An aerial mobile charging robot

Abstract

This utility model specifically relates to an aerial mobile charging robot. The main transport vehicle moves bidirectionally along an X-axis guide rail. The transport vehicle includes a first Y-axis opening and a first receiving compartment. Multiple charging compartments are laid along the X-axis guide rail, each including a second receiving compartment. An external power supply to each charging compartment is electrically connected to a sliding contact line module. A Y-axis running track is installed inside the second receiving compartment. The auxiliary transport vehicle includes a Y-axis drive mechanism and a current collector module, which contacts the sliding contact line module to receive power. Electric charging piles are suspended below the auxiliary transport vehicle, and their power supply interface is connected to the current collector module to receive power. When the first Y-axis opening and the second Y-axis opening of the second receiving compartment move to face each other, the auxiliary transport vehicle drives the electric charging piles to move within the first and second receiving compartments. This utility model achieves flexible allocation of charging piles between different parking spaces through aerial movement, solving problems such as occupied parking spaces and insufficient grid capacity.

Description

Technical Field

[0001] This utility model relates to the field of new energy vehicle charging equipment technology, specifically to an aerial mobile charging robot, which is particularly suitable for intelligent charging of new energy vehicles in scenarios such as above-ground and underground garages and parking lots. Background Technology

[0002] With the increasing popularity of new energy vehicles, the demand for charging stations is growing rapidly. However, existing parking lots and underground garages present numerous charging challenges. On the one hand, the types of vehicles parked in parking spaces are diverse, with fuel vehicles occupying spaces or electric vehicles remaining in their parking spots even when fully charged, preventing vehicles from charging in a timely manner. On the other hand, the power grid capacity of many older residential areas is limited, making it difficult to meet the electricity demand of a large number of fixed charging stations. Traditional fixed charging station models cannot flexibly address these problems, resulting in a waste of charging resources and causing great inconvenience to car owners. There is an urgent need for a new type of charging equipment that can efficiently utilize charging resources and overcome spatial and power grid limitations. Utility Model Content

[0003] This utility model aims to provide an aerial mobile charging robot that can flexibly allocate charging piles between different parking spaces by moving in the air, solving problems such as occupied parking spaces and insufficient grid capacity, improving the utilization rate of charging resources, and meeting the convenient charging needs of car owners.

[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution: an aerial mobile charging robot, comprising... The X-axis guide rail is positioned above the charging parking space; The main carriage of the transport compartment includes a transport compartment section and an X-axis drive mechanism. The X-axis drive mechanism drives the transport compartment section to move bidirectionally along the X-axis guide rail. The transport compartment section includes a first Y-axis opening and a first accommodating compartment therein. Multiple charging compartments are laid out along the X-axis guide rail direction corresponding to multiple charging positions. Each charging compartment includes a second accommodating compartment, which includes a second Y-direction opening. The charging compartment is connected to an external power supply and a sliding contact line module via a high-voltage air switch. A Y-direction running track is provided inside the second accommodating compartment, and the Y-direction running track is connected to the second Y-direction opening. The auxiliary carriage includes a Y-axis drive mechanism and a current collector module. When the Y-axis drive mechanism runs to the Y-axis running track, the contacts of the current collector module contact the conductive rail of the sliding contact line module to obtain electricity. An electric charging pile is suspended below the auxiliary vehicle, and the power supply interface of the electric charging pile is connected to the current collector module to receive power. When the main trolley of the transport compartment is running on the X-axis guide rail, the first Y-direction opening can move to the opposite direction and dock with the second Y-direction opening, so that the auxiliary trolley can drive the hoisting electric charging pile to move and transfer within the first and second accommodating compartments.

[0005] Preferably, the X-axis guide rail is spliced ​​from I-shaped aluminum alloy profiles, and two sets of racks are provided on the lower bearing surface of the I-shaped aluminum alloy profiles. The X-axis drive mechanism includes four drive gearboxes, each gearbox containing a drive gear that meshes with the racks. The drive gears are driven by a 24V DC worm gear motor with an encoder.

[0006] Preferably, the auxiliary carriage is equipped with four sets of Y-axis drive mechanisms. Each drive mechanism includes a 24V DC worm gear motor with encoder, a planetary reducer and a drive wheel. A polyurethane guide strip is provided on the Y-axis running track. When the drive wheel is in the second accommodating compartment, it makes rolling contact with the polyurethane guide strip.

