Charging garage and charging robot

Abstract

The utility model discloses a charging garage and a charging robot, the charging garage comprises a garage body, a plurality of charging guns and the charging robot, and the garage body is provided with a preset standby position, a plurality of preset parking spaces and a plurality of preset charging positions; the plurality of charging guns are respectively arranged at a plurality of preset charging positions; the charging robot comprises an autonomous guide moving vehicle, a mechanical arm, an identification module and a grabbing mechanism, and the autonomous guide moving vehicle is arranged in a preset standby position and can move to a preset parking space from the preset standby position; the mechanical arm is arranged on the autonomous guide moving vehicle, the recognition module and the grabbing mechanism are arranged on the mechanical arm, and the recognition module is electrically connected to the mechanical arm and the grabbing mechanism. According to the charging robot, the charging gun is arranged at the preset charging position, the charging robot grabs the charging gun through the grabbing mechanism and then inserts the charging gun into the charging port of the to-be-charged vehicle, and therefore carrying of a battery pack can be omitted, the size of the charging robot can be reduced, and the function of automatically inserting and pulling out the charging gun can be achieved.

Description

Technical Field

[0001] This application relates to the field of new vehicle charging technology, specifically to a charging garage and a charging robot. Background Technology

[0002] With the rapid development of vehicles waiting to be charged, the charging demand for these vehicles is also increasing daily. In response, automated charging garages have emerged, primarily relying on charging robots carrying battery packs to charge the vehicles. However, during charging, manual assistance is still required to insert the charging gun into the charging port of the vehicle, making the operation cumbersome and limiting its applicability. Utility Model Content

[0003] This application aims to provide a charging garage and a charging robot to reduce the size of the charging robot and enable automatic plugging and unplugging of the charging gun.

[0004] According to a first aspect of this application, this application provides a charging garage, comprising:

[0005] The garage body is equipped with a preset standby space, multiple preset parking spaces and multiple preset charging spaces. The multiple preset parking spaces and the multiple preset charging spaces correspond one-to-one. The preset parking spaces are used to park vehicles waiting to be charged.

[0006] Multiple charging guns are respectively disposed at multiple preset charging positions;

[0007] A charging robot includes a self-guided mobile vehicle, a robotic arm, an identification module, and a grasping mechanism. The self-guided mobile vehicle is positioned at a preset standby position on the garage body and can move from the preset standby position to the preset parking space. The robotic arm is positioned on the self-guided mobile vehicle, and both the identification module and the grasping mechanism are positioned on the robotic arm. The identification module is electrically connected to the robotic arm and the grasping mechanism.

[0008] The identification module is used to identify the charging port of the vehicle to be charged in the preset parking space and the charging gun of the preset charging space, so as to control the robotic arm and the gripping mechanism.

[0009] The gripping mechanism is used to grip the charging gun at the preset charging position using the robotic arm, and to insert the charging gun into the charging port of the vehicle to be charged at the preset parking position using the robotic arm.

[0010] In one embodiment, the charging robot further includes a positioning detection component, which is installed on the gripping mechanism and is used to detect whether the charging gun and the charging port of the vehicle to be charged are connected in a circuit.

[0011] In one embodiment, the charging robot further includes a locking assembly disposed on the gripping mechanism, the charging gun having a locking element, and the locking assembly being used to lock the locking element to the charging port after the charging gun is inserted into the charging port.

[0012] In one embodiment, the gripping mechanism includes two grippers and a translation drive assembly. The two grippers are connected to the power output end of the translation drive assembly. The translation drive assembly is used to drive the two grippers to move towards each other or away from each other, so as to grip the charging gun when the two grippers move towards each other and to release the charging gun when the two grippers move away from each other.

[0013] The locking assembly includes a locking drive source and a locking rod. The locking drive source is disposed above the translation drive assembly. The locking rod is connected to the power output end of the locking drive source. The locking drive source is used to drive the locking rod to move toward the charging gun clamped between the two grippers, so as to push the locking member to lock at the charging port.

[0014] In one embodiment, the gripping mechanism further includes a support frame and an elastic buffer assembly, the translation drive assembly is mounted on the support frame via the elastic buffer assembly, and the support frame is connected to the robotic arm.

