Charging and storage separation type new energy automobile mobile charging equipment

Abstract

The utility model provides a charging and storage separation type new energy automobile mobile charging device, which relates to the technical field of new energy automobile charging, and comprises a mobile device, an energy storage device, a docking device and a lifting device, when a charging demand is received, the mobile device transports the energy storage device to a position near a charging port of an automobile needing to be charged, and the docking device is connected with the lifting device; the charging gun on the energy storage device is automatically inserted into the charging port through the docking device, the charging gun is released, the lifting device descends, the energy storage device stands on the ground, and the moving device can be separated from the energy storage device and then returns to the charging station. And after charging is completed, the moving device moves to the charging position again, the charging gun is pulled out and withdrawn, the energy storage device is jacked through the lifting device to be separated from the ground, and the energy storage device is carried to return to the charging station. Movable and flexible charging is achieved, capacity expansion and charging pile installation are not needed, and the system can adapt to different community and business place scenes.

Description

TECHNICAL FIELD

[0001] The utility model relates to new energy automobile charging technical field, especially relate to the mobile charging equipment of new energy automobile of charge storage separation. BACKGROUND

[0002] With the development of new energy automobile industry, charging pile becomes the bottleneck restricting the development of new energy automobile more and more, in recent years, the number of enterprises related to charging pile presents the trend of rapid growth, the charging pile service area matched with domestic highway has exceeded 2000, the retention of charging pile exceeds 10,000, the total amount of charging infrastructure in the country exceeds 2 million, and there is an average of 1 charging pile for every 3 vehicles. But so many charging piles still cannot meet the needs of new energy vehicles, after analysis, based on the existing power grid infrastructure construction, charging piles mainly face the following challenges and problems:

[0003] 1. The charging pile lacks planning in traditional community construction. The population density of the community is relatively large, the land is relatively scarce, the site is limited, the parking space is nervous and the location margin is limited, and the public area has strict planning, and building fixed charging piles will inevitably occupy the public land resources which are already very tight, leading to difficulty in laying out fixed charging piles.

[0004] 2. The power grid capacity of old community is insufficient to support large-scale charging pile construction. Using high-power charging piles in old communities will cause impact and safety hazards to the smooth operation of local power grids, and it is difficult to expand the capacity of community power grids. Even if there is a condition to increase the capacity, there is certain pressure in terms of funds. Therefore, some properties resist the installation and use of charging piles. Most of the fixed charging piles in old communities use high voltage and large current working mode, and most of the charging piles are installed in open environment, which has poor safety, and the frequent safety accidents of electric vehicles in recent years have intensified people's concerns about the safety accidents caused by fixed charging piles. It is difficult for individuals to build piles in old communities, and fixed charging piles enter the community slowly, which cannot meet the charging needs of electric vehicle private users, and the charging is slow, lacks supporting charging services, and the later maintenance and management are difficult, and the cost is high.

[0005] 3. New energy vehicles lack enough charging piles for long-distance driving. The distribution of charging piles in highway service areas is uneven, the bad pile rate is high, and the production standards of charging piles are inconsistent, causing interface incompatibility. The daily service area piles are idle and wasted, and during holidays, it is difficult to find a pile. In places with heavy traffic, the number of charging piles is not enough, and the waiting time for charging is long.

[0006] 4. New energy parking spaces and fuel parking spaces in commercial places such as shopping malls are difficult to balance. Early shopping mall parking lots are not planned to install space, new pile investment is large, and recovery cost cycle is long. During the peak period of shopping mall traffic, ordinary fuel vehicles occupy a serious position, and the utilization rate of the vehicle pile is low. The shopping mall needs to rebuild fixed charging piles, one is that the capacity is tight, and two is that the expansion cost is high, and the later maintenance and management are difficult. Some fixed charging piles in the shopping mall have short fast charging time, and the vehicle owner receives the "move the car" interference information at the same time "splitting", which is easy to generate an occupancy fee, and the user experience is poor.