[0007] Preferably, the current collector module is a three-stage current collector, which includes a main power supply module, a control power supply module, and a signal transmission module. The main power supply module is responsible for high-power supply, the control power supply module provides low voltage to the circuit board and motor, and the signal transmission module handles data communication.

[0008] Preferably, the interior of the auxiliary vehicle includes a 24V lithium battery module and a power distribution module. The 24V lithium battery module is used to power the 24V DC worm gear motor with encoder. The power distribution module receives main power and control power from a three-stage current collector. The main power is used to power the charging gun of the electric charging pile through an AC / DC conversion module. The control power is used to provide 24V DC power to the circuit module of the 24V lithium battery module and the automatic charging pile.

[0009] Preferably, the transport compartment main carriage includes a lithium battery module, which is used to power the X-axis drive mechanism, and a wireless charger is provided at one end of the X-axis guide rail for charging the lithium battery module.

[0010] Preferably, the main transport vehicle integrates a PLC programmable controller, a communication module, and a positioning module. The PLC programmable controller receives and executes motion control commands. The communication module includes a 4G / 5G communication module and a WiFi module, supporting communication with a cloud server and local devices. It also includes a CAN bus communication interface for internal data exchange with the auxiliary transport vehicle and the electric charging pile. The positioning module uses a laser rangefinder and an encoder to acquire the position information of the main transport vehicle in real time. The auxiliary transport vehicle is equipped with a microcontroller to receive commands from the PLC of the main transport vehicle or the main control board of the electric charging pile and control its Y-axis movement. It also has a CAN bus interface for communication with the main transport vehicle and the electric charging pile. Additionally, it has an RS485 interface for connecting to the signal transmission section of the three-stage current collector to receive control signals.

[0011] Preferably, the electric charging pile includes an electrical box, a housing, and a charging gun. The charging gun includes a charging gun cable and a charging gun head. An opening and closing door assembly is provided on the housing, located below the housing. The opening and closing door assembly includes a stepper motor and a rotating opening and closing door plate connected thereto. A take-up and release drive wheel and a tensioning wheel are provided on the cable exit path of the charging gun cable. The take-up and release drive wheel is connected to a take-up and release motor. The charging gun cable passes between the take-up and release drive wheel and the tensioning wheel, and is driven by the take-up and release motor to take up and / or release the cable. A first fixing pipe is provided on the top of the housing, and the first fixing pipe is fixedly connected to the auxiliary carriage. A power supply cable and a communication cable are threaded through the first fixing pipe. The electrical box integrates a core circuit module and a terminal block to control the charging and discharging of the charging gun.

[0012] Compared with existing technologies, the beneficial effects achieved by this utility model of an aerial mobile charging robot and its usage method are: 1. Flexible Allocation of Charging Resources: This invention achieves flexible scheduling of electric charging piles through the coordinated design of the X-axis guide rail, the main trolley of the transport compartment, the auxiliary trolley, and the charging compartment. When a parking space needs charging, the main trolley of the transport compartment first moves along the X-axis guide rail to the first target charging compartment where the auxiliary trolley is located. The auxiliary trolley then moves along the Y-axis into the first receiving compartment of the transport compartment. Subsequently, the main trolley moves to the second target charging compartment, and the auxiliary trolley carries the electric charging pile along the Y-axis running track into that compartment to complete the deployment. This coordinated mechanism of bidirectional movement along the X and Y axes allows electric charging piles to overcome parking space limitations and be quickly transferred to any charging compartment according to actual needs, significantly improving equipment utilization efficiency compared to traditional fixed charging piles.

[0013] 2. Reduced Power Grid Pressure: This invention adopts a combined centralized power supply and mobile charging mode, eliminating the need for fixed charging piles at each parking space. The charging compartment is connected to an external power supply and a sliding contact line module via a high-voltage air switch. After the three-stage current collector module of the auxiliary vehicle contacts the sliding contact line module, the power distribution module transmits electrical energy to the electric charging pile. This design allows multiple parking spaces to share a single power supply system. By scheduling the main and auxiliary vehicles in the transport compartment, the charging piles can be used in rotation at different parking spaces. The electric charging piles are only connected to the power supply system of the corresponding charging compartment when actually charging; otherwise, they are in standby or transfer mode, avoiding the energy loss caused by long-term standby of each charging pile in the traditional mode. In areas with limited power grid capacity, such as older residential areas, the flexible allocation of this system can reduce the power grid load, effectively alleviate power grid pressure, and reduce investment in power facility upgrades.