[0015] In one embodiment, the charging robot further includes a navigation mechanism disposed on and electrically connected to the autonomous guided vehicle; the navigation mechanism is used to navigate the movement path of the autonomous guided vehicle.

[0016] In one embodiment, an adapter is also included, the adapter having a connecting end and a common end, the connecting end being used to connect to the charging port of the vehicle to be charged in the preset parking space, and the common end being adapted to the charging gun.

[0017] In one embodiment, a charging mechanism is also included, which is disposed in the preset standby position and is used to charge the charging robot.

[0018] In one embodiment,

[0019] The plurality of preset charging positions are respectively located above the plurality of preset parking spaces, and the plurality of charging guns are respectively suspended and positioned above the plurality of preset parking spaces;

[0020] or,

[0021] The charging guns are respectively fixed in the preset parking spaces.

[0022] According to a second aspect of this application, a charging robot is provided, comprising a self-guided mobile vehicle, a robotic arm, an identification module, and a grasping mechanism. The self-guided mobile vehicle is located inside a garage body and can move from a preset standby position to a preset parking space within the garage body. The robotic arm is disposed on the self-guided mobile vehicle, and both the identification module and the grasping mechanism are disposed on the robotic arm. The identification module is electrically connected to the robotic arm and the grasping mechanism. The identification module is used to identify the charging port of a vehicle to be charged in the preset parking space of the garage body and the charging gun in the preset charging position of the garage body, thereby controlling the robotic arm and the grasping mechanism. The grasping mechanism is used to grasp the charging gun in the preset charging position of the garage body through the robotic arm and insert the charging gun into the charging port of the vehicle to be charged in the preset parking space of the garage body through the robotic arm.

[0023] According to the charging garage and charging robot of the above embodiment, the charging gun is set at the preset charging position of the preset parking space in the garage body. The charging robot only needs to move to the preset parking position by autonomously guiding the on-board robotic arm with a gripping mechanism, and then grab the charging gun by the gripping mechanism and insert the charging gun into the charging port of the vehicle to be charged. With this setting, the battery pack can be eliminated, which not only reduces the size of the charging robot, but also realizes the function of automatically plugging and unplugging the charging gun. Attached Figure Description

[0024] Figure 1 This is a structural diagram of the charging garage provided in this application;

[0025] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle;

[0026] Figure 3 A top view of the charging garage provided for this application;

[0027] Figure 4 A schematic diagram of the adapter in the charging garage provided in this application.

[0028] Figure 5 The three-dimensional charging robot provided in this application Figure 1 ;

[0029] Figure 6 for Figure 5 A magnified view of a portion of point B in the middle;

[0030] Figure 7 The charging robot and its three-dimensional structure provided in this application Figure 2 ;

[0031] Figure 8 A top view of the charging robot provided in this application;

[0032] Figure 9 A perspective view of the gripping mechanism in the charging robot provided in this application;

[0033] Figure 10 An exploded view of the grasping mechanism in the charging robot provided in this application;

[0034] Figure 11 A side view of the gripping mechanism in the charging robot provided in this application;

[0035] Figure 12 A top view of the gripping mechanism in the charging robot provided in this application;

[0036] Figure 13 A bottom view of the gripping mechanism in the charging robot provided in this application;

[0037] Figure label:

[0038] Garage body 10, preset standby position 11, preset parking space 12, preset charging position 13, support component 131;

[0039] Charging gun 20, locking component 21, locking rod 211, latch 212;

[0040] The system includes a charging robot 30, an autonomous guided mobile vehicle 31, a robotic arm 32, a first arm 321, a second arm 322, a third arm 323, a fourth arm 324, an identification module 33, a gripping mechanism 34, a gripper 341, a translation drive assembly 342, a navigation mechanism 35, a position detection assembly 36, a locking assembly 37, a locking drive source 371, a locking rod 372, a support frame 343, and an elastic buffer assembly 344.

[0041] Adapter 40, connecting end 41, common end 42;

[0042] Charging mechanism 50;

[0043] 100 vehicles awaiting charging. Detailed Implementation

[0044] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0045] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments, and the operational steps involved in each embodiment can also be rearranged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for clearly describing a particular embodiment and do not imply that they represent the necessary components and / or order.