[0007] Therefore, the mobile automobile charging device becomes a good solution. For example, the prior art discloses a new energy automobile automatic charging device based on AGV (application number: CN202121625938.4), which sets a line rail at the rear of the parking area to move the mobile robot and the power supply device in the X-axis and Y-axis directions, and then positions the automobile charging cover and the charging port position through the mechanical arm and the electric clamping jaw and with the help of the positioning camera and the laser displacement sensor, so as to automatically open the charging cover, clamp the charging gun and insert it into the charging port, and realize the movable automatic charging. Although it solves the above problems to some extent, it is limited by the line rail, has poor flexibility, and the line rail arrangement is troublesome and easy to be damaged, which will bring a series of subsequent maintenance problems.

[0008] Based on this, the utility model is proposed. Utility model content

[0009] To solve at least one problem in the background art, the utility model provides a charging and storage separated new energy automobile mobile charging device to realize movable and flexible charging of the new energy automobile, without expanding and installing charging piles, and to adapt to different community and commercial place scenes and improve resource allocation rate.

[0010] To achieve the above purpose, the utility model provides the following technical scheme:

[0011] The charging and storage separated new energy automobile mobile charging device comprises a mobile device, an energy storage device, a docking device and a lifting device; the energy storage device is arranged on the mobile device and can be separated from the mobile device, the energy storage device internally carries an energy storage battery and a charging gun matched with a new energy automobile charging port, and the charging gun is used to dock with the new energy automobile charging port to charge the new energy automobile; the mobile device is at least configured to carry the energy storage device to the position of the new energy automobile charging port; the docking device is installed on the mobile device and is used to automatically grab the charging gun and dock with the new energy automobile charging port; and the lifting device is arranged on the mobile device and located between the mobile device and the energy storage device, and the lifting device makes the mobile device load or unload the mobile device through lifting action.

[0012] In order to realize the movement of the mobile device and the smooth landing of the energy storage device after being separated from the mobile device, the application provides a preferred solution, a mobile device, having a vehicle body and a movement assembly arranged on the vehicle body, the movement assembly driving the vehicle body to move; an energy storage device, the bottom of which is arranged on the vehicle body of the mobile device; and a support arranged at the bottom of the energy storage device and capable of contacting the ground.

[0013] In order to realize the accurate docking of the charging gun and the charging port by the docking device, the application provides a preferred solution, a docking device, having a mechanical arm, a clamping piece and a charging port recognition device; one end of the mechanical arm is movably arranged on a vehicle body, and the other end movably arranges the clamping piece; the clamping piece is detachably fixedly connected with the charging gun and is used for grabbing and releasing the charging gun; and the charging port recognition device is arranged on the clamping piece and is used for recognizing the position of the charging port of the new energy vehicle.

[0014] In order to realize the separation of the energy storage device and the mobile device, the application provides a preferred solution, a lifting device, arranged on the vehicle body and below the energy storage device and used for jacking up and lowering the energy storage device; the lifting device jacks up the energy storage device, and the bottom of the energy storage device can be separated from the ground; and the lifting device lowers the energy storage device, and the bottom of the energy storage device can contact the ground and be separated from the mobile device.

[0015] In order to realize the automatic movement of the mobile device to the charging port position, the application provides a preferred solution, the mobile charging equipment for the new energy vehicle with separated energy storage and charging, further comprising: a positioning and navigation device, arranged on the vehicle body and used for the positioning and navigation of the mobile device, comprising: a binocular camera and a laser radar arranged on the vehicle body; the binocular camera is used for acquiring visual data in front of the mobile device and sending the data to the control device, and the laser radar is used for acquiring surveying and mapping and positioning data of the environment around the mobile device and sending the data to the control device, so as to ensure the accurate positioning and navigation of the mobile device during the process of moving to the vehicle to be charged or returning to the charging station.

[0016] In order to realize the automatic movement and charging, the application provides a preferred solution, the mobile charging equipment for the new energy vehicle with separated energy storage and charging, further comprising: a control device, arranged in the vehicle body and electrically connected with the movement assembly, the mechanical arm, the clamping piece, the energy storage device and the lifting device, and communicatively connected with the positioning and navigation device and the charging port recognition device; the positioning and navigation device and the charging port recognition device send the acquired data to the control device, the control device analyzes the data, and controls the movement of the movement assembly, the clamping piece to perform the grabbing and releasing action, the energy storage device to discharge or stop discharging, and the lifting device to jack up or lower.