[0014] 3. This patent employs a no-high-voltage design along the X-axis, drawing power only through fixed channels such as walls. Electricity is transmitted to the charging compartment via these fixed channels, and then powered by a sliding contact line module within the charging compartment during the charging pile's Y-axis rotation. This power supply method avoids transmitting high-voltage electricity along a long X-axis track, eliminating potential safety hazards such as leakage and short circuits, significantly improving the safety of the charging system. Simultaneously, it eliminates the complex high-voltage wiring process along the X-axis track, removing the need for long-distance cabling, insulation, and fixed installation, greatly simplifying the installation process, reducing construction costs and subsequent maintenance difficulties, and improving project implementation efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure in the front view of this embodiment; Figure 2 This is a top-view structural diagram of this embodiment; Figure 3 This is a schematic diagram of the structure from the side view of this embodiment; Figure 4 This is a structural schematic diagram of the main trolley of the transport compartment in this embodiment; Figure 5 This is a schematic diagram of the charging compartment structure in this embodiment. Figure 1 ; Figure 6 This is a schematic diagram of the charging compartment structure in this embodiment. Figure 2 ; Figure 7 This is a schematic diagram of the charging compartment structure in this embodiment. Figure 3 ; Figure 8 This is a schematic diagram of the charging compartment structure in this embodiment. Figure 4 ; Figure 9 This is a schematic diagram of the structure of the auxiliary vehicle in this embodiment. Figure 1 ; Figure 10 This is a schematic diagram of the structure of the auxiliary vehicle in this embodiment. Figure 2 ; Figure 11 This is a schematic diagram of the structure of the auxiliary vehicle in this embodiment. Figure 3 ; Figure 12 This is a schematic diagram of the electric charging pile in this embodiment. Figure 1 ; Figure 13 This is a schematic diagram of the electric charging pile in this embodiment. Figure 2 ; Figure 14 This is a schematic diagram of the electric charging pile in this embodiment. Figure 3 ; Figure 15 This is a schematic diagram of the electric charging pile in this embodiment. Figure 4 ; Figure 16 This is a schematic diagram of the main structure of the electric charging pile running into the auxiliary vehicle in this embodiment. Figure 1 ; Figure 17 This is a side view diagram of the electric charging station operating inside the auxiliary vehicle in this embodiment. Figure 2 ; Figure 18 This is a three-dimensional structural diagram of the electric charging station operating inside the auxiliary vehicle in this embodiment. Figure 2 ; Figure 19 This is a schematic diagram of the electrical connection structure module of this application; The components include: 1. X-axis guide rail; 2. Main trolley for transporting cargo; 3. Transporting cargo compartment; 4. X-axis drive mechanism; 5. First Y-axis opening; 6. First accommodating compartment; 7. Charging compartment; 8. Second accommodating compartment; 9. Second Y-axis opening; 10. High-voltage air switch; 11. Sliding contact line module; 12. Y-axis running rail; 13. Auxiliary trolley; 14. Y-axis drive mechanism; 15. Current collector module; 16. Electric charging pile; 17. Rack; 18. Lifting bracket; 19. Housing; 20. Main trolley drive gear; 21. 24V DC worm gear motor with encoder; 22. PLC programmable controller; 23. Polyurethane strip rail; 24. Dust cover; 25. 4G / 5G communication module; 26. WiFi module; 27. CAN bus communication interface; 28. Laser rangefinder; 29. 30. Encoder; 31. Lithium battery module; 32. 24V 100A high-power wireless charger; 33. Polyurethane strip; 38. Electrical box; 39. Sub-carriage drive gear; 40. Housing; 41. Power distribution module; 42. Main power module; 43. Control power module; 44. Signal transmission module; 45. Charging gun cable; 46. Charging gun head; 47. Microcontroller; 48. Main control board; 49. RS485 interface; 50. Reel; 51. Spring mounting shaft; 52. Charging gun; 52. Cable slot; 53. Spring; 54. Reel-in / unreel-out drive wheel; 55. Tensioner wheel; 56. Opening; 57. Door assembly; 58. Curved door; 59. Door rotating plate; 60. First fixing tube; 61. Second fixing tube; 62. Outer disc; 63. Circular housing; 64, large motor for winding and unwinding wires; 67, inner solid plate; 69, door opening and closing motor; 74, core circuit module. Detailed Implementation

[0016] To make the technical means, creative features, and achieved objectives and effects of this utility model easier to understand, the present utility model is further described below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of this utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this utility model. Unless otherwise specified, the experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments are commercially available unless otherwise specified.