[0046] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0047] This application provides a charging garage and a charging robot. The charging robot is a self-guided moving robot equipped with a robotic arm featuring a gripping mechanism. An identification module is also installed on the robotic arm, which can visually identify the charging port and charging gun of the vehicle to be charged. The self-guided moving robot moves autonomously, and the identification module controls the robotic arm to adjust the position of the gripping mechanism to grasp the charging gun and insert it into the charging port of the vehicle. The charging gun is located at a pre-set charging position within a pre-defined parking space in the garage body. This charging gun is connected to a charging power source. The self-guided moving robot only needs to carry the robotic arm with the gripping mechanism for movement, eliminating the need to carry a battery pack. Under the control of the identification module, it grasps the charging gun and inserts it into the charging port of the vehicle. This not only reduces the size of the charging robot but also enables automatic insertion and removal of the charging gun.

[0048] See Figures 1-8 As shown, the charging garage provided in this embodiment includes a garage body 10, multiple charging guns 20, and a charging robot 30.

[0049] The garage body 10 can be made of steel or reinforced concrete and mainly consists of a parking area and a fence surrounding the parking area. The garage body 10 is equipped with a preset standby space 11, multiple preset parking spaces 12 and multiple preset charging spaces 13, and the preset standby space 11, multiple preset parking spaces 12 and multiple preset charging spaces 13 are all located in the parking area.

[0050] Multiple preset parking spaces 12 correspond one-to-one with multiple preset charging spaces 13. In other words, each preset parking space 12 has one preset charging space 13. The preset parking spaces 12 are used to park vehicles 100 waiting to be charged. Vehicles 100 can be parked in any available preset parking space 12. For example, the owner can move the vehicle 100 to a preset parking space 12 themselves. The vehicles 100 include pure electric, hybrid, and range-extended new energy vehicles with charging capabilities.

[0051] Of course, a garage entrance and a garage exit are also provided at the fence of the garage body 10. The vehicle 100 to be charged enters the interior of the garage body 10 through the garage entrance and is parked in the vacant preset parking space 12. The vehicle 100 to be charged after receiving the vehicle retrieval instruction can be moved out through the garage exit.

[0052] Multiple charging guns 20 are respectively set on multiple preset charging positions 13. Of course, the charging guns 20 are electrically connected to the charging power supply and can provide power to the vehicle 100 after being inserted into the charging port of the vehicle 100 to be charged.

[0053] The charging robot 30 includes a self-guided mobile vehicle 31, a robotic arm 32, a recognition module 33, and a gripping mechanism 34. The self-guided mobile vehicle 31 is positioned at a preset standby position 11 in the garage body 10 and can move from the preset standby position 11 to a preset parking space 12, such as... Figure 1 and Figure 3 The dashed arrow in the middle indicates the movement path of the autonomous guided mobile vehicle 31. The robotic arm 32 is mounted on the autonomous guided mobile vehicle 31, and the identification module 33 and the gripping mechanism 34 are both mounted on the robotic arm 32. The identification module 33 is electrically connected to the robotic arm 32 and the gripping mechanism 34.

[0054] The identification module 33 is used to identify the charging port of the vehicle 100 to be charged in the preset parking space 12 and the charging gun 20 in the preset charging position 13, so as to control the robotic arm 32 and the gripping mechanism 34. The identification module 33 preferably uses visual recognition to identify the charging port and the charging gun 20.

[0055] The gripping mechanism 34 is used to grip the charging gun 20 of the preset charging position 13 by means of the robotic arm 32, and insert the charging gun 20 into the charging port of the vehicle 100 to be charged in the preset parking position 12 by means of the robotic arm 32.

[0056] Specifically, the charging garage provided in this application may also include a control module. The control module may be set at the charging entrance. The control module can send charging instructions and stop charging instructions to the autonomous guided mobile vehicle 31. After the vehicle 100 to be charged is parked in an empty preset parking space 12, the autonomous guided mobile vehicle 31 receives the charging instruction or the stop charging instruction and can move from the preset standby position 11 to the preset parking space 12 where the vehicle 100 to be charged is parked. The identification module 33 identifies the charging port of the vehicle 100 to be charged in the preset parking space 12 and the charging gun 20 in the preset charging position 13 corresponding to the preset parking space 12, and can then control the robotic arm 32 and the gripping mechanism 34 to perform corresponding actions.

