Vehicle charging device, suspension platform for robot arms and vehicle charging system

Abstract

Rail-mounted vehicle charging device, characterized in that it is suspended from a moving guide rail which is suspended from the uppermost part of a parking space, a plurality of charging base stations are arranged along the moving guide rail according to the positions of the parking spaces of the parking space, the vehicle charging device comprises: a robot arm suspension platform (20) which can be suspended from the walking guide rail and which comprises a robot arm suspension platform main body (200) and a robot arm (210) which is attached to the lowermost part of the platform main body; a charging main unit (50) which detachably receives a charging plug (502); and a detection device (40) comprising: a visual positioning device (403) at the end of the robot arm, which is attached to the robot arm, wherein the charging main unit comprises a movable plug-in part (504), in the case that the movable plug-in part of the charging main unit is docked to a static plug-in part of the charging base station, the charging base station supplies the charging main unit with power, and the robot arm comprises a charging plug gripping module (206) attached to its end, the posture of the robot arm can be adjusted to actuate the charging plug by the charging plug gripping module, and to perform an action for inserting and removing the charging plug on a vehicle.

Description

FIELD OF TECHNOLOGY

[0001] The present utility model relates to the field of charging motor vehicles with new energies, in particular to a rail-mounted motor vehicle charging device, a suspension platform for robot arms and a motor vehicle charging system. BACKGROUND

[0002] Given the current parking space situation in China, the energy supply for new energy vehicles will continue to depend on the energy supply from public charging piles in the future. With the government's strong promotion of the energy supply of public charging piles, the ratio of charging piles to parking spaces in public parking lots will continue to rise. Given the structure and distribution of existing charging piles, the cost per parking space is becoming increasingly high due to factors such as the area occupied by a charging pile, the number of devices in a charging pile, and the power consumption in standby mode, resulting in high costs and high energy consumption per charging pile per parking space. Therefore, there is an urgent need for charging piles with low costs, low resource occupancy rate, and high efficiency.

[0003] The structural characteristics and location-related features of existing public charging stations lead to various problems for charging by vehicle owners, such as too few exclusive charging spaces, occupancy of the charging spaces by internal combustion engine vehicles, occupancy of the charging spaces due to excessively long charging times, queuing for charging, jumping of charging plugs, etc., which leads to inconvenient charging operation for vehicle owners, susceptibility to errors, poor user experience, and waste of public resources.

[0004] Although new energy supply solutions such as battery swapping stations, mobile charging robots, and others are being offered on the market to attempt to solve the above-mentioned problems, their characteristics prevent them from being widely deployed. Specifically, these battery swapping stations take up a lot of space, have few backup batteries per station, support only a limited number of vehicle models, and cannot be installed in underground parking garages. All mobile charging robots are unmanned vehicles with their own energy storage that charge at charging stations. They have high costs per station. At the same time, they must navigate numerous obstacles when driving in large spaces, posing safety and legal risks.

[0005] Currently, there are also rail-mounted charging robots that attempt to solve the problems of existing charging devices with charging piles. For example, the rail-mounted charging device and its charging method described in Chinese patent application publication number CN114954079A require manual operation by the user to insert the plug into the charging interface of a vehicle body, resulting in cumbersome operation for the user. In addition, the technology has the following problems with the jumping of the charging plug: If constant manual attention is not paid, the jumping of the charging plug is easy to be missed, leading to a delay in the completion of the charging process, which not only prolongs the occupancy time of the parking space but also increases the time burden on the user.Even if the user continuously checks whether the charging plug is popped, they still have to manually operate the device to recharge after discovering that the charging plug is popped, which not only increases the burden on the user but also increases the inconvenience of operation. With an insufficient ratio of charging stations, problems with popped charging plugs cannot be resolved in a timely manner, leading to situations where vehicle owners have to wait too long in their parking spaces or are unable to charge their vehicles. CONTENTS OF THE UTILITY MODEL

[0006] In order to overcome the above-mentioned problems of the existing charging robots, the present utility model is intended to provide a rail-mounted vehicle charging device, a suspension platform for robot arms, and a vehicle charging system that can enable automatic charging by automatically plugging and unplugging the charging plug by a robot arm, and can automatically start recharging when a charging interruption fault such as jumping of the charging plugs occurs.

[0007] A first aspect of the present utility model provides a rail-hung vehicle charging device suspended from a traveling guide rail suspended at the uppermost part of a parking space. A plurality of charging base stations are arranged along the traveling guide rail corresponding to the positions of the parking spaces of the parking space. The vehicle charging device comprises: a robot arm suspension platform that can be suspended from the traveling guide rail, and that includes a platform main body and a robot arm attached to the lowermost part of the platform main body; a charging main body that detachably accommodates a charging plug;and a detection device comprising: a visual positioning device at the end of the robot arm, which is attached to the robot arm, wherein the charging main unit comprises a movable plug-in part, in the case that the movable plug-in part of the charging main unit is docked to a static plug-in part of the charging base station, the charging base station supplies power to the charging main unit, and the robot arm comprises a charging plug gripping module attached to its end, the posture of the robot arm can be adjusted to operate the charging plug by the charging plug gripping module and to perform an action for inserting and removing the charging plug on a vehicle.;

[0008] The vehicle charging device according to the present utility model can, when it is necessary to provide charging service for a vehicle to be charged (vehicle to be charged) at a target parking space, transport a free charging main unit to a charging base station (target charging base station) corresponding to the target parking space via the charging main unit suspension platform suspended on the traveling guide rail, and enable the robot arm suspension platform suspended on the traveling guide rail and equipped with a robot arm to be moved above the target parking space, and allow the robot arm to extract and operate the charging plug housed in the charging main unit to perform an operation of inserting the charging plug into the vehicle to be charged, so that an automatic charging service can be performed without manual operation.

[0009] Furthermore, the automotive charging device according to the present utility model enables, upon completion of charging or the occurrence of interruption failures such as the charging plug jumping, etc., the robot arm suspension platform equipped with a robot arm to automatically move to the parking location where charging is completed or where an interruption in charging such as the charging plug jumping has occurred, and the robot arm to perform actions such as pulling out the charging plug and returning the charging plug to the storage mechanism of the charging main unit, etc., or to perform actions such as reinserting the charging plug to restart charging, thus realizing automatic power supply service without the need to continuously monitor the charging situation manually and without performing operations such as plugging and unplugging the charging plug, etc.manual intervention is required. This not only improves the ease of the charging operation for the user, but also saves the time the user has to pay attention to it and the time the parking space is occupied, which in turn improves the efficiency of parking space utilization as well as the charging efficiency and the charging experience for the user.

[0010] In addition, the charging main unit can not only be moved as a mobile charging column between individual charging base stations and charge itself at its leisure, but also in response to the charging needs of vehicles at individual parking spaces, at different charging base stations corresponding to different destinations, supplying vehicles with electricity. This is because both the charging main unit suspension platform on which the charging main units can be suspended and the robot arm suspension platform can move along the walking guide rails above each parking space of the parking lot and between the charging base stations. The robot arm suspension platform can also be flexibly and efficiently moved between different charging base stations for grasping, inserting and unplugging the charging plug, and removing and replacing the charging plug.Therefore, the vehicle charging device of the present utility model has high mobility, and it is possible to increase the efficiency and convenience of searching for new energy vehicle charging stations while effectively reducing the ratio of main charging devices to parking spaces, thereby improving the utilization rate of the main charging devices.