[0017] Example 1 like Figures 1 to 19 As shown, an aerial mobile charging robot includes... X-axis guide rail 1 is positioned above the charging parking space; The main transport carriage 2 includes a transport compartment 3 and an X-axis drive mechanism 4. The X-axis drive mechanism 4 drives the transport compartment 3 to move bidirectionally along the X-axis guide rail 1. The transport compartment 3 includes a first Y-axis opening 5 and a first accommodating compartment 6 therein. The charging compartment 7 is laid out along the X-axis guide rail 1, corresponding to multiple charging positions. The charging compartment 7 includes a second accommodating compartment 8, which includes a second Y-direction opening 9. The charging compartment 7 is connected to an external power supply and a sliding contact line module 11 via a high-voltage air switch 10. A Y-direction running track 12 is provided inside the second accommodating compartment 8, and the Y-direction running track 12 is connected to the second Y-direction opening 9. The auxiliary trolley 13 includes a Y-axis drive mechanism 14 and a current collector module 15. When the Y-axis drive mechanism 14 runs to the Y-axis running track 12, the contacts of the current collector module 15 contact the conductive rail of the sliding contact line module 11 to obtain electricity. Electric charging pile 16 is suspended below the auxiliary vehicle 13, and the power supply interface of the electric charging pile 16 is connected to the current collector module 15 to receive power. When the main trolley 2 of the transport compartment runs on the X-axis guide rail 1, the first Y-direction opening 5 and the second Y-direction opening 9 can move to face each other and dock, so that the auxiliary trolley 13 drives the hoisting electric charging pile 16 to transfer and move within the first accommodating compartment 6 and the second accommodating compartment 8. This embodiment achieves flexible scheduling of the electric charging pile 16 through the coordinated design of the X-axis guide rail 1, the main trolley 2 of the transport compartment, the auxiliary trolley 13, and the charging compartment 7. When a parking space needs charging, the main trolley 2 of the transport compartment first moves along the X-axis guide rail 1 to the first target charging compartment 7 where the auxiliary trolley 13 is located. The auxiliary trolley 13 then moves along the Y-axis into the first receiving compartment 6 of the transport compartment section 3. Subsequently, the main trolley 2 of the transport compartment moves to the second target charging compartment 7, and the auxiliary trolley 13 carries the electric charging pile 16 along the Y-axis running track 12 into the compartment to complete the deployment. This coordinated mechanism of bidirectional movement along the X and Y axes allows the electric charging pile 16 to overcome parking space occupancy limitations and quickly move to any charging compartment 7 according to actual needs, significantly improving equipment utilization efficiency compared to traditional fixed charging piles. This embodiment adopts a combination of centralized power supply and mobile charging, eliminating the need to install charging piles at each parking space. The charging compartment 7 is connected to an external power supply and a sliding contact line module 11 via a high-voltage air switch 10. After the three-stage current collector module 15 of the auxiliary trolley 13 contacts the sliding contact line module 11, the power distribution module transmits electrical energy to the electric charging pile 16. This design allows multiple parking spaces to share a single power supply system. Through the scheduling of the main trolley 2 and the auxiliary trolley 13, the charging piles can be used in rotation at different parking spaces. The electric charging pile 16 is only connected to the power supply system of the corresponding charging compartment 7 when charging is actually in progress; otherwise, it remains in standby or transfer mode, avoiding the energy loss caused by long-term standby of each charging pile in the traditional model. In areas with limited grid capacity, such as older residential areas, the flexible allocation of this system can reduce grid load, effectively alleviate grid pressure, and reduce investment in power infrastructure upgrades.

