Rail type movable mechanical arm new energy charging pile

Abstract

The utility model relates to the technical field of new energy automobile charging equipment, in particular to a rail type movable mechanical arm new energy charging pile which is mainly composed of a rail assembly, a multi-joint mechanical arm, a charging gun and a control device. The rail assembly drives the mechanical arm to horizontally slide along the rail groove through the transmission mechanism, the multi-joint mechanical arm has six degrees of freedom, and the position of the charging gun can be flexibly adjusted; and the control device is combined with the visual positioning module and the positioning block to realize accurate butt joint of the charging gun and the vehicle charging port. Compared with a traditional charging pile, the space utilization rate is greatly improved, a vehicle owner does not need to repeatedly adjust the vehicle position, the system can adapt to complex parking scenes, charging convenience and reliability are effectively improved, and the system is suitable for space limited areas such as old communities.

Description

Technical Field

[0001] This invention relates to the field of new energy vehicle charging equipment technology, specifically to a track-mounted mobile robotic arm new energy charging pile. Background Technology

[0002] With the rapid popularization of new energy vehicles, the demand for charging piles is increasing daily. However, traditional fixed charging piles have many limitations. In terms of space utilization, whether ground-mounted or wall-mounted, fixed charging piles require a certain amount of fixed space. Taking a typical ground-mounted fixed charging pile as an example, its base plus the surrounding space reserved for safety and convenient operation usually occupies 1-2 square meters or even more. In older residential areas, where parking spaces are already relatively narrow, the installation of fixed charging piles further compresses the space for vehicle parking and pedestrian activity, making it difficult to make full and reasonable use of limited parking areas, thus exacerbating the problem of parking resource shortages.

[0003] In terms of ease of use, current fixed charging stations have fixed locations, and the accessibility range of their charging guns is relatively fixed. This means that only vehicles parked within a certain range of the charging station can easily connect for charging. If the parking space layout is irregular, or the vehicle is not accurately parked within the effective charging range of the charging station for other reasons, the owner needs to spend a lot of time repeatedly adjusting the vehicle's position, increasing the time cost of charging. Even worse, due to the limitation of the vehicle's parking location, it may be impossible to use the charging station at all, seriously affecting the convenience of charging and the user experience.

[0004] Furthermore, existing mobile charging stations also have shortcomings. Most of them rely solely on pushing pulleys to reach the vehicle, and in actual operation, due to uneven ground, deviations in the pushing direction, and other factors, it is difficult to accurately align them with the vehicle's charging port. There may be a significant positional deviation between the charging gun and the vehicle's charging port, and the position cannot be flexibly adjusted to accommodate different angles and positions of the vehicle's charging port, leading to charging difficulties and reduced charging efficiency.

[0005] To address this issue, a track-mounted mobile robotic arm new energy charging station has been invented to solve the problems mentioned in the background technology. Utility Model Content

[0006] To address the problems of traditional fixed charging piles occupying a large space, being limited by vehicle parking locations, and existing mobile charging piles being difficult to accurately align with vehicle charging ports, this utility model provides a track-mounted mobile robotic arm new energy charging pile.

[0007] The track-mounted mobile robotic arm new energy charging pile provided in this application adopts the following technical solution: it includes a track assembly, a robotic arm installed on the track assembly, a charging gun installed at the free end of the robotic arm, and a control device; the track assembly is used to support and guide the movement of the robotic arm, the robotic arm is used to drive the charging gun to adjust its position and complete the charging operation, and the control device is used to control the operation of the robotic arm and the track assembly and to control the charging process.

[0008] Optionally, the track assembly includes a track groove extending in a straight line, and a transmission mechanism is provided in the track groove for driving the robotic arm to slide horizontally along the track groove.

[0009] Optionally, the transmission mechanism includes a rotating lead screw rotatably connected to a track groove. A sliding block movable along the length of the track groove is provided in the track groove. An L-shaped support plate is provided on the sliding block. The robotic arm is mounted on the support plate. A drive motor is fixed to one end of the track groove. The output end of the drive motor is fixedly connected to the rotating lead screw.

[0010] Optionally, a fixed guide rail is provided at the top of the track groove, a guide protrusion is provided on the fixed guide rail, and a guide groove that cooperates with the guide protrusion is provided at the bottom of the support plate.

[0011] Optionally, the robotic arm has a multi-joint structure, including at least a waist joint, an upper arm joint, a forearm joint, and a wrist joint, with 6 degrees of freedom, and can flexibly adjust the position of the charging gun.

[0012] Optionally, the control device includes a control panel, and a vision positioning module is also provided on the free end of the robotic arm and the charging gun, the vision positioning module being electrically connected to the control panel.

