing module adopts its first preferred embodiment. In this embodiment, the robot fixing module also includes a fixing part mounting bracket 6. The electric clamping part also adopts its first preferred embodiment, that is, a single clamping claw design. The fixing part is a fixed column 5 set on both sides of the target docking track. There are four of them, two on each side. There are also four electric clamping parts, and their setting positions correspond one to one with the positions of the four fixed columns. Figure 2 As shown, the electric clamping part includes a clamping jaw drive unit 8 and a clamping jaw 4. When performing the fixing operation on the charging robot body 3, the clamping jaws of the two electric clamping parts located on the same side of the target docking track move in the same direction, while the clamping jaws of the two electric clamping parts on the other side move in opposite directions. After moving into place, each clamping jaw firmly presses against the corresponding fixing column, thereby fixing the charging robot body. When it needs to be loosened, the clamping jaw can be driven to move in the opposite direction.

[0035] like Figure 2-5As shown, in the present invention, preferably, the clamping jaw 4 presses against the fixing column 5 from the outside to the inside, wherein Figure 4 shows a schematic diagram of the clamping jaw 4 in a released state, Figure 5 The diagram shows the clamping jaw 4 pressing against the fixing post 5 from the outside inward. Of course, the clamping jaw 4 and the fixing post 5 can also be pressed against each other from the inside outward. It should be noted that the solution of the clamping jaw 4 pressing against the fixing post 5 from the inside outward should also be protected by the present invention.

[0036] like Figure 1 、 Figure 2 As shown, preferably, the fixing column 5 is fixed to the fixing portion mounting bracket 6 through a threaded rod 9 .

[0037] Preferably, the positioning and guidance module 10 can be a three-dimensional structured light camera recognition and positioning module, or a binocular two-dimensional camera recognition and positioning module. The present invention does not limit the type of the positioning and guidance module 10. Simply changing the type of the positioning and guidance module 10 on the basis of the present invention should fall within the protection scope of the present invention.

[0038] The implementation methods of the present invention and other parts supporting the present invention are also introduced below.

[0039] <Aerial Track Implementation Method>

[0040] like Figure 4 As shown, the aerial track 7 is arranged in a suspended manner to provide a travel track and suspension support for the walking module. Preferably, the arrangement of the aerial track 7 corresponds to the parking space layout one by one, and the charging station is set on the aerial track above the side of each parking space.

[0041] Preferably, the specific size, cross-section, material, etc. of the aerial track 7 are set according to actual load-bearing and strength requirements.

[0042] Preferably, the aerial track 7 includes a track support surface and a track groove, and the track path of the aerial track 7 includes a plurality of straight sections, a plurality of intersection sections, and greater than or equal to zero turning sections. It should be noted that the straight sections do not need to be completely straight sections, but refer to track sections without bifurcations and sharp turns. The intersection sections can be mutually perpendicular cross intersection sections or "T"-shaped intersections. The turning sections refer to track sections that require sharp turns but do not bifurcate.

[0043] Preferably, the aerial track 7 can be fixed by the ceiling, load-bearing columns, walls, etc. of the installation site, so that the aerial track 7 has load-bearing capacity.

[0044] When there is no ceiling, wall or load-bearing column in the erection site, preferably, the aerial track 7 can be suspended and fixed by a column support or the like. The number, position, structure and material of the column support are set according to the actual load-bearing and construction needs.

[0045] <Walking module implementation>

[0046] As Figure 1 , 3 , 4, 5 show the first preferred embodiment of the charging robot with variable rail turning capability in the utility model, in this embodiment, the walking module can drive the charging robot to straighten or turn at the intersection and turning section position of the aerial track 7 according to the needs of the advancing route; the aerial track 7 includes a track supporting surface, the walking module includes a drive wheel independent spot turning module, the drive wheel independent spot turning module is used to enable the charging robot to turn at the intersection or turning section position of the aerial track 7, and after turning, it can move along the aerial track path after turning under the driving of the driving module. Preferably, the drive wheel independent spot turning module includes four independent turning drive wheel modules arranged in a square four-corner along the horizontal direction, each independent turning drive wheel module includes a turning motor 13, a power motor, a rotating frame, a wheel 12, the tread of the wheel 12 contacts with the track supporting surface in the movement process, the power motor is installed on the rotating frame, the rotating frame is fixedly connected with the rotating shaft of the turning motor 13, the wheel 12 is provided with rotating power by the power motor, the rotating shaft of the turning motor 13 is along the vertical direction, the rotating shaft of the power motor is along the horizontal direction, the axis of the rotating shaft of the turning motor 13 intersects with the axis of the rotating shaft of the power motor, the axis of the rotating shaft of the turning motor 13 passes through the center point of the contact between the tread of the wheel 12 and the track supporting surface, under the driving of the turning motor 13, each wheel 12 can independently rotate around the center point of the contact between the tread and the track supporting surface, and under the driving of the power motor, each wheel 12 can independently reverse around the wheel shaft axis.