[0018] This embodiment employs a no-high-voltage design along the X-axis, with power supplied only through fixed channels such as walls. Electricity is transmitted to the charging compartment via these fixed channels, and then powered by a sliding contact line module within the charging compartment during the charging pile's Y-axis rotation. This power supply method avoids transmitting high-voltage electricity along a long X-axis track, eliminating potential safety hazards such as leakage and short circuits at the source, significantly improving the safety of the charging system. Simultaneously, it eliminates the complex high-voltage wiring process along the X-axis track, removing the need for long-distance cabling, insulation, and fixed installation, greatly simplifying the installation process, reducing construction costs and subsequent maintenance difficulties, and improving project implementation efficiency. Example 2 An aerial mobile charging robot includes: The X-axis guide rail 1 is positioned above the charging parking space. It is constructed from specially made I-beam-shaped aluminum alloy profiles, spliced ​​in 3-meter sections. Two 3-meter-long, 1.5-module racks 17 are precisely laid beneath each section. The profiles can be seamlessly connected to form tracks of 6 meters, 12 meters, 18 meters, or even longer, creating a main track. The guide rail is suspended from the ceiling of the garage or the canopy of the parking lot using mounting brackets 18. The bracket spacing is appropriately set according to the guide rail length to ensure its stability. The main trolley 2 of the transport compartment includes a transport compartment section 3 and an X-axis drive mechanism 4. The X-axis drive mechanism 4 drives the transport compartment section 3 to move bidirectionally along the X-axis guide rail 1. The transport compartment section 3 includes a first Y-axis opening 5 and a first receiving compartment 6 inside it. The lower bottom of the first receiving compartment 6 is a recessed channel, and the two sides are auxiliary trolley running tracks. The X-axis drive mechanism 4 of the main trolley 2 includes four drive gearboxes. The main trolley drive gear 20 in each gearbox meshes with the guide rail rack 17 and is driven by a 24V DC worm gear motor 21 with an encoder. The main trolley 2 integrates a PLC programmable controller 22, a communication module, and a positioning module. The communication module includes a 4G / 5G communication module 25 and a WiFi module 26, supporting communication with cloud servers and local devices. It also features a CAN bus communication interface 27 for internal data exchange with the auxiliary trolley 13 and the electric charging pile 16. The positioning module uses a laser rangefinder 28 and an encoder 29 to acquire the real-time position information of the main trolley 2 in the transport compartment. The main trolley 2 is equipped with a lithium battery module 30 to power the X-axis drive mechanism 4. A 24V 100A high-power wireless charger 31 is installed at one end of the X-axis guide rail 1. When the main trolley returns to the storage compartment under control and approaches the wireless charger 31, the magnetic induction receiver inside the vehicle charges the lithium battery, ensuring normal motor operation. The charging compartment 7 is laid along the X-axis guide rail 1, corresponding to multiple charging positions. The charging compartment 7 is installed at an appropriate height where charging positions are needed and is fixed by a steel structure bracket. The charging compartment 7 includes a shell 19, and internally houses a thermal protection high-voltage air switch 10, a sliding contact line module 11, a polyurethane strip track, a dust cover, and other components. The charging compartment 7 is connected to an external power supply and the sliding contact line module 11 via the high-voltage air switch 10. The housing includes a second accommodating compartment 8, which includes a second Y-shaped opening 9. A notch channel is provided at the bottom of the second accommodating compartment 8, and Y-shaped running tracks 12 are provided on both sides of the notch channel. Polyurethane strips are laid on the Y-shaped running tracks 12, which connect to the second Y-shaped opening 9. The bottom of the second Y-shaped opening 9 is coplanar with the bottom of the first Y-shaped opening 5, maintaining a gap between them. This gap is no greater than 5-20mm, facilitating the smooth, seamless transfer of the auxiliary vehicle 13 within the first accommodating compartment 6 and the second accommodating compartment 8. The charging compartment 7 is connected to an external power supply and a sliding contact line module 11 via a high-voltage air switch 10, providing AC charging power to the mobile charging pile and simultaneously charging and replenishing the battery of the auxiliary vehicle 13.