[0011] Preferably, the automotive charging device according to the present utility model further comprises: a charging main equipment suspension platform that can be suspended on the traveling guide rail, and the charging main equipment is detachably suspended on the lower part of the charging main equipment suspension platform.

[0012] Preferably, the charging main equipment suspension platform in the automotive charging device according to the present utility model comprises: a platform main body of the charging main equipment suspension platform, and a pushing and receiving module and a walking rail provided at the lowest part of its platform main body; the respective platform main bodies of the robot arm suspension platform and the charging main equipment suspension platform both comprise: a walking module, a positioning module, and a communication and power supply module arranged in the uppermost part of the platform main bodies.

[0013] Preferably, the detection device in the vehicle charging device according to the present invention further comprises: a charging base station position detection device and an obstacle avoidance device, each mounted on at least one of the robot arm suspension platform or the charging main equipment suspension platform. The detection device provides two suspension platforms, namely the robot arm suspension platform and the charging main equipment suspension platform, with environmental detection capacity, and provides the two suspension platforms with functions such as obstacle avoidance, positioning, visual detection, etc.so that the operational reliability and operational efficiency of the two suspension platforms as well as the accuracy of the actions of the robot arm can be further improved, thereby improving the reliability and operational efficiency of the vehicle loading device according to the present utility model.

[0014] Preferably, in the automotive charging device according to the present utility model, the respective positioning modules of the robot arm suspension platform and the charging main equipment suspension platform are each a gripping mechanism and can be telescoped by a lead screw drive; when the positioning module clamps a parking fixing bar of the charging base station, the corresponding suspension platform forms a locking state with the charging base station, and in this state, the corresponding suspension platform is electrically connected to the charging base station via the communication and power supply module; and when the positioning module releases the parking fixing bar of the charging base station, the locking state of the corresponding suspension platform and the charging base station is released.By supplying power when forming a locking state between the positioning module and the parking fixing beam, the stability of the power supply can be ensured.

[0015] Preferably, in the vehicle charging device according to the present utility model, the robot arm comprises: a robot arm module attached to the upper part of the charging plug gripping module, and a lifting module attached to the lowermost part of the platform main body of the robot arm suspension platform and capable of adjusting the height of the robot arm module.

[0016] Preferably, in the automotive charging device according to the present utility model, the charging main unit comprises a positioning assembly symmetrically arranged at the two ends of the uppermost part of the charging main unit in the longitudinal direction, the pushing and receiving module of the charging main unit suspension platform comprises a position limiting assembly fixed at its lateral end near the charging base station, the position limiting assembly is a movable mechanism and fits with the positioning assembly of the charging main unit, and by opening or releasing the position limiting assembly, the positioning assembly is locked or released.By the cooperation of the position limiting assembly of the charging main unit suspension platform with the positioning assembly of the charging main unit, the locking state between the charging main unit and the charging main unit of the charging main unit suspension platform or between the charging main unit and the charging base station can be released, and the locking state between the charging main unit and the pushing and receiving module can be released, so that it is easier to push out or retract the charging main unit through the charging main unit suspension platform.

[0017] Preferably, in the automotive charging device according to the present utility model, the traveling rail of the charging main equipment suspension platform fits with a locking rail of the charging base station. When the charging main equipment suspension platform is locked to the charging base station, the traveling rail of the charging main equipment suspension platform docks with the locking rails of the charging base station to form a horizontal rail.

[0018] According to a second aspect of the present utility model, there is provided a robot arm suspension platform for rail-mounted vehicle charging devices, comprising a platform main body and a robot arm attached to the lowermost part of the platform main body, wherein the platform main body of the robot arm suspension platform comprises: a walking module, a positioning module, and a communication and power supply module arranged in the uppermost part of the platform main body, and the robot arm comprises: a robot arm module attached to the lower part of its platform main body, a charging plug gripping module connected to the end of the robot arm module, and a visual positioning device at the end of the robot arm.

[0019] Since the robot arm suspension platform of the present utility model can move along the movement guide rails above each parking space in the parking lot and between the charging base stations, the robot arm can also move flexibly and efficiently between different charging base stations to grasp, insert, and remove the charging plug, and remove and replace it. This not only effectively solves the problem of the charging plug jumping during charging, but also improves the charging experience. By designing a robot arm for automatically extracting charging plugs, the problem of excessive space occupancy after recharging vehicles can be effectively solved, thus improving the charging experience for vehicle owners and improving the resource utilization of the parking lot.

[0020] According to a third aspect of the present utility model, a rail-hung vehicle charging system is provided, comprising: a guide rail structure installed in the uppermost part of a parking space, the guide rail structure comprising: a traveling guide rail arranged above the parking spaces of the parking space and mounted in a penetratingly suspended manner; a vehicle charging device according to the first aspect of the present utility model; a plurality of charging base stations arranged along the traveling guide rail corresponding to the parking spaces; and a server capable of communicating with the vehicle charging device and the charging base station, respectively, wherein the charging base station comprises: a parking fixing beam, a communication and power supply module, and a static plug-in part, in one case,in which the robot arm suspension platform or the charging main unit suspension platform of the vehicle charging device clamps the parking fixing beam via its positioning module and forms a locking state with the charging base station; the communication and power supply module of the charging base station is docked with the communication and power supply module of the corresponding suspension platform to form an electrical connection so that the charging base station can supply power to the corresponding suspension platform; in a case where the static plug-in part of the charging base station is docked with the movable plug-in part of the charging main unit of the vehicle charging device, the charging base station can supply power to the charging main unit.

[0021] In summary, the advantageous effects of the present utility model consist of at least the following aspects: 1. The present utility model utilizes the high mobility of a rail-mounted charging device to solve the problems of conventional charging facilities, such as low utilization and the high cost of redesigning parking spaces. It is possible to increase the efficiency and convenience of finding charging stations for new energy vehicles while effectively reducing the ratio of charging stations to parking spaces, thereby improving the utilization of charging stations. 3. By providing robotic arms, the problem of charging plugs jumping during charging is effectively solved, which improves the charging experience. 4. The design of an automatic charging plug extraction system by a robot arm can effectively solve the problem of excessive space occupation after the new energy supply of motor vehicles, improving the charging experience for motor vehicle owners. 5. This utility model can cover all parking spaces in a parking lot on a large scale without the need to specifically provide exclusive parking spaces for new energy vehicles, allowing mixed parking of internal combustion engines and electric vehicles, thus improving resource utilization. This solves the problem of internal combustion engines occupying parking spaces due to limited parking spaces in a parking lot, a lack of exclusive parking spaces for new energy vehicles, or low utilization of exclusive parking spaces for new energy vehicles. SHORT DESCRIPTION OF THE CHARACTERS Fig. 1A is a structural block diagram illustrating a motor vehicle charging system according to the present invention; Fig. 1B is a schematic structural diagram illustrating a vehicle charging device according to the present invention; Fig. 2 is a schematic structural diagram illustrating a frame guide rail for a motor vehicle loading system according to the present utility model; Fig. 3 is a schematic structural diagram illustrating a suspension platform for robot arms according to the present utility model; Fig. 4 is a schematic structural diagram illustrating a suspension platform for charging main equipment according to the present utility model; Fig. 5A to Fig. 5D are schematic structural diagrams illustrating a detection device of a vehicle charging device according to the present utility model; Fig. 6 is a schematic structural diagram illustrating a charging main unit of an automotive charging device according to the present utility model; Fig. 7 is a schematic structural diagram illustrating a charging base station of a motor vehicle charging system according to the present invention; Fig. 8 is a schematic diagram illustrating a locking state of the charging main unit suspension platform and the charging base station according to the present utility model; Fig. 9A to Fig. 9C are flowcharts illustrating a charging operation of a vehicle charging device according to the present invention; Fig. 10 is a flowchart illustrating an operation for solving the problem of jumping of the charging plug of a vehicle charging device according to the present utility model; Fig. 11 is a flowchart illustrating an operation for terminating charging of a vehicle charging device according to the present invention. EXPLANATION OF REFERENCE SYMBOLS