[0017] In order to further realize the accurate docking of the charging gun and the charging port, the application provides a preferred solution, the charging port recognition device adopts a D-structured light camera, which is used for acquiring the image, feature and spatial pose data of the charging port and sending the data to the control device.

[0018] Compared with the prior art, the above technical scheme has the following advantages:

[0019] The utility model discloses a new energy automobile mobile charging equipment of charge storage separation, when the new energy automobile needs to be charged, mobile device can choose a energy storage device in the charging station and send to the charging port of the new energy automobile of demand, then through the docking device, the charging gun on the energy storage device is automatically inserted to the charging port, then the inserted charging gun is released, and the lifting device is lowered, and the energy storage device stands on the ground, and the mobile device can be separated from the energy storage device, and then returns to the charging station. When the charging is completed, the mobile device can go to the charging position again, pull out the charging gun and recover, lift the energy storage device through the lifting device, make it separate from the ground, and finally carry the energy storage device and return to the charging station. Therefore, the utility model discloses a new energy automobile mobile charging equipment of charge storage separation, which can realize mobile flexible charging of the new energy automobile, does not need to expand and install the charging pile, can adapt to different community, commercial place scene and improve the resource allocation rate. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only the embodiments of the utility model, and those skilled in the art can obtain other drawings according to the provided drawings without creating labor.

[0021] Figure 1 The utility model discloses a new energy automobile mobile charging equipment of charge storage separation in a specific embodiment provided by the utility model for the structural diagram (view angle one) of mobile device and docking device;

[0022] Figure 2 The utility model discloses a new energy automobile mobile charging equipment of charge storage separation in a specific embodiment provided by the utility model for the structural diagram (view angle two) of mobile device and docking device;

[0023] Figure 3 The utility model discloses a new energy automobile mobile charging equipment of charge storage separation in a specific embodiment provided by the utility model for the structural diagram (view angle one) of energy storage device;

[0024] Figure 4 The utility model discloses a new energy automobile mobile charging equipment of charge storage separation in a specific embodiment provided by the utility model for the structural diagram (view angle two) of energy storage device;

[0025] Figure 5 The utility model discloses a new energy automobile mobile charging equipment of charge storage separation in a specific embodiment provided by the utility model for the structural diagram (view angle one) of lifting device;

[0026] Figure 6 A structure schematic view (view angle two) of the lifting device in the charging and storage separated type new energy automobile mobile charging equipment according to an embodiment of the utility model is provided in the embodiment of the utility model;

[0027] Figure 7 A structure schematic view of the clamping piece and the charging gun after cooperation in the charging and storage separated type new energy automobile mobile charging equipment according to an embodiment of the utility model is provided in the embodiment of the utility model;

[0028] Figure 8 A control block diagram of the control device of the charging and storage separated type new energy automobile mobile charging equipment according to an embodiment of the utility model is provided in the embodiment of the utility model.

[0029] The signs are as follows: mobile device 100, vehicle body 110, body part 111, head part 112, hand part 113, base 114, movement assembly 120, wheel 121, tray 130, first power supply interface 140, first display screen 150, energy storage device 200, box 210, support 220, support leg 230, charging gun 240, second display screen 250, second power supply interface 260, charging gun placing position 271, charging gun outlet 272, docking device 300, mechanical arm 310, base 311, shoulder part 312, large arm part 313, elbow part 314, small arm part 315, first wrist part 316, second wrist part 317, clamping piece 320, clamping needle 321, fixing frame 330, charging port identification device 340, lifting device 400, lifting table 410, mounting frame 420, nut 430, lead screw 440, positioning and navigation device 500, binocular camera 510, laser radar 520, control device 600. EMBODIMENT

[0030] The technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model, obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor are within the protection scope of the utility model.