[0019] The auxiliary carriage 13 has four sets of Y-axis drive mechanisms 14 at its bottom. Each drive mechanism consists of a 24V DC worm gear motor 21 with an encoder, a planetary reducer, and an auxiliary carriage drive gear 39. Polyurethane guide strips are installed on the Y-axis running track 12. When the drive wheels are inside the second accommodating compartment 8, they roll into contact with the polyurethane guide strips, enabling the auxiliary carriage 13 to move in the Y-axis. The auxiliary carriage 13 also houses a 24V lithium battery module and a power distribution module 41. The 24V lithium battery module powers the Y-axis drive motor 21, and the power distribution module 41 receives power from the three-stage current collector module 15 and distributes it appropriately. The auxiliary carriage 13 is equipped with a three-stage current collector, which includes a main power module 42, a control power module 43, and a signal transmission module 44. The main power module 42 is connected to the auxiliary carriage power distribution module 41 via a 50mm² multi-strand copper core cable to transmit main power. The control power module 43 provides DC 24V power to the internal circuit modules and 24V lithium battery module of the auxiliary carriage 13. The signal transmission module 44 transmits control signals to the microcontroller 47 of the auxiliary carriage 13 and the main control board 48 of the electric charging pile 16 via shielded twisted-pair cables. The auxiliary carriage 13 is equipped with a microcontroller 47 to receive instructions from the PLC of the main carriage 2 of the transport compartment or the main control board 48 of the electric charging pile 16 to control the Y-axis movement. It is also equipped with a CAN bus interface 27 and an RS485 interface 49 for data communication and signal transmission. The electric charging station 16 includes an electrical box 38, a housing 40, and a charging gun 52. The charging gun 52 includes a charging cable 45 and a charging head 46. The housing 40 includes an outer disc and an annular box 56 connected to the outer disc. An inner fixing plate 57 is provided on the inner side of the annular box 56, and the electrical box 38 is fixed to the outer side of the inner fixing plate 57. The housing 40 has a cable reel 50 inside, with a coil spring mounting shaft 51 at its center and cable slots 52 on its edge. One end of the charging cable 45 is inserted into the cable slot 52, and the other end is connected to the charging head 46. The station also includes a coil spring 53, the inner end of which is fixed to the coil spring central shaft 51, and the outer end is fixedly connected to the housing 40. The charging gun cable 45 has a take-up / release drive wheel 54 and a tension wheel 55 that cooperate with it on its cable exit path. The take-up / release drive wheel 54 is connected to a take-up / release motor 64. The charging gun cable 45 passes between the take-up / release drive wheel 54 and the tension wheel 55 and is driven by the take-up / release motor 64 to take up and / or release the cable. The outer casing 40 includes an outer disc 62 and an annular box 63 connected to the outer disc 62. An inner fixing plate 67 is provided on the inner side of the annular box 63, and the electrical box 38 is fixed to the outer side of the inner fixing plate 67. The outer casing 40 houses a cable reel 50, with a coil spring mounting shaft 51 at its center and cable slots along its edges. One end of the charging gun cable 45 is inserted into the cable slot, and the other end is connected to the charging gun head 46. The casing also includes a coil spring 53, the inner end of which is fixed to the coil spring mounting shaft 51, and the outer end is fixedly connected to the outer casing 40. This combination of the cable reel 50 and the coil spring 53 provides elastic winding force for the charging gun cable 45, assisting the motor in achieving smoother cable winding and reducing the risk of cable slack and tangling. The cable slots ensure reliable fixing of the charging gun cable end, preventing it from falling off.

[0020] An opening 56 is provided on the lower side of the annular housing 63. An opening / closing door assembly 57 is fitted at the opening 56. The opening / closing door assembly 57 includes a rotating opening / closing door plate, which is an arc-shaped door 58. The arc-shaped door 58 is fitted against the inner side of the arc-shaped structure of the opening 56. One side of the arc-shaped door 58 is connected to an opening / closing door rotating plate 59, and the other end of the rotating plate 59 is connected to the rotating shaft of an opening / closing door motor 69. The opening / closing door motor 69 is fixed to the inner fixed plate 67. The opening / closing door motor 69 drives the rotating plate 59 to rotate, thereby causing the arc-shaped door 58 to rotate, thus opening and closing the arc-shaped door 58 relative to the opening 56. The arc-shaped door 58 fits seamlessly with the arc-shaped structure of the opening 56, enhancing the sealing effect. The rotating opening / closing mechanism occupies little space and operates smoothly, making it more suitable for aerial installation scenarios compared to traditional sliding door designs, improving protection performance while reducing the failure rate.