[0022] 1000 - Vehicle Charging System; 1 - Guide rail structure with frame; 101 - Walking guide rail; 102 - Cable duct; 103 - Suspended mounting frame; 2 - Vehicle Charging Device; 20 - Suspension platform for robot arm; 200 - Platform main body; 200A, 200B - Main body projections; 201 - Walking module; 201A, 201B - Roller group; 201C - Walking motor; 202 - Communication and power supply module; 203 - Positioning module; 204 - Lifting module; 205 - Robot arm module; 206 - Charging plug gripping module; 210 - Robot arm; 30 - Suspension platform for charging main equipment; 300 - Platform main body; 300A, 300B - Main body projections; 301 - Walking module; 301A, 301B - Roller group; 301C - Walking motor; 302 - Communication and power supply module; 303 - Positioning module; 304 - Position limiting assembly; 305 - Push and receive module; 306 - Walking guide rail; 40 - Detection device; 401 - Base station position detection device;402 - Obstacle avoidance device; 403 - Visual positioning device at the end of a robot arm; 50 - Charging main unit; 501 - Cable winding and unwinding module; 502 - Charging plug; 503 - Charging plug storage mechanism; 504 - Movable plug; 505 - Walking module; 506 - Positioning module; 6 - Charging base station; 600 - Support frame; 600W - Side frame; 601 - Locking rail; 601H - Locking hole; 602 - Parking fixing beam; 603 - Communication and power supply module; 604 - Static plug; 7 - Server.; DETAILED DESCRIPTION

[0023] In the following, exemplary embodiments of the present utility model are explained in detail with reference to the accompanying figures. It should be noted that, unless expressly stated otherwise, the components, numerical representations, and relative configurations of the numerical values ​​described in these embodiments do not limit the scope of the present utility model. For the sake of simplicity, the same markings or labels are used for identical structural parts or steps, and their explanations are omitted. [Structure of the motor vehicle charging system of the present utility model]

[0024] In the following, with reference to Fig. 1A illustrates the structure of the vehicle charging system of the present utility model. The vehicle charging system 1000 includes a guide rail structure 1 arranged in a parking space, a rail-suspended vehicle charging device 2, a plurality of charging base stations 6 suspended above the parking spaces via the guide rail structure 1 in a manner corresponding to the positions of the parking spaces, and a server 7 capable of communicating with a user terminal, the vehicle charging device 2, and the charging base stations 6, respectively. A user sends a charging request to the server 2 of the vehicle charging system 1000 by operating a user terminal (vehicle terminal or portable user terminal (such as a mobile phone), etc.).The charging request includes at least the model information of the vehicle to be charged, the position information of the parking space where the vehicle is to be parked for charging, and the parking direction of the vehicle. After receiving the charging request, the server 2 positions the parking space (target parking space) for charging the vehicle to be charged and the charging base station 6 (target charging base station) corresponding to the target parking space. It dispatches the vehicle charging device 2, which is in a free state, to walk to the target parking space. The vehicle charging device 2 automatically charges the vehicle to be charged without requiring any further manual operations from the user.

[0025] In the following, the concrete structure of the guide rail structure 1 is described with reference to Fig. 2. As described in Fig. As shown in Figure 2, the guide rail structure 1 comprises: a walking guide rail 101 arranged above the parking spaces of the parking lot and suspended in a pervasive manner; a cable duct 102 docked with the charging base station 6 arranged along the walking guide rail; and a suspended mounting frame 103 that secures the walking guide rail 101 to the uppermost part of the parking space. All lines for supplying power to the vehicle charging system are routed via the cable duct 102 and cover all charging base stations. As an example, the cross-section of the walking guide rail 101 illustrated in the present utility model is shown in the shape of an I-profile, but other shapes may also be used.

[0026] The charging base stations 6 can be arranged in a one-to-one correspondence with the parking spaces, specifically along the walking guide rail above the individual parking spaces. Of course, other arrangements are also possible, for example, a two-to-one arrangement between two parking spaces that are adjacent to each other, or a three-to-one or four-to-one arrangement, depending on the specific arrangement of the parking spaces, or a combination of two or more of the above-mentioned arrangements for arranging the charging base stations 6.

[0027] The motor vehicle charging device 2 can be suspended and mounted on the walking guide rail of the guide rail structure 1 and communicate with the server 7 and the charging base stations 6 to walk along the walking guide rail 101 between the individual charging base stations according to the commands of the server 7.

[0028] In the following, the specific structures of the charging base station and the vehicle charging device included in the vehicle charging system of the present utility model are described in detail. [Structure of the charging base station of the present utility model]

[0029] In the following, with reference to Fig. 7 explains the structure of the charging base station according to the present utility model. The charging base station 6 includes a support frame 600, a locking rail 601, a parking fixing beam 602, a communication and power supply module 603, and a static plug-in part 604. The support frame 600 has a frame structure, a side frame 600W located on a side of the support frame 600 remote from the travel rail 101 extends downward, and a static plug-in part 604 is attached to the extension part of the side frame 600W. As a preferred example, the static plug-in part 604 is located in Fig. 7 in the middle of the side frame 600W, but can obviously also be located on one side of the side frame 600W, as long as it can correspond with the position of the appropriate movable plug-in part.

[0030] The locking rail 601 includes two U-shaped rails arranged in parallel with their openings facing each other. In the assembled state, they are arranged perpendicular to the traveling rail 101, respectively, at the two lateral ends of the lowermost part of the support frame 600 to support the charging main unit. The locking rail 601 has a locking hole 601H opened at the axial center, which can dock with the positioning module of the charging main unit (described later) to form a locked state. The parking fixing beam 602 may have a straight beam structure and be arranged parallel to the locking rail 601 in the central upper part of the support frame 600. In the assembled state, the parking fixing beam 602 protrudes toward the traveling guide rail 101 along the longitudinal direction.

[0031] And as an example, the parking fixing beam 602 is arranged horizontally in the middle between the two U-shaped rails of the locking rail 601. Of course, it can also be arranged near the locking rail 601 on one side. The communication and power supply module 603 is attached to the lowermost part of the protruding end of the parking fixing beam 602 and can be connected to the positioning module 203 of the robot arm suspension platform 20 (see Fig. 3) or the positioning module 303 of the suspension platform 30 for charging main equipment to form a clamped locking state (see Fig. 8), and in this state, the communication and power supply module 603 of the charging base station 6 docks with the communication and power supply modules of the two suspension platforms to form an electrical connection. Furthermore, the static connector 604 can be docked with the movable connector of the charging main unit to form an electrical connection. [Structure of the motor vehicle charging device of the present utility model]

[0032] In the following, with reference to Fig. 1B illustrates the structure of the vehicle charging device of the present utility model. The vehicle charging device 2 according to the present utility model includes a robot arm suspension platform 20, a charging main unit suspension platform 30, a detection device 40, and a charging main unit 50 detachably suspended from the lower part of the charging main unit suspension platform 30. In operation, the robot arm suspension platform 20 and the charging main unit suspension platform 30 are suspended below the traveling guide rail 101 of the frame. The charging main unit suspension platform 30 can move along the traveling guide rail 101 of the frame guide rail structure 1, between each charging base station 6, and slide the charging main unit 50 to the charging base station 6 side in a manner that allows the charging main unit 50 to be suspended.