[0057] In a specific embodiment, the robotic arm 32 can be a multi-degree-of-freedom robotic arm structure. When the autonomous guided mobile vehicle 31 receives a charging command, the identification module 33 identifies the charging gun 20 located at the preset charging position 13. Then, it controls the robotic arm 32 to move the gripping mechanism 34 to a position close to the charging gun 20 and easy to grip. After that, it controls the gripping mechanism 34 to grip the charging gun 20. After the gripping mechanism 34 grips the charging gun 20, it controls the robotic arm 32 to insert the charging gun 20 into the charging port of the vehicle 100 to be charged. When the autonomous guided mobile vehicle 31 receives a stop charging command, the identification module 33 identifies the charging gun 20 inserted into the charging port of the vehicle 100 to be charged, controls the robotic arm 32 to move the gripping mechanism 34 to a position close to and easy to grip the charging gun 20, then controls the gripping mechanism 34 to grip the charging gun 20, and after the gripping mechanism 34 grips the charging gun 20, controls the robotic arm 32 to pull the charging gun 20 out of the charging port and return it to the preset charging position 13.

[0058] It should be noted that the charging stop command includes the command automatically sent after the vehicle to be charged is 100% fully charged, as well as the command sent manually to stop charging.

[0059] As described above, in the charging robot 30, by recognizing the charging port of the vehicle 100 to be charged and the charging gun 20 located in the preset charging position 13 by the recognition module 33, the robotic arm 32 can be controlled to adjust the position of the gripping mechanism 34 so that after the robotic arm 32 moves the gripping mechanism 34 to a position close to and suitable for gripping the charging gun 20, the gripping mechanism 34 is controlled to grip the charging gun 20, and under the action of the robotic arm 32, the gripping mechanism 34 with the charging gun 20 is moved close to the charging port. Then, under the action of the robotic arm 32, the charging gun 20 is inserted into the charging port of the vehicle 100 to be charged so that the vehicle 100 to be charged can be charged through the charging gun 20.

[0060] Of course, when the vehicle 100 to be charged is fully charged, the control module at the garage entrance can receive the information that the battery is fully charged. This information also corresponds to the parking space information of the vehicle 100 to be charged, so as to control the autonomous guided vehicle 31 to move from the preset standby position 11 to the preset parking space 12 corresponding to the parking space information.

[0061] It should be noted that after the charging gun 20 is inserted into the charging port of the vehicle 100 to be charged by the charging robot 30, the charging robot 30 returns to the preset standby position 11 to standby.

[0062] In this application, the charging gun 20 is set at the preset charging position 13 of the preset parking space 12 in the garage body 10. The charging robot 30 only needs to move to the preset parking space 12 by the autonomous guided mobile vehicle 31 carrying the robotic arm 32 with the gripping mechanism 34, and then grab the charging gun 20 by the gripping mechanism 34 and insert the charging gun 20 into the charging port of the vehicle 100 to be charged. With this setting, the battery pack can be eliminated, which not only reduces the size of the charging robot, but also realizes the function of automatically plugging and unplugging the charging gun 20.

[0063] See Figure 5 As shown, the robotic arm 32 in this embodiment includes a first arm 321, a second arm 322, a third arm 323, and a fourth arm 324. One end of the first arm 321 is rotatably connected to the autonomous guided moving vehicle 31 within a first plane. One end of the second arm 322 is rotatably connected to the other end of the first arm 321 within a second plane, where the first and second planes are perpendicular. One end of the third arm 323 is rotatably connected to the other end of the second arm 322 within a third plane, where the third and second planes are parallel. One end of the fourth arm 324 is rotatably connected to the other end of the third arm 323 within a fourth plane, where the fourth plane is perpendicular to the third plane and parallel to the first plane. The identification module 33 and the gripping mechanism 34 are both located at the other end of the fourth arm 324. Thus, through the coordinated operation of the first arm 321, the second arm 322, the third arm 323, and the fourth arm 324, the gripping mechanism 34 can be moved.