[0021] A first fixing pipe 60 is provided above the outer casing 40, and a second fixing pipe 61 is provided above the electrical box 38. Both the first fixing pipe 60 and the second fixing pipe 61 are fixedly connected to the auxiliary vehicle 13. A power supply cable 72 and a communication cable 73 are run through the fixing pipes. The electrical box 38 integrates a core circuit module 74 and a terminal block. The electric charging pile 16 obtains power through the current collector module 15 on the auxiliary vehicle 13 and controls the charging gun 52 to realize the charging function. Example 3 Usage example Taking a parking lot as an example, when a new energy vehicle drives into an empty parking space and sends a charging request: Based on the parking space layout and charging equipment status, the parking management system sends a control command containing the position coordinates of the first target charging compartment 7 to the PLC programmable controller 22 of the main trolley of the transport compartment via a 4G / 5G network. Upon receiving the command, the PLC controller 22 drives the 24V DC worm gear motor 21 with encoder in the X-axis drive mechanism 4, causing the main trolley of the transport compartment 2 to move along the X-axis guide rail 1 towards the first target charging compartment 7. During the movement, the laser rangefinder 28 and encoder 29 monitor the position of the main trolley in real time, ensuring it accurately reaches the corresponding position of the first target charging compartment 7 and stops. After the main trolley 2 of the transport compartment reaches the first target position, it sends a command to the microcontroller 47 of the auxiliary trolley 13 at that position via the CAN bus. The Y-axis drive mechanism 14 of the auxiliary trolley 13 is activated, and the 24V DC worm gear motor 21 with encoder drives the wheel to roll on the polyurethane guide strip of the Y-axis running track 12. The auxiliary trolley 13 moves from the second Y-axis opening 9 of the charging compartment 7 into the first receiving compartment 6 of the transport compartment 3. The encoder 29 on the auxiliary trolley 13 monitors its own position in real time and feeds back the information to the main trolley 2 of the transport compartment via the CAN bus. After confirming the positioning of the auxiliary trolley 13, the main trolley 2 of the transport compartment receives the position command of the second target charging compartment 7 sent by the management system, and restarts the X-axis drive mechanism 4 to move to the corresponding position of the second target charging compartment 7. Upon arrival, it sends a command to the microcontroller 47 of the auxiliary trolley 13 via the CAN bus. The auxiliary trolley 13 moves along the Y-axis running track 12 into the charging compartment 7 and feeds back the position information to the main control board 48 of the main trolley 2 and the electric charging pile 16. After the auxiliary trolley 13 reaches the designated position, the main trolley 2 of the transport compartment returns to the storage compartment at the end of the X-axis guide rail 1 to stand by or to perform the next transport task. After the auxiliary vehicle 13 moves into position corresponding to the second target charging compartment 7, the carbon brushes of its three-stage current collector module 15 contact the sliding contact line module 11 of the charging compartment 7. The main power module 42 establishes the main power transmission channel, the control power module 43 supplies power to the interior of the auxiliary vehicle 13, and the signal transmission module 44 transmits control signals, establishing a complete power and signal transmission channel. After receiving the main power, the power distribution module 41 provides main power to the charging gun 52 of the electric charging pile 16 through the AC / DC conversion module, while simultaneously allocating control power appropriately. After receiving the power supply signal, the main control board 48 of the electric charging pile 16 controls the opening and closing door motor 69 of the electric opening and closing door system to start, driving the rotating arc door 58 to open. After the limit switch detects that the door is fully open, it sends a feedback signal to the main control board 48. The main control board 48 controls the cable reel motor 64 to drive the cable reel drive wheel 54 to rotate, releasing the charging gun cable 45 and the charging gun head 46, waiting for the car owner to insert the charging gun head 46 into the car's charging port. After the car is fully charged, feedback is sent to the main control board 48 of the electric charging pile 16. The main control board 48 controls the large motor 64 of the charging pile 16 to drive the cable winding, winding the charging gun cable 45 and the charging gun head 46 into the outer shell 40. It also drives the opening and closing door motor 69 of the opening and closing door assembly 57 to close the rotating arc door 58, completing one charging cycle. The position of the uncharged charging compartment 7 is then converted to the position corresponding to the first target charging compartment 7 that the main trolley of the transport compartment 2 can dock with again. When the auxiliary trolley 13 in the charging compartment 7 receives the withdrawal command, it drives the Y-axis movement mechanism to run in reverse, causing the auxiliary trolley 13 to pull the electric charging pile away from the charging compartment 17 and enter the transport compartment section 3 of the main trolley of the transport compartment 2. The drive motor of the main trolley of the transport compartment 2 starts and moves along the X-axis of the guide rail to the next target position or returns to the storage compartment. It should be noted that in practical applications, the technical solution of this utility model can be combined with IoT technologies such as QR codes and mobile apps. For example, the QR code can be affixed to a conspicuous place on the ground of the parking space, on the pillar next to the parking space, or on the surface of the charging compartment 7, making it convenient for car owners to quickly identify. After scanning the code, car owners can control the charging action and view information such as the status of the charging equipment, the estimated charging time, and real-time costs through the mobile app or mini-program interface, further improving the convenience and intelligence of the charging service. In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An aerial mobile charging robot, characterized in that: include The X-axis guide rail is positioned above the charging parking space; The main carriage of the transport compartment includes a transport compartment section and an X-axis drive mechanism. The X-axis drive mechanism drives the transport compartment section to move bidirectionally along the X-axis guide rail. The transport compartment section includes a first Y-axis opening and a first accommodating compartment therein. Multiple charging compartments are laid out along the X-axis guide rail direction corresponding to multiple charging positions. Each charging compartment includes a second accommodating compartment, which includes a second Y-direction opening. The charging compartment is connected to an external power supply and a sliding contact line module via a high-voltage air switch. A Y-direction running track is provided inside the second accommodating compartment, and the Y-direction running track is connected to the second Y-direction opening. The auxiliary carriage includes a Y-axis drive mechanism and a current collector module. When the Y-axis drive mechanism runs to the Y-axis running track, the contacts of the current collector module contact the conductive rail of the sliding contact line module to obtain electricity. An electric charging pile is suspended below the auxiliary vehicle, and the power supply interface of the electric charging pile is connected to the current collector module to receive power. When the main transport vehicle of the transport compartment is running on the X-axis guide rail, the first Y-direction opening can move to the opposite direction and dock with the second Y-direction opening, so that the auxiliary transport vehicle can drive the electric charging pile to move and transfer within the first and second accommodating compartments.