[0013] Optionally, the top of the charging gun is also provided with a positioning block, and the upper surface of the positioning block is provided with a V-shaped groove to facilitate positioning and docking between the charging gun and the vehicle charging port.

[0014] In summary, this application includes the following beneficial technical effects:

[0015] 1. High efficiency in space utilization: The track-mounted mobile robotic arm new energy charging pile realizes the movement of the robotic arm and charging gun through the track component. Compared with the traditional fixed charging pile, there is no need to equip each parking space with a fixed charging pile, which greatly reduces the area occupied by the charging pile, improves the space utilization of the parking area, and effectively alleviates the contradiction between parking and charging in places with limited space such as old residential areas.

[0016] 2. Flexible and convenient to use: The robotic arm adopts a multi-joint structure with 6 degrees of freedom, which can flexibly adjust the position of the charging gun. Even if the vehicle is parked in an irregular position, the robotic arm can easily deliver the charging gun to the vehicle's charging port through its flexible movement, eliminating the need for the car owner to repeatedly adjust the vehicle's position, greatly improving the convenience and efficiency of the charging operation.

[0017] 3. Precise and reliable positioning: The visual positioning module in the control device and the positioning block on the top of the charging gun work together to accurately identify the position and angle of the vehicle's charging port, effectively overcoming the influence of factors such as uneven ground and deviation in the pushing direction, ensuring precise docking between the charging gun and the vehicle's charging port, and improving the stability and reliability of charging. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the device. Figure I ;

[0019] Figure 2 This is a schematic diagram of the overall structure of the device. Figure II ;

[0020] Figure 3 This is a cross-sectional view of the overall structure of the device. Figure I ;

[0021] Figure 4 This is a cross-sectional view of the overall structure of the device. Figure II ;

[0022] Figure 5 This is an enlarged view of the charging gun structure of this device;

[0023] Figure 6 This is a schematic diagram of the track groove of this device;

[0024] Figure 7 This is a schematic diagram of the control signal transmission of this device;

[0025] The components include: 1. Track assembly; 2. Robotic arm; 3. Charging gun; 4. Control device; 5. Track groove; 6. Transmission mechanism; 7. Rotating screw; 8. Sliding block; 9. Support plate; 10. Fixed guide rail; 11. Guide protrusion; 12. Control panel; 13. Positioning block; 14. V-shaped groove; 15. Drive motor; and 16. Vision positioning module. Detailed Implementation

[0026] The present application will be further described in detail below with reference to the accompanying drawings. In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present utility model.

[0027] Reference Figure 1 , Figure 2 , Figure 4 , Figure 6 One embodiment shown is as follows: The track-mounted mobile robotic arm 2, used as a new energy charging pile, includes a track assembly 1 extending horizontally. The track assembly 1 is fixed to the ground or wall (such as the ceiling above parking spaces in older residential areas) by bolts. In this embodiment, the track assembly 1 provides a linear movement path for the robotic arm 2, and the base of the robotic arm 2 is connected to the transmission mechanism 6. Specifically, the free end of the robotic arm 2 is fixedly connected to the charging gun 3 via a flange. A sealing ring is provided between the flange and the charging gun 3 to prevent rainwater or dust from entering the connection. The control device 4 includes a control panel 12 installed at one end of the track assembly 1 and sensors distributed at each joint of the robotic arm 2. The control device 4 is electrically connected to the drive motor 15, the sensors, and the charging gun 3 via cables.

[0028] The implementation principle of the above embodiment is as follows: the control device 4 obtains the position information of the robotic arm 2 through sensors, and the drive motor 15 drives the rotating screw 7 according to the control signal, so that the robotic arm 2 moves along the track assembly 1 to the target position; the motors of each joint of the robotic arm 2 coordinate to move according to the control signal, driving the charging gun 3 to align with the vehicle charging port; the charging gun 3 is connected to the power supply through a cable to realize the charging function. This modular design allows the charging pile to be flexibly arranged according to site requirements, improving space utilization.

[0029] Reference Figure 1 , Figure 6 One embodiment shown is as follows: the track groove 5 of the track assembly 1 is a U-shaped steel structure. In this embodiment, the track groove 5 extends in a straight direction, and its length is set according to actual usage requirements. A transmission mechanism 6 is installed inside it to drive the robotic arm 2 to move. Drainage holes are provided at the bottom of the track groove 5 to prevent rainwater from accumulating.