[0031] Please refer to Figure 1 , Figure 2 and Figure 3, the mobile charging device for new energy vehicles with charge storage separation is mainly composed of a mobile device 100, an energy storage device 200, a docking device 300 and a lifting device 400; the energy storage device 200 is arranged on the mobile device 100 and can be separated from the mobile device 100, the energy storage device 200 internally carries an energy storage battery and a charging gun 240 matched with a charging port of a new energy vehicle, and the charging gun 240 is used to dock with the charging port of the new energy vehicle to charge the new energy vehicle; the mobile device 100 is at least configured to carry the energy storage device 200 to move to a position of the charging port of the new energy vehicle; the docking device 300 is installed on the mobile device 100 and is used to automatically grasp the charging gun 240 to dock with the charging port of the new energy vehicle; and the lifting device 400 is arranged on the mobile device 100 and located between the mobile device 100 and the energy storage device 200, and the lifting device 400 is used to load or unload the mobile device 100 through a lifting action.

[0032] The mobile charging device for new energy vehicles with charge storage separation in the above embodiment can realize the following beneficial technical effects:

[0033] The mobile charging device for new energy vehicles with charge storage separation in the above embodiment can realize the following beneficial technical effects:

[0034] 1. The mobile charging device for new energy vehicles with charge storage separation can realize the mobile and flexible charging of the new energy vehicles, does not need to expand and install charging piles, can adapt to different community and commercial site scenes, and improves the resource allocation rate.

[0035] 2. The mobile charging device for new energy vehicles with charge storage separation has low requirements on site supporting facilities, can be adapted to outdoor and indoor scenes, directly solves the equipment installation service at the charging end, saves the construction cost, and is simple and convenient to install.

[0036] 3. The mobile charging device for new energy vehicles with charge storage separation does not need a fixed parking space, changes the "person looking for a pile" to "pile looking for a car", and meets the demand of the new energy vehicle owner for quickly connecting the power supply.

[0037] 4. The mobile charging device for new energy vehicles with charge storage separation has a battery for expansion and is flexible to move, can charge in an ordinary parking space and is not limited by fixed charging piles, becomes a new income growth point of a parking lot, and greatly reduces the pile construction cost.

[0038] 5. The charging equipment adopts a detachable design for the mobile device 100 and energy storage device 200, reducing overall operating costs by increasing the utilization rate of the relatively expensive mobile device. The mobile power supply itself has a relatively low cost, thus reducing the number of mobile devices required to achieve cost reduction. Specifically, it enables one vehicle to serve multiple purposes (100 mobile devices in total), meeting the charging needs of multiple vehicles, reducing costs, and improving resource and space utilization. Only 1 to 2 composite robots are needed for a single application scenario, while the number of mobile power supplies can be increased according to the specific application site requirements, significantly reducing the overall solution cost and the cost of subsequent commercial deployment.

[0039] In a preferred embodiment, the charging and storage separated mobile charging equipment for new energy vehicles mainly consists of a mobile device 100, an energy storage device 200, a docking device 300, a lifting device 400, a positioning and navigation device 500, and a control device 600. The energy storage device 200 is separable from the mobile device 100. The mobile device 100 has a vehicle body 110 and a motion component 120 mounted on the vehicle body 110, which drives the vehicle body 110 to move. The energy storage device 200 is mounted on the vehicle body 110 of the mobile device 100. The bottom of the energy storage device 200 has a support 220 that can contact the ground. The energy storage device 200 contains an energy storage battery and a charging gun 240 that matches the charging port of the new energy vehicle. Power is drawn from the charging port of the new energy vehicle through the charging gun 240 to charge the new energy vehicle. A lifting device 400, mounted on the vehicle body 110 and located below the energy storage device 200, is used to lift / lower the energy storage device 200. The lifting device 400 lifts the energy storage device 200, allowing the bottom of the energy storage device 200 to detach from the ground; the lifting device 400 lowers the energy storage device 200, allowing the bottom of the energy storage device 200 to contact the ground and separate from the moving device 100. A docking device 300 includes a robotic arm 310, a gripper 320, and a charging port identification device 340. One end of the robotic arm 310 is movably mounted on the vehicle body 110, and the other end is movably mounted on the gripper 320. The gripper 320 can be detachably and fixedly connected to the charging gun 240 for gripping / releasing the charging gun 240. The charging port identification device 340 is mounted on the gripper 320 for identifying the location of the charging port of the new energy vehicle.