[0033] The robot arm suspension platform 20 can move between the individual charging base stations 6 and adjust the position of the robot arm for actuating the charging plug, for example, to perform actions such as plugging the charging plug into the motor vehicle and unplugging the charging plug from the motor vehicle, such as a charging operation in which the charging plug is removed and plugged into the vehicle, a charging restart operation for the charging plug jumping problem in which the charging plug is pulled out and plugged in, a charging stop operation in which the charging plug is pulled out and returned, etc.

[0034] The sensing device 40 can communicate with the robot arm suspension platform 20 and the charging main equipment suspension platform 30, and provide environmental sensing, positioning, and obstacle avoidance control, etc. The specific structure of the sensing device 40 will be described later.

[0035] The specific structures of the individual parts included in the automotive charging device of the present utility model are described in detail below. [Structure of the suspension platform for robot arms of the present utility model]

[0036] In the following, with reference to Fig. 3 describes the structure of the robot arm suspension platform. The robot arm suspension platform 20 includes a platform main body 200 and an extendable robot arm 210 attached to the lowermost part of the platform main body. Two walking modules 201 are arranged on the uppermost surface of the platform main body 200. As a preferred example, two walking modules 201 are arranged symmetrically on both sides along the longitudinal direction of the platform main body 200 (in the suspended state, the direction parallel to the walking guide rail 101) on the uppermost surface of the platform main body 200. Obviously, the number and arrangement of the walking modules 201 are not limited to these, but other numbers and arrangements may also be used.

[0037] As a preferred example, the individual walking modules 201 in the present embodiment use roller groups arranged symmetrically on both sides along the transverse direction of the platform main body 200 (in the suspended state, the direction perpendicular to the walking guide rail 101). In the suspended state, the walking guide rail 101 is clamped in the center position of each roller group. Obviously, the number of roller groups is not limited to two; for example, there may be one group or more than two groups. The arrangement of the roller groups is not limited to the above-mentioned arrangement.

[0038] The walking module 201 further includes a walking motor 201C, and the wheel group connected to the walking motor 201C is a driving wheel group 201B, and the wheel group not connected to the walking motor is a driven wheel group 201A. As a preferred example, in the present embodiment, two wheel groups 201A are configured, each with a group of driving wheels and a group of driven wheels. In the working state, the driving wheel group and the driven wheel group of the walking module clamp the walking guide rail at the center, and, through the drive of the walking motor, cause the driving wheel group to drive the robot arm suspension platform 20 to move forward and backward along the walking guide rail 101.

[0039] The robot arm suspension platform 20 further includes a positioning module 203 disposed on the uppermost surface of the platform main body 200, and a communication and power supply module 202 disposed at the uppermost part of the positioning module 203. Preferably, the positioning module 203 is disposed on a side of the platform main body 200 near the base station 6, and obviously, it may also be disposed on a side of the platform main body 200 remote from the base station 6, as long as the locking with the parking fixing beam 602 of the charging base station 6 can be realized.

[0040] Preferably, the positioning module 203 is a gripping mechanism that performs a locking action (clamping action) through the lead screw drive upward, so that the mechanism located at the center of the gripping mechanism of the positioning module 203 can be clamped. As a preferred example, when the robot arm suspension platform 20 moves to a suitable position, the parking fixing beams 602 of the charging base station 6 vertically overlap with the position of the positioning module 203, the positioning module 203 performs a clamping action, and the communication and power supply module 603 attached to the lowermost part of the protruding end of the parking fixing beam 602 can be locked, so that the robot arm suspension platform 20 forms a locking state with the parking fixing beam 602 (with the charging base station 6).When the positioning module 203 and the parking support beam 602 of the charging base station 6 form a locked state, the communication and power supply module 202 of the robot arm suspension platform 20 and the communication and power supply module 603 of the charging base station 6 form an electrical connection and communicate with each other. Furthermore, the communication and power supply module 202 can not only communicate with the charging base station but also transmit signals to the server 7.

[0041] Furthermore, the platform main body 200 of the robot arm suspension platform 20 includes, for example, two protrusions 200A (located on a side remote from the charging base station 6) and 200B (located on a side close to the charging base station 6) extending upward from the uppermost surface. Obviously, the shape of the platform main body 200 is not limited to this, but other shapes, such as shapes without protrusions, can also be used. Furthermore, rechargeable batteries, processors, memories (not shown), and other components can be installed in the protrusions 200A and 200B. When the robot arm suspension platform 20 and the charging base station are not powered on, the rechargeable battery can supply them with power, for example, for operations such as walking on the walking track, sending and receiving commands and information, etc.Computer programs used to control various operations or processing of the robot arm suspension platform 20, such as walking by hanging on rails, powering on, communicating, locking the charging base station, adjusting the position of the robot arm, plugging and unplugging the charging plug, etc., can be stored in the memory.

[0042] The robot arm 210 includes a charging plug gripping module 206 attached to its end, and a robot arm module 205 located at the top of the charging plug gripping module and connected to the charging plug gripping module 206. Preferably, the charging plug gripping module 206 uses an electromagnetic mechanism that is magnetized by power supply, and accordingly, the end of the charging plug includes an iron structure with a guide. When the charging plug gripping module 206 is supplied with power, it can form a stable connection relationship in the correct direction with the charging plug, thereby enabling the charging plug to perform the gripping action, and the charging plug can be operated to perform insertion and removal. Thus, the robot arm 210 can realize operations such as docking and fixing the charging plug to the robot arm via the charging plug gripping module 206.

[0043] In addition, in order to cope with insufficient reach of the arm, as a preferred approach, the robot arm 210 may also include a lifting module 204, which may be arranged in the upper part of the robot arm module 205 to adjust the height of the robot arm module, so that the robot arm 210 can have a sufficient reach of the arm to cope with various parking space arrangements, parking directions of the vehicles, and situations of vehicle models (positions of the charging interfaces of the vehicles), so that operations such as plugging and unplugging the charging plug on the vehicles to be charged, etc., can be performed in various situations.

[0044] In summary, when it is necessary to provide a charging service for a vehicle to be charged (vehicle to be charged) at a target parking space, the vehicle charging device according to the present utility model can walk above the target parking space through a robot arm suspension platform suspended on the walking guide rail and equipped with a robot arm, and can retrieve and operate the charging plug by the robot arm to perform an operation of inserting the charging plug into the vehicle to be charged, thereby enabling an automatic charging service to be performed without manual operation.