[0030] Reference Figure 3 , Figure 6One embodiment is shown whereby the two ends of the rotating lead screw 7 are mounted in bearing seats at both ends of the track groove 5 via tapered roller bearings, and the bearing seats are fixedly connected to the track groove 5 by bolts. In this embodiment, the middle of the sliding block 8 has a threaded hole that mates with the rotating lead screw 7, the L-shaped support plate 9 is fixedly connected to the sliding block 8 by welding, and the base of the robotic arm 2 is fixedly connected to the support plate 9 by bolts.

[0031] The implementation principle of this application embodiment is as follows: rotating the lead screw 7 converts the rotational motion into the linear motion of the sliding block 8.

[0032] Reference Figure 1 , Figure 2 , Figure 4 One embodiment shown is as follows: the fixed guide rail 10 is made of aluminum alloy profile and is fixedly connected to the top of the track groove 5 by countersunk bolts. In this embodiment, the guide protrusion 11 extends along the length of the fixed guide rail 10; the guide groove is opened at the bottom of the support plate 9, and its shape is adapted to the guide protrusion 11 to form a sliding pair. The inner wall of the guide groove is inlaid with polytetrafluoroethylene wear-resistant strips to reduce friction with the guide protrusion 11; dustproof brushes are provided on both sides of the fixed guide rail 10 to prevent dust from entering the guide groove.

[0033] Implementation principle: The cooperation between the guide protrusion 11 and the guide groove restricts the lateral sway of the support plate 9 and improves the stability of the movement of the robotic arm 2; the PTFE wear-resistant strip extends the service life of the guide rail, and the dustproof brush further protects the sliding pair from impurities.

[0034] Reference Figure 1 , Figure 2 , Figure 5 One embodiment shown is as follows: The base of the robotic arm 2 is connected to the upper arm via a waist-rotation joint, which includes a servo motor, a harmonic reducer, and a rotating disk. In this embodiment, the robotic arm 2 is prior art and will not be described in detail. The housing of the servo motor is fixedly connected to the base with bolts, and its output shaft is keyed to the input shaft of the harmonic reducer. The output end of the harmonic reducer is fixed to the rotating disk with bolts, and the rotating disk is welded to the bottom end of the upper arm. The upper arm and forearm are connected via an upper arm joint, the structure of which is similar to the waist-rotation joint, but the axis of the servo motor is perpendicular to the axis of the waist-rotation joint. The forearm and wrist are connected via a forearm joint, and the wrist is connected to the charging gun 3 connector via a wrist joint. The wrist joint includes a pitch joint and a rotation joint, enabling multi-angle adjustment of the charging gun 3. Each joint is equipped with an encoder to provide feedback on the rotation angle of the joint; waterproof sealing rings are provided at the joint connections to prevent liquid from seeping into the motor and reducer.

[0035] Implementation principle: The control device 4 drives the joints to rotate through the servo motor, and the encoder provides real-time feedback of angle information to form a closed-loop control; the design of 6 degrees of freedom allows the charging gun 3 to reach any position in space and maintain a specific posture, adapting to the charging port position of different vehicle models.

[0036] Reference Figure 1 , Figure 2 , Figure 5 One embodiment shown in the figure is as follows: The visual positioning module 16 includes a depth camera mounted on the free end of the robotic arm 2 and an infrared sensor mounted on the front end of the charging gun 3. In this embodiment, the charging gun 3 is prior art, and its structure will not be described in detail here. The depth camera is bolted to the wrist of the robotic arm 2 via a bracket, with its lens facing the charging gun 3; the infrared sensor is embedded in the front end of the housing of the charging gun 3, coinciding with the central axis of the charging gun 3. The control panel 12 uses an industrial-grade PLC, which is installed inside the control panel 12 and connected to the depth camera, the infrared sensor, and the servo motor controllers of each joint via a CAN bus. The depth camera is used to identify the approximate location of the vehicle charging port, and the infrared sensor is used to accurately align with the charging port at close range.

[0037] Implementation principle: When the vehicle enters the charging area, the depth camera acquires image data and transmits it to the control panel 12. The control panel 12 calculates the three-dimensional coordinates of the charging port using image processing algorithms. The robotic arm 2 moves to the vicinity of the charging port based on the coordinate information. At this time, the infrared sensor detects the infrared marker of the charging port and provides a fine-tuning signal to ensure that the charging gun 3 is accurately inserted into the charging port. This positioning system that combines vision and infrared improves alignment accuracy and reduces interference from ambient light.