[0047] <Control unit implementation>

[0048] The control unit should have at least data analysis processing and control capabilities, can be a general chip, such as central processing unit CPU, microprocessor MCU, etc., can also be a special processing control chip, or a circuit board module with the above-mentioned chip as the master control chip. The control unit usually carries programs or software to realize the corresponding functions. The control unit can be a single integrated controller or composed of multiple controllers. The utility model does not limit the type, form, deployment mode and composition architecture of the control unit, and only the type, form, deployment mode and composition architecture of the control unit are simply changed on the basis of the utility model, which should fall within the protection scope of the utility model.

[0049] 〈Power taking module embodiment〉

[0050] When the charging robot needs to take power, the power taking module is in contact with the power supply line to realize power taking, and when the charging robot does not need to take power, the power taking module is disconnected from the power supply line to disconnect with the power supply line. The power taking contact mode can be fixed-point contact power taking, sliding contact power taking, plug-in power taking and other common conductor contact power taking modes. These power taking contact modes are commonly used power taking modes in the field of power and electricity, which will not be described in detail here.

[0051] 〈Charging robot calling embodiment〉

[0052] Further, the full-automatic plug-in gun air-moving charging robot system further comprises a charging two-dimensional code scheduling system, the charging stations are arranged along the track path of the air track, each charging station is provided with a charging two-dimensional code, and each charging station corresponds to the charging two-dimensional code arranged thereon in one-to-one correspondence. The user scans the charging two-dimensional code through a mobile phone APP or a WeChat applet to call an idle charging robot, and the charging two-dimensional code scheduling system realizes scheduling and path planning of the charging robot.

[0053] 〈Mechanical arm embodiment〉

[0054] Preferably, the mechanical arm 2 is a six-axis collaborative mechanical arm with multi-axis linkage capability and capable of interactive communication with the positioning guide module 10. The six-axis collaborative mechanical arm is a kind of mechanical arm commonly used in the mechanical arm industry at present, which usually has the advantages of light weight and high repeatability positioning accuracy, but the load is usually not large, generally several kilograms to several dozen kilograms. Since the load of the charging gun performing the plug-in gun action is usually several kilograms, the six-axis collaborative mechanical arm is very suitable. It should be noted that the utility model does not limit the type and form of the mechanical arm, and only the type and form of the mechanical arm are simply changed on the basis of the utility model, which should fall within the protection scope of the utility model.

[0055] <Charging Module Implementation Method>

[0056] Preferably, the charging module is used to convert the input electricity of the charging robot into output electricity that can charge the electric vehicle. Preferably, the charging module includes a charging power module commonly used in the charging pile industry. Since the charging power module is already very common in the charging pile industry, it will not be described in detail here.

Claims

1. A fully automatic gun plug-in and unplug aerial mobile charging robot system for realizing fully automatic charging of electric vehicles, characterized in that: It includes a charging robot, an aerial track, a power supply line, a robot fixing module, and a control unit. The charging robot includes a charging robot body, a charging module, a robotic arm, a charging gun cable, a charging gun, a walking module, a power supply module, and a positioning and guiding module. The charging robot is suspended and deployed on an aerial track, can move along the aerial track through the walking module, and can draw power from a power supply line deployed along the aerial track through the power supply module; The charging gun is connected to the charging robot body through the robotic arm, and the charging gun cable is laid along the robotic arm, with one end of the charging gun cable connected to the charging gun and the other end connected to the charging module; The walking module can drive the charging robot to move along the track path of the aerial track, and the charging robot draws power from the power supply line through the power drawing module; The robotic arm is used to drive the charging gun to automatically insert and remove the gun from the electric vehicle charging port. The positioning and guidance module is used to provide positioning and guidance for the robotic arm, and can guide the robotic arm to accurately move the charging gun to the position of the electric vehicle charging port and implement the gun insertion action; The robot fixing module is used to fix the charging robot body when the charging robot moves to the charging station for charging electric vehicles, so that the charging robot body will not move or shake when the robotic arm performs the automatic insertion and removal of the gun; The movement and power supply control of the charging robot, the motion control of the robotic arm, the control of the robot fixing module, and the control of the positioning and guiding module are all implemented by the control unit.

2. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: The track path of the aerial track includes a plurality of straight sections, a plurality of intersections, and greater than or equal to zero turning sections. The walking module can drive the charging robot to go straight or turn at the intersections and turning sections of the aerial track according to the requirements of the travel route; the aerial track includes a track supporting surface, and the walking module 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 of the aerial track, and after turning, it can move along the turned aerial track path under the drive of the walking module.

3. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 2 is characterized in that: The independent in-situ steering module of the driving wheel includes four independent steering driving wheel modules, which are arranged at the four corners of a square in the horizontal direction. Each independent steering driving 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. 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.

4. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: The track path of the aerial track includes several straight sections, several intersections, and greater than or equal to zero turning sections. A track turntable is provided at each intersection and turning section of the aerial track. The track turntable can rotate along a horizontal plane under the control of the control unit. When the walking module of the charging robot is located in the track turntable, the track turntable can drive the charging robot to rotate together. After turning into place, the walking module can move straight forward in the direction of the rotated track.

5. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: It also includes an automatic cover opening module, which communicates with a target electric vehicle that supports automatic opening of the charging cover through wireless communication, thereby controlling the opening of the charging cover of the target electric vehicle.

6. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: The robot fixing module includes a fixing part and an electric clamping part. The fixing part is installed on both sides of the aerial track of the charging station. This section of the aerial track is called the target docking track. There are several electric clamping parts, all of which are installed on the charging robot body. The electric clamping part includes a clamping claw. The movable stroke direction of the clamping claw is perpendicular to the track path direction of the target docking track. When the charging robot moves to a certain charging station, the electric clamping part can drive the clamping claw to press against the fixing part, thereby fixing the charging robot body. When it needs to be loosened, just drive the clamping claw to move in the opposite direction.

7. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 6 is characterized in that: The electric clamping part adopts a single-claw design, and the fixing part is four fixing columns arranged on both sides of the target docking track, with two on each side. The number of the electric clamping parts is also four, and their setting positions correspond one-to-one to the positions of the four fixing columns. When performing the fixing operation of the charging robot body, the clamping claws of the two electric clamping parts on the same side of the target docking track move in the same direction, while the clamping claws of the two electric clamping parts on the other side move in opposite directions. After moving into position, each clamping claw firmly presses against the corresponding fixing column, thereby fixing the charging robot body. When it needs to be loosened, the clamping claw can be driven to move in the opposite direction.

8. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 6 is characterized in that: The electric clamping part adopts a double-claw design that embraces each other. The fixed part is four fixed columns arranged on both sides of the target docking track, with two on each side. The number of the electric clamping parts is also four, and their setting positions correspond one-to-one to the positions of the four fixed columns. When performing the fixing operation of the charging robot body, the two claws of each electric clamping part embrace each other and clamp the corresponding fixed column, thereby achieving the fixation of the charging robot body. When loosening is required, just drive the two claws of each electric clamping part to move in the opposite direction.

9. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: The robot fixing module is a pin shaft and pin hole electric plug-in module, including a pin shaft and a pin hole. One of the pin shaft and the pin hole is fixedly installed, and the other is installed on the charging robot body. When the charging robot moves to a certain charging station, the pin shaft and the pin hole electric plug-in module can be plugged in under the control of the control unit, thereby fixing the charging robot body. When loosening is required, just separate the pin shaft and the pin hole.

10. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: The robot fixing module is a track wall self-fixing module, which is installed on the charging robot and includes a self-fixing drive module and a force-applying part. When the charging robot moves to a certain charging station, the force-applying part can be driven by the self-fixing drive module to press against the inner wall of the aerial track from the inside to the outside or to hold the outer wall of the aerial track from the outside to the inside, thereby fixing the charging robot body. When it needs to be loosened, just drive the force-applying part in the opposite direction.

11. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: The robot fixing module is an external clamping module, which is installed on both sides of the aerial track of the charging station. When the charging robot moves to a certain charging station, the external clamping module can clamp the charging robot body from both sides, thereby fixing the charging robot body. When it needs to be released, just release the clamping state.

12. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: The positioning and guidance module is a three-dimensional structured light camera recognition and positioning module.

13. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: The positioning and guidance module is a binocular two-dimensional camera recognition and positioning module.

14. The aerial mobile charging robot system for fully automatic gun insertion and extraction according to claim 1 is characterized in that: It also includes a charging QR code scheduling system. The charging stations are arranged along the track path of the aerial track. Each charging station is provided with a charging QR code and each charging station corresponds one-to-one to the charging QR code set thereon. The user calls an idle charging robot through the charging QR code, and the charging QR code scheduling system realizes the scheduling and path planning of the charging robot.

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