[0045] Furthermore, the automotive charging device according to the present utility model enables, upon completion of charging or the occurrence of interruption failures such as the charging plug jumping, etc., the robot arm suspension platform equipped with a robot arm to automatically move to the parking location where charging is completed or where an interruption in charging such as the charging plug jumping has occurred, and the robot arm to perform actions such as pulling out the charging plug and returning the charging plug to the storage mechanism of the charging main unit, etc., or to perform actions such as reinserting the charging plug to restart charging, thus realizing an automatic power supply service without the need to manually constantly monitor the charging situation and without performing operations such as plugging and unplugging the charging plug, etc.manual intervention is required.

[0046] This not only improves the ease of charging operation for the user, but also saves the time the user needs to pay attention to it and the time the parking space is occupied, which in turn improves the efficiency of parking space utilization as well as the charging efficiency and charging experience for the user. [Structure of the suspension platform for charging main equipment of the present utility model]

[0047] In the following, with reference to Fig. 4 describes the structure of the charging main equipment suspension platform. The upper part of the charging main equipment suspension platform 30 may use the same structure as the robot arm suspension platform 20 and will therefore not be explained in detail. Specifically, the charging main equipment suspension platform 30 includes a platform main body 300; two groups of walking modules 301 (301A and 301B) arranged symmetrically on both sides along the longitudinal direction of the walking guide rail, and clamped in a central position by being arranged on the left and right. The walking modules 301 include walking motors 301C, by which the charging main equipment suspension platform is driven along the walking guide rails to move forward and backward along the walking guide rails.The charging main equipment suspension platform 30 further includes a positioning module 303 located on the uppermost surface of the platform main body 300, and a communication and power supply module 302 disposed at the uppermost part of the positioning module 303. When the positioning module 303 forms an interlock with the parking support beam 602 of the charging base station 6, the communication and power supply module 302 docks with the communication and power supply module on the parking support beam to receive power and communicate. The positioning module 303 is a gripping mechanism that clamps the parking support beam 602 by telescoping with a lead screw drive, so that the charging main equipment suspension platform 30 forms an interlock with the charging base station 6.

[0048] Furthermore, the platform main body 300 of the charging main device suspension platform 30, for example, includes two protrusions 300A (located on a side remote from the charging base station 6) and 300B (located on a side close to the charging base station 6) extending upward from the top surface. Rechargeable batteries, processors, memories (not shown), and other components are installed in the protrusions 300A and 300B. When the charging main device suspension platform 30 and the charging base station are not powered on, the rechargeable battery can supply power to them, for example, for operations such as walking on the walking track, sending and receiving commands and information, and so on.Computer programs used to control various operations or processing of the charging main unit suspension platform 30, such as traveling by hanging on rails, powering on, communicating, hanging the charging main units, detaching the charging main units, locking the charging base station, etc., can be stored in the memory.

[0049] Furthermore, the charging main equipment suspension platform 30 includes a push-and-receive module 305 and a travel rail 306 provided at the lowermost part of the platform main body 300. At the end of the push-and-receive module 305 located near the charging base station, a position limiting assembly 304, which is a movable mechanism, is provided. As a preferred example, the position limiting assembly 304 of the present invention is a spring pin structure, but obviously, position limiting mechanisms with other structures can also be used.

[0050] And the position limiting assembly 304 fits with the positioning module 506 of the charging main body 50. When the position limiting assembly 304 is opened (the pin pops out in a manner that protrudes to both sides), the positioning module 506 of the charging main body 50 is pressed outward and locked, so that the pushing and receiving module 305 forms a locking state with the charging main body 50. While the pushing and receiving module 305 continues to be pushed out from the charging main unit suspension platform 30 to the charging base station 6 side in a manner in which the charging main unit 50 is locked (or retracts from the charging base station 6 to the charging main unit suspension platform 30), the charging main unit 50 is allowed to release the locking state with the charging main unit suspension platform 30 (or with the charging base station 6).And when the charging main unit suspension platform 30 is locked to the charging base station 6, the walking rail 306 docks with the locking rail 601 of the charging base station 6 and forms a horizontal rail, so that the pushing and receiving module 305 can bring the charging main unit 50 to move between the charging main unit suspension platform 30 and the charging base station 6, and in the suspended state of the charging main unit, supports the weight of the charging main unit via the walking rail 306.

[0051] When the locking state of the push and receive module 305 and the charging main unit 50 is to be released, the position limiting assembly 304 is released and the positioning module 506 of the charging main unit is retracted inward along the longitudinal direction, so that the position limiting assembly 304 releases the locking with the positioning assembly 506 of the charging main unit 50.

[0052] In addition, the charging main unit includes functional modules such as AC-DC conversion, charge calculation and safety switch, etc.

[0053] In addition, the charging main unit can not only be moved as a mobile charging column between individual charging base stations and charge itself at its leisure, but also in response to the charging needs of vehicles at individual parking spaces, at different charging base stations corresponding to different destinations, supplying vehicles with electricity. This is because both the charging main unit suspension platform on which the charging main units can be suspended and the robot arm suspension platform can move along the walking guide rails above each parking space of the parking lot and between the charging base stations. The robot arm suspension platform can also be flexibly and efficiently moved between different charging base stations for grasping, inserting and unplugging the charging plug, and removing and replacing the charging plug.Therefore, the vehicle charging device of the present utility model has high mobility, and it is possible to increase the efficiency and convenience of searching for new energy vehicle charging stations while effectively reducing the ratio of main charging devices to parking spaces, thereby improving the utilization rate of the main charging devices. [Structure of the detection device of the present utility model]

[0054] In the following, with reference to Fig. 5A to Fig. 5D describes the structure of the detection device. The detection device 40 includes base station position detection devices 401, each disposed on the charging base station-facing side surface of the platform main body 200 of the robot arm suspension platform 20 and the platform main body 300 of the charging main device suspension platform 30. The detection device 401 detects the QR code on the charging base station side to determine the position of the charging base station, thereby performing a positioning operation of the relative position between the platform (the robot arm suspension platform 20 or the charging main device suspension platform 30) and the base station.

[0055] In addition, the detection device 40 includes obstacle avoidance devices 402, which include detection assemblies installed on the outer surfaces of the platform main bodies of the individual platforms (suspension platform 20 for robot arms and suspension platform 30 for charging main equipment). The detection assemblies may be cameras, distance sensors, etc. As a preferred approach, for example, the detection assemblies may be installed on the two lateral end surfaces of the platform main bodies in the longitudinal direction (in the suspended state, a direction parallel to the travel rail 101), as well as on the lowest surface of the platform main bodies and near the outer edge (for example, in Fig. 5B and Fig. 5D, in the center of the lowest surface of the platform main body along the longitudinal direction and at the end edge on the side farther from the charging base station along the transverse direction) to perform controls such as environment sensing and obstacle avoidance, etc., during the movement of the platform on the rail based on the detection results of the environment by the detection assembly.