[0064] See also Figure 5 As shown, to achieve autonomous guidance, the charging robot 30 provided in this embodiment also includes a navigation mechanism 35. The navigation mechanism 35 is disposed on the autonomous guided mobile vehicle 31 and electrically connected to the autonomous guided mobile vehicle 31. The navigation mechanism 35 is used to navigate the movement path of the autonomous guided mobile vehicle 31, for example, navigating the path from the preset standby position 11 to the preset parking position 12, and navigating the path from the preset parking position 12 to the preset standby position 11.

[0065] The navigation mechanism 35 can specifically be a lidar navigation module. This lidar navigation module uses lidar technology for navigation. It determines information about the surrounding environment by emitting a laser beam and measuring the reflection time, thereby achieving precise positioning and path planning. Specifically, after scanning the surrounding environment, the lidar navigation module uses the "time-of-flight" principle to measure the time difference between each laser beam emitted and returned, thus calculating the distance between itself and surrounding objects. This data is used to construct two-dimensional or three-dimensional point cloud data of the environment, thereby generating an environmental map. After acquiring the constructed data, the autonomous guided mobile vehicle 31 uses simultaneous localization and mapping (SLAM) technology to determine its own position. The mapping technology combines odometry information and laser data, and through pose estimation and map matching, accurately corrects the robot's position and attitude, thereby enabling it to avoid obstacles and plan the optimal path. Furthermore, it can work efficiently in narrow passages and highly dynamic working environments.

[0066] After inserting the charging gun 20 into the charging port of the vehicle 100 to be charged, to facilitate determining whether the circuit is connected, see [link to relevant documentation]. Figures 9-13 As shown, the charging robot 30 provided in this application also includes a positioning detection component 36. The positioning detection component 36 is installed on the gripping mechanism 34. The positioning detection component 36 is used to detect whether the charging gun 20 and the charging port of the vehicle 100 to be charged are connected to the circuit. In other words, the positioning detection component 36 can detect whether there is current between the charging gun 20 and the charging port of the vehicle 100 to be charged, and thus determine whether the charging gun 20 is inserted into the charging port of the vehicle 100 to be charged.

[0067] See Figure 6 As shown, the charging gun 20 typically has a locking member 21. When the charging gun 20 is inserted into the charging port of the vehicle 100 to be charged, the locking member 21 locks at the charging port. To achieve automatic locking of the locking member 21 at the charging port, see [reference needed]. Figure 6 , Figures 8-13 As shown, the charging robot 30 provided in this embodiment also includes a locking component 37, which is disposed on the gripping mechanism 34. The locking component 37 is used to lock the locking member 21 to the charging port after the charging gun 20 is inserted into the charging port.

[0068] In this embodiment, the locking member 21 is a locking rod 211 with a latch 212. One end of the locking rod 211 is hinged to the charging gun 20, and the locking rod 211 and the charging gun 20 are elastically connected by an elastic reset member. The latch 212 is located at the other end of the locking rod 211, and the other end of the locking rod 211 faces the insertion end 201 of the charging gun 20. The insertion end 201 is used to insert into the charging port of the vehicle 100 to be charged. The locking assembly 37 can push the locking rod 211 to rotate around one end, thereby causing the latch 212 to rotate away from the charging gun 211 around one end of the locking rod 211. A latch is also provided at the charging port of the vehicle 100 to be charged. When the charging gun 20 is inserted and the latch 212 is aligned with the latch, the locking assembly 37 releases the locking rod 211. The locking rod 211 is reset by the action of the elastic reset member, so that the locking rod 211 rotates around one end in the opposite direction, thereby causing the latch 212 to engage in the latch, thus locking the charging gun 20 in the charging port.

[0069] Of course, when it is necessary to pull the charging gun 20 out of the charging port, the locking component 37 is also needed to push the locking rod 211, so that the latch 212 at the other end of the locking rod 211 can disengage from the charging port by rotating the locking rod 211 around one end, thereby unlocking the connection between the charging gun 20 and the charging port.