2. The aerial mobile charging robot according to claim 1, characterized in that: The X-axis guide rail is spliced ​​from I-shaped aluminum alloy profiles. Two sets of racks are provided on the lower bearing surface of the I-shaped aluminum alloy profiles. The X-axis drive mechanism includes four drive gearboxes. Each gearbox contains a drive gear that meshes with the racks. The drive gears are driven by a 24V DC worm gear motor with an encoder.

3. The aerial mobile charging robot according to claim 1, characterized in that: The auxiliary carriage is equipped with four sets of Y-axis drive mechanisms. Each drive mechanism includes a 24V DC worm gear motor with encoder, a planetary reducer and a drive wheel. Polyurethane guide strips are provided on the Y-axis running track. When the drive wheel is in the second accommodating compartment, it makes rolling contact with the polyurethane guide strips.

4. The aerial mobile charging robot according to claim 1, characterized in that: The current collector module is a three-stage current collector, which includes a main power supply module, a control power supply module, and a signal transmission module. The main power supply module is responsible for high-power supply, the control power supply module provides low voltage to the circuit board and motor, and the signal transmission module handles data communication.

5. The aerial mobile charging robot according to claim 1, characterized in that: The interior of the auxiliary vehicle includes a 24V lithium battery module and a power distribution module. The 24V lithium battery module supplies power to the 24V DC worm gear motor with encoder. The power distribution module receives main power and control power from a three-stage current collector. The main power is converted into AC / DC power for the charging gun of the electric charging pile through an AC / DC conversion module. The control power is used to provide 24V DC power to the 24V lithium battery module and the circuit module of the electric charging pile.

6. The aerial mobile charging robot according to claim 1, characterized in that: The transport compartment main carriage includes a lithium battery module, which is used to power the X-axis drive mechanism. A wireless charger is provided at one end of the X-axis guide rail for charging the lithium battery module.

7. The aerial mobile charging robot according to claim 1, characterized in that: The main transport vehicle integrates a PLC programmable controller, a communication module, and a positioning module. The PLC receives and executes motion control commands. The communication module includes a 4G / 5G communication module and a WiFi module, supporting communication with cloud servers and local devices. It also includes a CAN bus communication interface for internal data exchange with the auxiliary transport vehicle and the electric charging pile. The positioning module uses a laser rangefinder and an encoder to acquire the real-time position information of the main transport vehicle. The auxiliary transport vehicle is equipped with a microcontroller to receive commands from the PLC of the main transport vehicle or the main control board of the electric charging pile to control its Y-axis movement. It also has a CAN bus interface for communication with the main transport vehicle and the electric charging pile. Additionally, it has an RS485 interface for connecting to the signal transmission section of the three-stage current collector to receive control signals.

8. The aerial mobile charging robot according to claim 1, characterized in that: The electric charging station includes an electrical box, a housing, and a charging gun. The charging gun includes a charging gun cable and a charging gun head. An opening and closing door assembly is provided on the housing, located at the bottom of the housing. The opening and closing door assembly includes a stepper motor and a rotating opening and closing door plate connected thereto. A take-up and release drive wheel and a tensioning wheel are provided on the cable exit path of the charging gun cable. The take-up and release drive wheel is connected to a take-up and release motor. The charging gun cable passes between the take-up and release drive wheel and the tensioning wheel, and is driven by the take-up and release motor to take up and / or release the cable. A first fixing pipe is provided on the top of the housing, and the first fixing pipe is fixedly connected to the auxiliary carriage. A power supply cable and a communication cable are run through the first fixing pipe. The electrical box integrates a core circuit module and a terminal block to control the charging and discharging of the charging gun.

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