[0056] Furthermore, the detection device 40 may also include a visual positioning device 403 installed at the end of a robot arm. This device enables environmental detection and obstacle avoidance during robot arm movement, as well as position detection of the charging connector, the vehicle body's charging flap, and the charging head. This device provides positioning control when docking the charging connector gripping module to the charging connector, allowing the robot arm to grasp the charging connector at the correct angle and insert and remove the charging connector. For example, the visual positioning device 403 installed at the end of a robot arm may be a visual detection device such as a camera. [Structure of the charging main unit of the present utility model]

[0057] In the following, with reference to Fig. 6 describes the structure of the charging main unit. The charging main unit 50 includes a positioning module 506 located at the uppermost part of the charging main unit and near the side end of the charging base station along the transverse direction (in the suspended state, a direction perpendicular to the travel guide rail). As a preferred example, it uses a clamp pin structure that fits with the position limiting assembly 304, but obviously, it is not limited to this; other interlocking structures that fit with the position limiting assembly 304 may also be used.The positioning module 506 can be operated to cooperate with the position limiting assembly 304 of the charging main unit suspension platform 30. When the position limiting assembly 304 is opened (pushed outward), the positioning module 506 is pressed outward so that the positioning module 506 is locked with the position limiting assembly 304 to realize the locking of the push and receive module 305 with the charging main unit 50. When the position limiting assembly 304 is released and retracted, the locking with the positioning module 506 is released, so that a locking state is formed between the charging main unit and the charging main unit suspension platform 30 or the locking rail on the charging base station.The charging main unit positioning module cooperates with the position limiting assembly of the charging main unit suspension platform to form a locking and fixing mechanism between the charging main unit and the pushing and receiving module, the locking rail on the charging base station, and the charging main unit suspension platform.

[0058] The charging main unit 50 also includes: two sets of walking wheels 505 installed on its left and right sides, which can laterally clamp the locking rail of the charging base station or the walking rail 306 of the charging main unit suspension platform, allowing the charging main unit to move along the walking rail; a movable plug-in part 504 that docks with a static plug-in part 604 of the charging base station 6 to form an electrical connection and supply power to the charging main unit; a charging plug storage mechanism 503 that cooperates with the charging plug 502 through the guide rails on the left and right sides to enable assisted resetting upon insertion of the charging plug (which includes a guide rail that cooperates with the charging plug to enable assisted resetting of the inserted charging plug position);A cable winding and unwinding module 501 that stores the charging cable via a turntable structure in the charging main unit and can perform the actions of winding and unwinding the cable according to signal commands. For example, the cable winding and unwinding module 501 can be driven by a motor to perform the winding and unwinding of the charging cable.

[0059] With reference to Fig. 8, the positioning module 303 of the charging main equipment suspension platform 30 centrally clamps the communication and power supply module 603 on the parking fixing beam 602 to form a locking state, and the communication and power supply module 302 on the charging main equipment suspension platform 30 and the communication and power supply module 603 on the parking fixing beam 602 form an electrical connection to supply power to and communicate with the charging main equipment suspension platform 30.

[0060] To better understand the operation of the motor vehicle charging system and the motor vehicle charging device of the present utility model, their control method is described in detail below. [Charging method of the motor vehicle charging system / vehicle charging device of the present utility model]

[0061] First, the charging method of the motor vehicle charging system of the present utility model will be described with reference to Fig. 9A to Fig. 9C and Fig. 1B to Fig. 8 explained.

[0062] In the state where the robot arm suspension platform and the charging main unit suspension platform are suspended on the walking guide rail, after receiving a charging command from the vehicle owner, the one idle charging main unit is detected and locked, and the charging main unit suspension platform walks to its charging base station, takes out the charging main unit, transports it to the target charging base station, and pushes it onto the charging base station, so that the transportation of the charging main unit is completed. After that, the charging main unit suspension platform leaves the target charging base station and stops at a nearby base station to absorb power.The robot arm suspension platform moves to the target charging base station, the robot arm grasps the charging plug on the charging main unit and automatically charges the vehicle. The robot arm suspension platform completes the command for this round and begins processing the charging command for the next round. Specifically, the charging method of the present utility model includes the following processing steps.

[0063] As in Fig. 9A, in step S10, the server receives a charging command for charging a vehicle parked in a parking space, which was sent from a terminal used by the user to be charged, and then proceeds to step S20.

[0064] In step S20, the server 7 notifies the charging main unit suspension platform 30 of the vehicle charging device to start a column removal operation. In the column removal operation, first, the charging main unit suspension platform 30 is moved to a nearby free charging main unit 50 and the charging main unit is hung thereon. The charging main unit suspension platform 30, on which the charging main unit 50 is suspended, moves to the target charging base station corresponding to the charging location, pushes the charging main unit to the target charging base station to establish an electrical connection therewith. The charging main unit suspension platform 30, from which the charging main unit 50 is detached, moves to an adjacent free base station to charge, and the column removal operation is terminated.

[0065] In step S30, the server 7 notifies the robot arm suspension platform 20 of the vehicle charging device to start the charging operation of the robot arm. During the charging operation of the robot arm, the robot arm suspension platform 20 moves to the target charging base station, releases the robot arm after establishing an electrical connection therewith, and the robot arm operates the charging connector to perform an operation for inserting the charging connector into the charging interface of the vehicle to be charged. After the charging main unit starts charging the vehicle, the robot arm retracts and the charging operation is terminated.

[0066] In the following, in connection with Fig. 9B, the concrete control process of the column removal operation and the loading operation of the robot arm of the motor vehicle charging device of the present utility model is explained in detail. [Column removal operation of the motor vehicle charging system / device of the present utility model]

[0067] First, with reference to Fig. 9B, the operation procedure when performing the column removal operation by the charging main equipment suspension platform 30 of the automotive charging device 2 of the present utility model is described in detail.

[0068] In step 1, the positioning module 303 on the charging main equipment suspension platform 30 is retracted to release the parking fixing beam 602, and the locking state with the charging base station 6 is terminated (step S902).

[0069] In step 2, the walking module 301 on the charging main unit suspension platform 30 guides the platform to move to the charging base station 6 where the nearest free charging main unit 50 is located via the walking guide rail 101, and positions the target charging base station 6 reaching the target charging base station side based on the base station position detecting device 401 (step S903).

[0070] In the present utility model, a free-state charging main unit means a charging main unit that is not in a state of charging a vehicle, which may be suspended from the charging main unit suspension platform 30 or in a state separated from the charging main unit suspension platform 30, and which, except for traveling on the traveling rail, is normally located in the position of the charging base station and in a state of being connected thereto to perform charging.

[0071] In step 3, the charging main equipment suspension platform 30 causes its positioning module 303 to perform a clamping action to lock with the parking fixing beam 602 of the charging base station 6 to form a locked state (step S904). The communication and power supply module 302 of the charging main equipment suspension platform 30 is docked with the communication and power supply module 603 of the charging base station 6 to supply power to and communicate with the charging main equipment suspension platform 30.

[0072] In step 4, the position limiting assembly 304 of the charging main unit suspension platform 30 moves above the pushing and receiving module 305 along with the pushing and receiving module 305. The pushing and receiving module 305 is pushed to the charging base station 6 side (step S905), and the detection device 40 detects the distance between the pushing and receiving module 305 and the charging main unit 50 (step S906) and determines whether the predetermined position has been reached (step S907). After determining that the predetermined position is reached, the position limiting assembly 304 is opened to lock the charging main unit 50 with the pushing and receiving module 305 (step S908), and the pushing and receiving module 305 guides the charging main unit 50 through the walking module 505 via the locking rail 601 and the walking rail 306 to return to the side of the charging main unit suspension platform 30 (step S909).

[0073] In step 5, the detection device 40 detects the position of the push-and-receive module 305 (step S910) and determines whether the predetermined position has been reached (step S911). After determining that the charging main body 50 has reached the predetermined position, the position limiting assembly 304 is released (step S912), and the positioning module 506 of the charging main body 50 forms a lock with the charging main body suspension platform 30 (step S913), and the column search sequence is completed.