[0040] Please refer to Figure 8The control device 600 is installed in the vehicle body 110 and is electrically connected with the movement assembly 120, the mechanical arm 310, the clamping piece 320, the energy storage device 200 and the lifting device 400 and is in communication connection with the positioning and navigation device 500 and the charging port recognition device 340; the positioning and navigation device 500 and the charging port recognition device 340 send the acquired data to the control device 600, the control device 600 controls the movement assembly 120 to move / stop, the clamping piece 320 to perform the grabbing / release action, the energy storage device 200 to discharge / stop discharging and the lifting device 400 to lift up / lower down after analyzing the data.

[0041] The above-mentioned embodiment of the mobile charging device for new energy vehicle with energy storage separation can select a energy storage device in the charging station and transport the energy storage device to the vicinity of the charging port of the new energy vehicle in need of charging when the new energy vehicle needs to be charged, then automatically insert the charging gun on the energy storage device into the charging port through the mechanical arm, the clamping piece and the charging port recognition device, then release the inserted charging gun by the clamping piece, reset the mechanical arm, lower the lifting device, make the energy storage device stand on the ground, separate the mobile device from the energy storage device and then return to the charging station. When the charging is completed, the mobile device can go to the charging position again, pull out the charging gun and collect it back, lift up the energy storage device through the lifting device, make the energy storage device separate from the ground and finally carry the energy storage device back to the charging station. The mobile device can be positioned and navigated through the positioning and navigation device during the movement. Therefore, the mobile charging device for new energy vehicle with energy storage separation can realize the mobile and flexible charging of the new energy vehicle, does not need to expand and install charging piles, can adapt to different community and commercial place scenes and improve the resource allocation rate.

[0042] In the initial state, the energy storage device 200 (multiple can be set according to actual needs) is fully charged and placed in the charging station. When a vehicle needs to be charged, the mobile device 100 selects the energy storage device 200, and the vehicle body 110 is used to erect the part of the energy storage device 200 and is driven into the bracket 220 at the bottom of the energy storage device 200. Then the lifting device 400 is lifted to lift the bottom of the energy storage device 200, so that the energy storage device 200 is separated from the ground and erected on the vehicle body 110. The mobile device 100 can transport the energy storage device 200. During transportation, the mobile device 100 obtains the specific position of the vehicle to be charged through the positioning and navigation device 500 installed on the vehicle body 110, and then navigates to the corresponding position. During this period, the positioning and navigation device 500 feeds back data to the control device 600, and the control device 600 processes and analyzes the data to control the movement assembly 120 of the mobile device 100 to move / stops accordingly. When the mobile charging equipment reaches the vicinity of the charging port of the vehicle to be charged, the positioning and navigation device 500 feeds back to the control device 600, and the control device 600 controls the docking device 300 to start, that is, the mechanical arm 310 and the clamping piece 320 are started to grab the charging gun 240 located on the energy storage device 200 and transported to the vicinity of the charging port. Then the charging port recognition device 340 located above the clamping piece 320 obtains the position information of the charging port, performs docking recognition, and feeds back the recognized data to the control device 600. The control device 600 processes and analyzes the charging port recognition data, and then controls the mechanical arm 310 to make corresponding actions to automatically insert the charging gun 240 into the charging port, complete the docking, and control the energy storage device 200 to discharge to the vehicle for charging. Then the clamping piece 320 releases the inserted charging gun 240, the mechanical arm 320 resets, the lifting device 400 descends, and the energy storage device 200 stands on the ground. The mobile device 100 can be separated from the energy storage device 200, and then returns to the charging station. When the charging is completed, the mobile device 100 can again go to the charging position to pull out the charging gun 240 and collect it. The lifting device 100 lifts the energy storage device 200 to make it separate from the ground, and finally carries the energy storage device 200 back to the charging station.