[0038] Reference Figure 1 , Figure 2 , Figure 5 One embodiment shown is as follows: the positioning block 13 is made of ABS plastic and is fixedly connected to the top of the outer shell of the charging gun 3 by bolts. In this embodiment, a V-shaped groove 14 is formed on the upper surface of the positioning block 13, and the angle of the V-shaped groove 14 is adapted to the guide protrusion of the vehicle charging port; a pressure sensor is provided inside the outer shell of the charging gun 3, and the pressure sensor is connected to the control panel 12 through a signal line to detect the contact pressure between the charging gun 3 and the charging port.

[0039] Implementation principle: When the charging gun 3 approaches the vehicle's charging port, the V-shaped groove 14 guides the guide protrusion of the charging port into the correct position, preventing the charging gun 3 from becoming loose during charging. The pressure sensor monitors the contact pressure in real time, and when the pressure reaches the set value, the control panel 12 confirms successful docking and starts the charging program. This design, combining mechanical positioning and pressure feedback, improves the reliability of charging.

[0040] The working principle of this device is as follows: When the charging pile is in operation, the control device 4 is activated, and the vision positioning module 16 on the free end of the robotic arm 2 and the charging gun 3 begins to identify the position and angle of the vehicle's charging port, transmitting the data to the control panel 12. Based on this, the control panel 12 controls the drive motor 15 in the track assembly 1 to rotate, driving the rotating screw 7 to rotate, causing the sliding block 8 and support plate 9 to move horizontally along the track groove 5, bringing the robotic arm 2 closer to the vehicle. The robotic arm 2 adopts a multi-joint structure, with servo motors of the waist joint, upper arm joint, forearm joint, and wrist joint working in coordination. An encoder provides feedback on angle information, enabling flexible adjustment of six degrees of freedom and precise adjustment of the charging gun 3's posture. When the robotic arm 2 moves to the vicinity of the charging port, the positioning block 13 on the top of the charging gun 3 takes effect. Its V-shaped groove 14 guides the vehicle's charging port guide protrusion 11 into the correct position, and the elastic buckle engages with the slot to lock it in place. Simultaneously, the pressure sensor inside the charging gun 3 monitors the contact pressure. Once the set value is reached, the control panel 12 confirms successful docking and starts the charging program, ensuring safe and stable charging.

[0041] The working principle of this device has been explained through the above embodiments. These embodiments only illustrate several implementation methods of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A track-mounted mobile robotic arm new energy charging pile, characterized in that: It includes a track assembly (1), a robotic arm (2) mounted on the track assembly (1), a charging gun (3) mounted on the free end of the robotic arm (2), and a control device (4); the track assembly (1) is used to support and guide the movement of the robotic arm (2), the robotic arm (2) is used to drive the charging gun (3) to adjust its position and complete the charging operation, and the control device (4) is used to control the operation of the robotic arm (2) and the track assembly (1) and to control the charging process.

2. The track-mounted mobile robotic arm new energy charging pile according to claim 1, characterized in that: The track assembly (1) includes a track groove (5) extending in a straight line, and a transmission mechanism (6) is provided in the track groove (5) for driving the robotic arm (2) to slide horizontally along the track groove (5).

3. The track-mounted mobile robotic arm new energy charging pile according to claim 2, characterized in that: The transmission mechanism (6) includes a rotating lead screw (7), which is rotatably connected to the track groove (5). A sliding block (8) that can move along the length of the track groove (5) is provided in the track groove (5). An L-shaped support plate (9) is provided on the sliding block (8). The robotic arm (2) is provided on the support plate (9). A drive motor (15) is fixed at one end of the track groove (5). The output end of the drive motor (15) is fixedly connected to the rotating lead screw (7).

4. The track-mounted mobile robotic arm new energy charging pile according to claim 3, characterized in that: The top of the track groove (5) is provided with a fixed guide rail (10), the fixed guide rail (10) is provided with a guide protrusion (11), and the bottom of the support plate (9) is provided with a guide groove that cooperates with the guide protrusion (11).

5. The track-mounted mobile robotic arm new energy charging pile according to claim 1, characterized in that: The robotic arm (2) is a multi-joint structure, including at least a waist joint, upper arm joint, lower arm joint and wrist joint, with 6 degrees of freedom, and can flexibly adjust the position of the charging gun (3).

6. The track-mounted mobile robotic arm new energy charging pile according to claim 1, characterized in that: The control device (4) includes a control panel (12), and a visual positioning module (16) is also provided on the free end of the robotic arm (2) and the charging gun (3). The visual positioning module (16) is electrically connected to the control panel (12).

7. The track-mounted mobile robotic arm new energy charging pile according to claim 1, characterized in that: The top of the charging gun (3) is also provided with a positioning block (13), and the upper surface of the positioning block (13) is provided with a V-shaped groove (14) to facilitate positioning and docking between the charging gun (3) and the vehicle charging port.

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