[0074] The column search process of the vehicle charging device of the present invention, which includes steps 1 to 5 (S901 to S913), was explained above. In summary, the charging main unit suspension platform 30 finds a free charging main unit and suspends the charging main unit 50 thereon.

[0075] Next, the column removal process of the automotive charging device of the present utility model will be described, which includes the following steps 6 to 9 (S914 to S931).

[0076] In step 6, the positioning module 303 of the charging main unit suspension platform 30 releases the parking fixing beam 602 to release the locking state with the parking fixing beam 602 (step S914). The charging main unit suspension platform 30, to which the charging main unit 50 is attached, travels via the traveling module 301 on the traveling guide rail 101 to the target charging base station 6 corresponding to the parking space of the vehicle to be charged (step S915), and performs precise adjustment of the relative positions of the charging main unit suspension platform 30 and the charging base station 6 by the base station position detection device 401 of the detection device 40 until an aligned state is achieved. The positioning module 303 clamps the parking fixing bar 602, and forms a locking state with the parking fixing bar 602 of the target charging base station 6 (step S916).

[0077] In step 7, the position limiting assembly 304 on the push-and-receive module 305 is opened (step S917), so that the charging main unit 50 forms a lock with the push-and-receive module 305 (step S918). The push-and-receive module 305 pushes the charging main unit 50 toward the target charging base station 6 (step S919). The moving module 505 of the charging main unit 50 moves over the moving rail 306 of the charging main unit suspension platform 30 onto the locking rail 601 of the charging base station 6.The position of the pushing and receiving module 305 is detected by the detecting device 40 (step S920), and it is determined whether the charging main unit 5 has reached the target position (step S921). After determining that the target position has been reached (step S921 "Yes"), the position limiting assembly 304 is released (step S922), the positioning module 506 of the charging main unit 50 forms a locking state with the locking rail 601 of the charging base station 6, and the movable plug part 504 forms an electrical connection with the static plug part 604 to supply power to the charging main unit 50 and the target charging base station 6 (step S923).

[0078] In step 8, the pushing and receiving module 305 is returned to the side of the charging main equipment suspension platform 30 (step S924), and the detecting device 40 detects the position of the pushing and receiving module 305 (step S925), and determines whether the pushing and receiving module 305 has reached the predetermined position (step S926), and after determining that the predetermined position has been reached (step S926 "Yes"), the pushing and receiving module 305 is returned to its initial state (step S927).

[0079] In step 9, the positioning module 303 on the charging main equipment suspension platform 30 is retracted to release the parking fixing beam 602 and release the locking state with the parking fixing beam 602 (step S928). The walking module 301 on the charging main equipment suspension platform 30 guides the platform to move to the nearest free charging base station via the walking guide rail 101 (step S929).The position of the charging base station 6 is accurately detected by the base station position detecting device 401 (on the charging main equipment suspension platform 30) of the detecting device 40, and after the target position (for example, a nearby free charging base station) is reached, the positioning module 303 clamps the parking fixing bar 602 of the target charging base station to form an interlocking state with the target charging base station 6 (step S929), and the server 7 changes the state of the charging main equipment suspension platform to "free" (step S931), thus completing the column removal operation.

[0080] In summary, the charging main unit suspension platform 30 transports the charging main unit to the target charging base station, and pushes the charging main unit to the target charging base station to form an interlock therewith, and the charging main unit suspension platform 30 runs to the adjacent vacant base station to charge. [Charging operation of the motor vehicle charging system / vehicle charging device of the present utility model]

[0081] Next, with reference to Fig. 9C, the operation procedure of the charging operation (including steps 10 to 15 (S932 to S953)) in which the charging plug is operated by the robot arm of the robot arm suspension platform 20 of the automotive charging system of the present invention to charge is described.

[0082] In step S932, the server 7 notifies the robot arm suspension platform 20 to move to the target charging base station 6 side to perform a charging task (step S932). The positioning module 201 of the robot arm suspension platform 20 releases the currently clamped parking fixing beam 602 to release the interlocking state with the currently electrically connected charging base station (step S933). The walking module 201 on the robot arm suspension platform 20 guides the platform to move to the target charging base station 6 (the target charging base station 6 powered by the charging main unit 50 in step S923) via the walking guide rail 101 (step S934).The relative position of the charging base station 6 is accurately detected by the base station position detection device 401 of the detection device 40 (the base station position detection device 401 on the robot arm suspension platform 20), and the position of the robot arm suspension platform 20 is adjusted so that the robot arm suspension platform 20 is aligned with the charging base station 6. After the target position (position alignment) is reached, the positioning module 203 locks the parking fixing beam 602 at the target position to form a locking state with the target charging base station 6, and the communication and power supply module 603 of the charging base station 6 establishes an electrical connection with the communication and power supply module 202 on the robot arm suspension platform 20 side (step S935).

[0083] In step 11, the robot arm module 205 is released (step S936), the charging plug gripper module 206 is guided by the visual positioning device 403 at the end of a robot arm to dock with the charging plug 502 (step S937), and then it is determined whether the docking is successful (step S938), and if the docking is successful (step S938 "Yes"), the charging plug gripper module 206 is locked to the charging plug 502 (step S938).

[0084] In step 12, the cable winding and unwinding module 501 of the charging main unit 50 releases the charging cable (step S940), and it is determined whether the releasing is completed (step S941), and when the charging cable is completely released (step S942), the locking state of the charging plug on the charging main unit is released (step S943).

[0085] In step S944, the robot arm module 205 removes the charging connector 502 from the charging main unit 50 (step S944), locates the charging interface of the target vehicle using the visual positioning device 403 at the end of the robot arm, and adjusts the position of the charging connector 502 relative to the charging interface based on the precise positioning information returned by the visual positioning device 403 at the end of the robot arm to insert the charging connector into the charging interface (step S945). It is determined whether the docking is successful (step S946), and if successful ("Yes" in step S946), the charging connector and the vehicle's charging interface form a locking state (step S947), and the charging main unit completes the charging protocol handshake with the vehicle (step S948).

[0086] In step 14, the charging plug gripping module 206 releases the charging plug 502 (step S949), and is returned to the side of the robot arm suspension platform 20 (step S950), and after the predetermined position is reached, the robot arm module 205 returns to its initial state (step S951).

[0087] In step 15, the charging main unit 50 begins supplying power to the vehicle and calculating the charge (step S952), and the server 7 changes the state of the robot arm suspension platform 20 to the idle state (step S953). This completes the charging operation.

[0088] Therefore, when it is necessary to provide charging service for a vehicle to be charged (vehicle to be charged) at a target parking space, the vehicle charging device according to the present utility model can transport a free charging main unit to a charging base station (target charging base station) corresponding to the target parking space via the charging main unit suspension platform suspended on the traveling guide rail, and enables the robot arm suspension platform suspended on the traveling guide rail and equipped with a robot arm to be moved above the target parking space, and the charging plug accommodated in the charging main unit can be extracted and operated by the robot arm to perform an operation of inserting the charging plug into the vehicle to be charged, so that an automatic charging service can be performed without manual operation.