[0043] In an embodiment, referring to Figure 1 As shown in the figure, the vehicle body 110 includes a base 114, a body part 111 provided at the front end of the base 114, a head part 112 provided at the upper end of the body part 111, and hand parts 113 provided at both sides of the body part 111. The body part 111, the head part 112 and the hand parts 113 are combined to resemble a robot, improving the appearance and technological sense. In a preferred embodiment, a first display screen 150 is provided on the front of the body part 111 for displaying relevant information and human-computer interaction, improving user experience. The height of the bracket 220 is greater than the height of the base 114, which can ensure that the mobile device 100 can be separated from the energy storage device 200 in a natural state (the lifting device 400 is not lifted).Figure 4 As shown, the energy storage device 200 has a box body 210, the energy storage battery is arranged in the box body 210, the box body 210 is provided with a power supply interface for charging the energy storage battery, that is, a second power supply interface 260, and the box body 210 is also provided with a second display screen 250 for displaying information such as power. In a preferred embodiment, the bottom of the support 220 is provided with a support leg 230, which can adopt the form of a pulley with a brake, a universal wheel, etc., so as to increase flexibility while ensuring fixation. The support 220 also has various structural forms, such as Figure 3 In the middle, four columns are installed at the bottom of the energy storage device 200 to form the support 220. It can also be provided with corresponding sheet metal extending from both sides of the box body 210 as a support on both sides of the energy storage device 200, not limited to the above two forms. In addition, it should be noted that please refer to Figure 3 The box body 210 is provided with a charging gun placement position 271 and a charging gun outlet 272, and the charging wire of the charging gun 240 is led out from the power output end of the energy storage battery in the box body 210 and out of the charging gun outlet 272.

[0044] In an embodiment, the mechanical arm 310 is installed on the back side of the body part 111, and the charging gun 240 is installed on the side of the energy storage device 200 facing the body part 111. In other words, the charging gun placement position 271 and the charging gun outlet 272 are arranged on the side of the energy storage device 200 facing the body part 111, so that the charging gun 240 faces the mechanical arm 310, facilitating the quick grabbing / placing of the mechanical arm 310 and the clamping piece 320.

[0045] In an embodiment, the motion assembly 120 includes wheels 121 arranged at the bottom of the vehicle body 110 and a driving member; the driving member drives the wheels 121 to move forward / backward / laterally / 360° turn. The wheels 121 adopt Mecanum wheels, which can realize 360° lateral movement and zero-radius turning chassis control, and are suitable for various narrow scenes.

[0046] In an embodiment, the vehicle body 110 is provided with a power supply module for supplying power to the mobile device 100; the tail is provided with a first power supply interface 140 adopting magnetic attraction charging or wireless charging as a charging input interface, and correspondingly, the charging station is also provided with a corresponding magnetic attraction charging or wireless charging interface to output power, and the mobile device 100 can return to the charging station through the positioning and navigation device 500, and realize automatic and rapid charging through magnetic attraction charging or wireless charging.

[0047] In an embodiment, the mechanical arm 310 comprises a base 311, a shoulder 312, an upper arm 313, an elbow 314, a lower arm 315, a first wrist 316, and a second wrist 317 connected in sequence; the base 311 is rotationally connected with the base 114; the shoulder 312 is rotationally connected with the base 311; one end of the upper arm 313 is connected with the shoulder 312, and the other end is rotationally connected with the elbow 314; one end of the lower arm 315 is connected with the elbow 314, and the other end is rotationally connected with the first wrist 316; the second wrist 317 is rotationally connected with the first wrist 316. The base 311, the shoulder 312, the elbow 314, the first wrist 316, the second wrist 317, and the clamping member 320 form rotatable movable joints, each movable joint is provided with a separate motor to drive the rotation of the joint, facilitating flexible operation of the mechanical arm 310 in multiple angles and strokes, and improving the simulation effect.