[0070] See Figures 9-13 As shown, the gripping mechanism 34 includes two grippers 341 and a translation drive assembly 342. The two grippers 341 are connected to the power output end of the translation drive assembly 342. The translation drive assembly 342 is used to drive the two grippers 341 to move towards each other or away from each other, so as to grip the charging gun 20 when the two grippers 341 move towards each other and to release the charging gun 20 when the two grippers 341 move away from each other.

[0071] The locking assembly 37 includes a locking drive source 371 and a locking lever 372. The locking drive source 371 is positioned above the translation drive assembly 342. The locking lever 372 is connected to the power output end of the locking drive source 371. The locking drive source drives the locking lever 372 to move toward the charging gun 20 clamped between the two grippers 341, thereby pushing the locking member 21 to lock at the charging port. Specifically, it pushes the locking lever 211 to rotate around one end, causing the locking lever 211 to... The latch 212 at the other end rotates synchronously, and when the charging gun 20 is inserted into the charging port and the latch 212 is aligned with the charging port, the locking drive source 371 drives the locking rod 372 to move away from the charging gun 20 between the two grippers 341, so that the locking rod 372 releases the locking member 21, and the locking rod 211 is reset under the action of the elastic reset member, so that the latch 212 is engaged at the charging port, thereby locking the locking member 21 at the charging port.

[0072] The gripping mechanism 34 also includes a support frame 343 and an elastic buffer assembly 344. The translation drive assembly 342 is mounted on the support frame 343 via the elastic buffer assembly 344, and the support frame 343 is connected to the robotic arm 32. When the gripping mechanism 34 grips the charging gun 20, it moves closer to and touches the charging gun 20 via the robotic arm 32. During this process, the elastic buffer assembly 344 can buffer the contact between the gripping mechanism and the charging gun 20.

[0073] The vehicle to be charged 100 can be a different model of new energy vehicle manufactured by different manufacturers. The charging port type may also differ for different models of new energy vehicles manufactured by different manufacturers. For details, please refer to [link / reference needed]. Figure 4 As shown, the charging garage provided in this embodiment also includes a conversion connector 40, which has a connecting end 41 and a common end 42. The connecting end 41 is used to connect to the charging port of the vehicle 100 to be charged in the preset parking space 12, and the common end 42 is adapted to the charging gun 20. In other words, the charging gun 20 is inserted into the common end 42 of the conversion connector 40.

[0074] It should be noted that when the vehicle 100 to be charged enters through the garage entrance of the garage body 10, the connector of the adapter 40 is manually inserted into the charging port of the vehicle 100. For different models of the vehicle 100 to be charged, adapters 40 with different connectors 41 are provided. This allows the charging gun 20 to be compatible with different models of the vehicle 100 to be charged, and the vehicle 100 to be charged can be parked in any preset parking space 12, further saving costs and improving charging efficiency.

[0075] The charging robot 30 is an electrically driven mechanism. In one embodiment, the charging robot 30 also includes a rechargeable power supply unit, which is electrically connected to the autonomous guided mobile vehicle 31, the robotic arm 32, the identification module 34, and the grasping mechanism 34. The power supply unit can provide power to the autonomous guided mobile vehicle 31, the robotic arm 32, the identification module 34, and the grasping mechanism 34.

[0076] like Figure 3 As shown, to ensure the charging robot 30 can operate for extended periods, the charging garage provided in this embodiment further includes a charging mechanism 50. The charging mechanism 50 is located in a preset standby position 11 and is used to charge the power supply unit in the charging robot 30. In other words, when the charging robot 30 is in the preset standby position 11 or moves from the preset parking space 12 to the preset standby position 11, the power supply unit in the charging robot 30 can be charged through the charging mechanism 50.

[0077] In this embodiment, multiple preset charging positions 13 are located above multiple preset parking spaces 12, thereby allowing multiple charging guns 20 to be suspended and positioned above the multiple preset parking spaces 12. This arrangement facilitates the gripping mechanism 34 to grip the charging guns, and the multiple charging guns 20 can be electrically connected to the charging power supply simultaneously.