[0048] In an embodiment, as shown in Figure 5 and Figure 6 , the lifting device 400 comprises a lifting platform 410 installed in the vehicle body 110 and capable of extending upward out of the vehicle body 110 or retracting downward into the vehicle body 110; a mounting bracket 420 fixed in the vehicle body 110; a nut 430 fixed on the mounting bracket 420; a lead screw 440 threadedly matched with the nut 430, and the top of the lead screw 440 is fixed with the lifting platform 410; a gear sleeved on the lead screw 440 and fixed with the lead screw 440; a servo motor installed in the lifting platform 410 and driving the gear to rotate, driving the lead screw 440 to rotate upward / downward in the nut 430, thereby driving the lifting platform 410 to rise / fall. In this embodiment, the lead screw is driven to rise and fall, which can achieve high-precision, low-noise, and high-load jacking effect.

[0049] In an embodiment, the vehicle body 110 is provided with a tray 130 installed above the lifting platform 410. The tray 130 is a horizontal plate matched with the bottom of the energy storage device 200, which can ensure the stable lifting and transportation of the energy storage device 200.

[0050] In an embodiment, as shown in Figure 7As shown, the charging port recognition device 340 adopts a 3D structured light camera, and the clamping piece 330 is provided with a fixing frame, and the 3D structured light camera is installed on the fixing frame 330, which is used to obtain the image, feature and spatial pose data of the charging port, obtain the position and pose of the charging port and send them to the control device 600, and the control device 600 controls the mechanical arm 310 to make corresponding actions after processing and analyzing the data. The 3D structured light camera micron-level structured light scanning not only improves the accuracy of the charging port docking, but also can completely dock the charging in the case of weak light, realizes unmanned charging, and the like. In addition, the clamping piece 330 is provided with a plurality of clamping needles 321, and a plurality of clamping holes with the same number, size and distribution structure as the clamping needles 321 are arranged at the corresponding positions on the back of the charging gun 240. After the charging port is aligned, the clamping needles 321 are inserted into the clamping holes to exert a certain clamping force to realize clamping. If the clamping piece 330 and the charging gun 240 are separated, the clamping force can be released, and the clamping needles 321 are withdrawn from the clamping holes.

[0051] In an embodiment, the positioning and navigation device 500 includes a binocular camera 510 installed on the body part 111 of the vehicle body 110 and a laser radar 520 installed on the head part 112 of the vehicle body 110. The binocular camera 510 is used to obtain the visual data in front of the mobile device 100 and send it to the control device 600. The binocular camera 510 (ZED) is a kind of 3D depth camera, which can accurately detect the size of narrow space and accurately control, especially suitable for narrow working environment. Its built-in IMU inertial navigation unit can also obtain the pose information of the car charging cover, and realize the pre-docking of the charging port. The laser radar 520 (velydone, autonomous navigation sensor) is used to obtain the mapping and positioning data of the environment around the mobile device 100 in real time and send it to the control device 600, and the control device 600 controls the corresponding actions of the mobile device 100 after processing and analyzing the data.

[0052] In an embodiment, the positioning and navigation device 500 further includes an ultrasonic sensor installed on the edge of the vehicle body 110, which is used to detect the distance from the obstacle and realize the edge protection.

[0053] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, not all possible combinations of the technical features in the above-mentioned embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0054] The above described embodiments only express several embodiments of the utility model, the description is more specific and detailed, but can not therefore be understood as the restriction to the range of the utility model. It should be pointed out that for ordinary skilled person in the art, under the premise of not departing from the utility model concept, can also make several deformation and improvement, these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model should be according to the appended claims.

Claims

1. A mobile charging device for new energy vehicles with storage separation, characterized in that, The application relates to a mobile device (100), an energy storage device (200), a docking device (300) and a lifting device (400); the energy storage device (200) is arranged on the mobile device (100) and can be separated from the mobile device (100), the energy storage device (200) is internally provided with an energy storage battery and a charging gun (240) matched with a new energy vehicle charging port, the charging gun (240) is used for being connected with the new energy vehicle charging port to take power and charge the new energy vehicle; the mobile device (100) is at least configured to carry the energy storage device (200) to move to the position of the new energy vehicle charging port; the docking device (300) is arranged on the mobile device (100) and is used for automatically grabbing the charging gun (240) and connecting with the new energy vehicle charging port; the lifting device (400) is arranged on the mobile device (100) and is located between the mobile device (100) and the energy storage device (200), and the lifting device (400) is used for loading or unloading the mobile device (100) through lifting action. The mobile device (100) has a vehicle body (110) and a movement assembly (120) arranged on the vehicle body (110), the movement assembly (120) drives the vehicle body (110) to move; the energy storage device (200) is arranged on the vehicle body (110) of the mobile device (100); the bottom of the energy storage device (200) is provided with a support (220) which can contact the ground.

2. The mobile charging device of claim 1, wherein, The docking device (300) has a mechanical arm (310), a clamping piece (320) and a charging port identification device (340); one end of the mechanical arm (310) is movably arranged on the vehicle body (110), and the other end movably arranges the clamping piece (320); the clamping piece (320) is detachably fixedly connected with the charging gun (240) and is used for grabbing and releasing the charging gun (240); the charging port identification device (340) is arranged on the clamping piece (320) and is used for identifying the position of the charging port of the new energy vehicle.

3. The mobile charging device of claim 2, wherein, The lifting device (400) is arranged on the vehicle body (110) and is located below the energy storage device (200) and is used for jacking up / descending the energy storage device (200); the lifting device (400) jacks up the energy storage device (200), and the bottom of the energy storage device (200) can be separated from the ground; the lifting device (400) lowers the energy storage device (200), and the bottom of the energy storage device (200) can contact the ground and be separated from the mobile device (100).

4. The mobile charging device of claim 3, wherein, Further comprising:

5. The mobile charging device of claim 4, wherein, A positioning and navigation device (500) is arranged on the vehicle body (110) and is used for positioning and navigation of the mobile device (100), and comprises a binocular camera (510) and a laser radar (520) arranged on the vehicle body (110); the binocular camera (510) is used for acquiring visual data in front of the mobile device (100) and sending the visual data to a control device (600), and the laser radar (520) is used for acquiring surveying and mapping and positioning data of the environment around the mobile device (100) and sending the data to the control device (600). Further comprising:

6. The mobile charging device of claim 5, wherein, ​ The control device (600) is installed in the vehicle body (110) and is electrically connected with the motion assembly (120), the mechanical arm (310), the clamping piece (320), the energy storage device (200) and the lifting device (400), and is in communication connection with the positioning and navigation device (500) and the charging port recognition device (340); the positioning and navigation device (500) and the charging port recognition device (340) send the acquired data to the control device (600), the control device (600) controls the motion assembly (120) to move / stop, the clamping piece (320) to perform the grabbing / release action, the energy storage device (200) to discharge / stop discharging, and the lifting device (400) to jacking / lowering.

7. The mobile charging device of claim 6, wherein, The charging port recognition device (340) adopts a 3D structured light camera, which is used to acquire the image, feature and spatial pose data of the charging port and send them to the control device (600).

8. The mobile charging device of claim 4, wherein, The lifting device (400) comprises a lifting platform (410) installed in the vehicle body (110) and capable of being extended upward out of the vehicle body (110) or being retracted downward into the vehicle body (110), a mounting bracket (420) fixed in the vehicle body (110), a nut (430) fixed on the mounting bracket (420), a lead screw (440) threadedly matched with the nut (430) and having a top part fixed with the lifting platform (410), a gear fixed with the lead screw (440), a servo motor installed in the lifting platform (410) and driving the gear to rotate, thereby driving the lead screw (440) to rotate upward / downward in the nut (430) and driving the lifting platform (410) to rise / fall, and a tray (130) arranged on the vehicle body (110) and installed above the lifting platform (410).

9. The mobile charging device of claim 2, wherein, The vehicle body (110) comprises a base (114), a body part (111) arranged at the front end of the base (114), a head part (112) arranged at the upper end of the body part (111), and hand parts (113) arranged at both sides of the body part (111), and the body part (111), the head part (112) and the hand parts (113) are combined to have a robot shape; the height of the bracket (220) is greater than the height of the base (114).

10. The mobile charging device of claim 2, wherein, The vehicle body (110) is provided with a power supply module for supplying power to the mobile device (100); and the tail part of the vehicle body (110) is provided with a first power supply interface (140) using magnetic attraction charging or wireless charging as a charging input interface.

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