[0078] like Figure 1 As shown, a support member 131 is provided above a row of preset parking spaces 12 on the garage body 10, and multiple preset charging positions 13 are provided on the support member 131. The charging gun 20 is positioned at each preset charging position 13 so that the charging gun 20 can be suspended and positioned above the preset parking spaces 12.

[0079] In some embodiments, multiple charging guns 20 can be fixed to multiple preset parking spaces 12 respectively, which can also facilitate the gripping mechanism 34 to grip them.

[0080] This application also provides a charging robot 30, including a self-guided moving vehicle 31, a robotic arm 32, an identification module 33, and a gripping mechanism 34. The self-guided moving vehicle 31 is set in a preset standby position 11 of the garage body 10 and can move from the preset standby position 11 to a preset parking space 12. The robotic arm 32 is set in the self-guided moving vehicle 31, and both the identification module 33 and the gripping mechanism 34 are set in the robotic arm 32. The identification module 33 is electrically connected to the robotic arm 32 and the gripping mechanism 34. The identification module 33 is used to identify the charging port of the vehicle 100 to be charged in the preset parking space 12 and the charging gun 20 in the preset charging position 13, so as to control the robotic arm 32 and the gripping mechanism 34. The identification module 33 preferably uses visual recognition to identify the charging port and the charging gun 20. The gripping mechanism 34 is used to grip the charging gun 20 of the preset charging position 13 through the robotic arm 32 and insert the charging gun 20 into the charging port of the vehicle 100 to be charged in the preset parking space 12 through the robotic arm 32.

[0081] Specifically, the charging robot 30 provided in this application is applied to a charging garage. In the charging garage, the control module sends charging instructions and stop charging instructions to the autonomous guided mobile vehicle 31. After the vehicle 100 to be charged is parked in an empty preset parking space 12, the autonomous guided mobile vehicle 31 receives the charging instruction or the stop charging instruction and can move from the preset standby position 11 to the preset parking space 12 where the vehicle 100 to be charged is parked. The identification module 33 identifies the charging port of the vehicle 100 to be charged in the preset parking space 12 and the charging gun 20 in the preset charging position 13 corresponding to the preset parking space 12, thereby controlling the robotic arm 32 and the gripping mechanism 34 to perform corresponding actions.

[0082] The robotic arm 32 can be a multi-degree-of-freedom structure. When the autonomous guided vehicle 31 receives a charging command, the identification module 33 identifies the charging gun 20 in the preset charging position 13 and controls the robotic arm 32 to move the gripping mechanism 34 to a position close to and easily grasped by the charging gun 20. Then, the gripping mechanism 34 is controlled to grasp the charging gun 20, and after it has grasped the charging gun 20, the robotic arm 32 is controlled to insert the charging gun 20 into the charging port of the vehicle 100 to be charged. Conversely, when the autonomous guided vehicle 31 receives a stop charging command, the identification module 33 identifies the charging gun 20 inserted into the charging port of the vehicle 100 to be charged, controls the robotic arm 32 to move the gripping mechanism 34 to a position close to and easily grasped by the charging gun 20, controls the gripping mechanism 34 to grasp the charging gun 20, and after it has grasped the charging gun 20, the robotic arm 32 is controlled to remove the charging gun 20 from the charging port.

[0083] In summary, the charging garage and charging robot provided in this application have the charging gun set at a preset charging position in a preset parking space within the garage body. The charging robot only needs to move to the preset parking space by autonomously guiding a robotic arm with a gripping mechanism, and then grasp the charging gun through the gripping mechanism and insert the charging gun into the charging port of the vehicle to be charged. This setup eliminates the need to carry the battery pack, which not only reduces the size of the charging robot but also enables automatic plugging and unplugging of the charging gun.

[0084] The above-described specific examples are for illustrative purposes only and are not intended to limit the scope of this invention. Those skilled in the art to which this invention pertains can make various simple deductions, modifications, or substitutions based on the concept of this invention.

Claims

1. A charging garage, characterized in that, The application relates to a charging robot for charging an electric vehicle. The charging robot comprises a garage body, a plurality of charging guns and a charging robot. The garage body is provided with a preset standby position, a plurality of preset parking positions and a plurality of preset charging positions. The plurality of preset parking positions and the plurality of preset charging positions are one-to-one corresponding. The preset parking position is used for parking a vehicle to be charged. The charging gun is arranged in the preset charging position.

2. The charging garage according to claim 1, characterized in that The charging robot comprises an autonomous guiding mobile vehicle, a mechanical arm, an identification module and a grabbing mechanism.

3. The charging garage according to claim 1, wherein The autonomous guiding mobile vehicle is arranged in the preset standby position of the garage body and can move from the preset standby position to the preset parking position.

4. The charging garage according to claim 3, wherein The mechanical arm is arranged in the autonomous guiding mobile vehicle. The identification module and the grabbing mechanism are arranged in the mechanical arm.

5. The charging garage according to claim 4, characterized in that The identification module is electrically connected to the mechanical arm and the grabbing mechanism.

6. The charging garage according to claim 1, wherein The identification module is used for identifying a charging port of the vehicle to be charged in the preset parking position and the charging gun in the preset charging position to control the mechanical arm and the grabbing mechanism.

7. The charging garage according to claim 1, wherein The grabbing mechanism is used for grabbing the charging gun in the preset charging position through the mechanical arm and inserting the charging gun into the charging port of the vehicle to be charged in the preset parking position.

8. The charging garage of claim 1, wherein, The charging robot further comprises a position detection assembly. The position detection assembly is installed in the grabbing mechanism and is used for detecting whether the charging gun and the charging port of the vehicle to be charged are connected. The charging robot further comprises a locking assembly. The locking assembly is arranged in the grabbing mechanism. The charging gun has a locking piece. The locking assembly is used for locking the locking piece in the charging port after the charging gun is inserted into the charging port. The grabbing mechanism comprises two clamping jaws and a translation driving assembly. The two clamping jaws are connected to the power output end of the translation driving assembly. The translation driving assembly is used for driving the two clamping jaws to move towards each other or move away from each other. When the two clamping jaws move towards each other, the charging gun is clamped. When the two clamping jaws move away from each other, the charging gun is released. The locking assembly comprises a locking driving source and a locking rod. The locking driving source is arranged above the translation driving assembly. The locking rod is connected to the power output end of the locking driving source. The locking driving source is used for driving the locking rod to move towards the charging gun clamped between the two clamping jaws to push the locking piece to lock in the charging port. The grabbing mechanism further comprises a support frame and an elastic buffer assembly. The translation driving assembly is installed on the support frame through the elastic buffer assembly. The support frame is connected to the mechanical arm. The charging robot further comprises a navigation mechanism. The navigation mechanism is arranged in the autonomous guiding mobile vehicle and is electrically connected to the autonomous guiding mobile vehicle. The navigation mechanism is used for navigating the moving path of the autonomous guiding mobile vehicle. The application further comprises a conversion joint. The conversion joint has a connecting end and a common end. The connecting end is used for connecting to the charging port of the vehicle to be charged in the preset parking position. The common end is matched with the charging gun. The application further comprises a charging mechanism. The charging mechanism is arranged in the preset standby position. The charging mechanism is used for charging the charging robot.

9. The charging garage according to claim 1, wherein a plurality of said preset charging positions are located above a plurality of said preset parking positions, and a plurality of said charging guns are respectively suspended and positioned above a plurality of said preset parking positions. Alternatively, a plurality of said charging guns are respectively fixed to a plurality of said preset parking positions. The autonomous mobile vehicle, the mechanical arm, the identification module and the grabbing mechanism are included, the autonomous mobile vehicle is inside the garage body and can be moved from the preset standby position of the garage body to the preset parking position of the garage body, the mechanical arm is arranged on the autonomous mobile vehicle, the identification module and the grabbing mechanism are arranged on the mechanical arm, the identification module is electrically connected to the mechanical arm and the grabbing mechanism, the identification module is used to identify the charging port of the vehicle to be charged in the preset parking position of the garage body and the charging gun in the preset charging position of the garage body, so as to control the mechanical arm and the grabbing mechanism, and the grabbing mechanism is used to grab the charging gun in the preset charging position of the garage body through the mechanical arm and insert the charging gun into the charging port of the vehicle to be charged in the preset parking position of the garage body through the mechanical arm.

10. A charging robot characterized by, ​

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