[0089] The process by which the problem of the charging plug jumping during charging is solved by the motor vehicle charging device of the present utility model is explained in detail below. [Activity to solve the problem of the charging plug jumping by the motor vehicle charging system / device of the present utility model]

[0090] In the following, with reference to Fig. 10 and Fig. 1B to Fig. 8 explains the sequence of activities for solving the problem of the charging plug jumping by the motor vehicle charging device of the present utility model, which specifically includes the following steps:

[0091] Step 1: If it is determined that a charging plug jumping problem has occurred at a specific charging main unit 50 (step S1001), it is detected whether the parking fixture bar (target parking fixture bar) 602 of the target charging base station corresponding to the parking space where the vehicle with the charging plug jumping problem is parked is occupied (step S1002). If not occupied, it proceeds to step 3, where the robot arm suspension platform is notified to perform the charging plug jumping problem resolution (step S1008). If occupied, it is determined whether the occupancy is by the robot arm suspension platform 20 or the charging main unit suspension platform 30 (step S1003).When the occupancy is performed by the robot arm suspension platform 20, the process proceeds to step 4 (step S1011) in which the solution to the problem of the jumping of the charging plug is performed, and when the occupancy is performed by the charging main equipment suspension platform 30, the process proceeds to step 2 (step S1004) in which the charging main equipment suspension platform 30 is moved to a parking fixing beam (the free parking fixing beam) 602 of a nearest free charging base station.

[0092] Step 2: Release the positioning module 303 of the charging main equipment suspension platform 30 to release the locking state with the parking support beam 602 (step S1004). The moving module 301 of the charging main equipment suspension platform 30 guides the platform to move to the nearest free parking support beam 602 via the moving guide rail 101 (step S1005).By the base station position detection device 401 of the detection device 40 (the base station position detection device 401 of the charging main equipment suspension platform 30), the position of the charging base station 6 is accurately detected and position adjustment is performed, and after the target position is reached, the positioning module 303 locks the parking fixing beam 602 at the target position to form a locking state with the vacant charging base station (step S1006), and notifies the server to change the state of the charging main equipment suspension platform to "vacant" (step S1007).

[0093] Step 3: In this step, the robot arm suspension platform 20 is notified to move to the target charging base station 6 to address the charging plug jumping issue (step S1008). The robot arm suspension platform is moved to the target charging base station 6 (step S1009). The base station position detection device 401 of the detection device 40 (the base station position detection device 401 of the robot arm suspension platform 20) accurately detects the position of the charging base station 6, and position adjustment is performed. After reaching the target position, the positioning module 203 locks the parking fixing beam 602 at the target position and establishes a locking state with the corresponding target charging base station (step S1010).

[0094] Step 4: In which the robot arm 210 is extended and adjusted to a suitable position (step S1011), the charging connector gripping module 206 is guided to dock with the charging connector 502 by positioning the visual positioning device 403 at the end of the robot arm (step S1012). It is determined whether the docking is successful (step S1013), and if it is determined that the docking with the charging connector 502 is successful, the charging connector gripping module 206 and the charging connector 502 are locked.

[0095] Step 5, in which the locking state of the charging plug 502 with the charging interface of the motor vehicle is released (step S1014), the robot arm module 205 guides the charging plug 502 to perform the actions of pulling out and inserting the charging plug (step S1015), and the charging plug 502 is re-locked to the charging interface (step S1016).

[0096] Step 6 determines whether the charging main unit 50 and the vehicle have restored the charging handshake protocol (step S1017). If it is determined that no recovery has occurred, the server 7 is notified, the current problem is marked as unresolved (step S1020), the charge calculation for the current order is terminated (step S1021), and an error message is sent to the vehicle owner. At the same time, the problematic column is classified as requiring repair (step S1022), and the process continues with step 7. If it is determined that the charging handshake protocol has been restored, the charging main unit 50 charges the vehicle again (step S1018). The charge calculation continues based on the invoice amount of the previous order (step S1019).

[0097] Step 7, in which the charging plug gripper module 206 releases the charging plug 502 (step S1023), the robot arm 210 returns to the robot arm suspension platform 20 (step S1024) and returns to the initial state (step S1025).

[0098] Step 9, in which the server 7 changes the robot arm suspension platform 20 to the free state (step S1026), thus completing the work for solving the problem of the charging plug jumping.

[0099] In summary, by dispatching the rail-mounted suspension platform 20 for robot arms to run to the charging base station corresponding to the parking space of the problematic vehicle upon detection of the charging plug jumping, and by operating the charging plug to perform the actions of plugging and unplugging the charging plug by controlling the robot arm to automatically recharge the vehicle, manual monitoring and manual operation are not required, so that not only the problem of the charging plug jumping during charging is effectively solved, but also the charging experience for the user is improved. [Activity to terminate the charging of the motor vehicle charging system / device of the present utility model]

[0100] In the following, with reference to Fig. 11 and Fig. 1B to Fig.Figure 8 explains the control sequence for the activity for terminating the charging of the motor vehicle charging system / device of the present utility model. Specifically, it includes the following steps:

[0101] Step 1: The vehicle is charged to the specified value and the power supply is stopped, and the charging main unit 50 is notified that charging is stopped (step S1101). After receiving this information, the charging main unit 50 turns off and stops supplying power to the vehicle (step S1102). The charge calculation is completed, and an order is generated and sent to the vehicle owner (step S1103). Steps S1101 and S1103 can be performed simultaneously.

[0102] Step 2: In step 2, it is detected whether the parking fixture bar (the target parking fixture bar) of the target charging base station corresponding to the parking space of the fully charged vehicle is occupied (step S1104). If not, it proceeds to step 4, in which the robot arm suspension platform 20 is notified to move to the side of the target charging base station 6 to perform the operation to terminate the charging service (step S1110). If occupied, it is determined whether the occupancy is by the charging main equipment suspension platform 30 or the robot arm suspension platform 20 (step S1105).When the occupancy is by the robot arm suspension platform 20, the process proceeds to step 5, in which the execution of the firearm extraction operation is started (step S1117), and when the occupancy is by the charging main equipment suspension platform 30, the process proceeds to step 3, in which the charging main equipment suspension platform 30 is moved to a parking attachment beam (the free parking attachment beam) 602 of a nearest free charging base station (step S1107).

[0103] Step 3: In this step, the positioning module 303 on the charging main equipment suspension platform 30 is retracted to release the parking fixing beam 602 and release the locking state with the charging base station 6 (step S1106). The moving module 301 on the charging main equipment suspension platform 30 guides the platform to move to the parking fixing beam (the free parking fixing beam) 602 of a nearest free charging base station via the moving guide rail 101 (step S1107).The position of the charging base station 6 is accurately detected by the base station position detecting device 401 of the detecting device 40 (the base station position detecting device 401 of the charging main equipment suspension platform 30), and after the relative position is adjusted and the target position is reached, the positioning module 303 locks the parking fixing beam 602 at the target position to form an interlocking state with the corresponding charging base station (step S1108), and the state of the charging main equipment suspension platform is changed to "free" (step S1109).

[0104] Step 4: In step S1110, the server 7 notifies the robot arm suspension platform 20 to move to the target charging base station 6 to perform the operation to terminate the charging service. The robot arm suspension platform 20 moves to the target charging base station 6 (step S1111), and the position of the charging base station 6 is accurately detected by the base station position detection device 401 of the detection device 40 (the base station position detection device 401 of the robot arm suspension platform 20). After adjusting the relative position to reach the target position (aligned with each other), the positioning module 203 locks the parking fixing beam 602 at the target position to form a locking state with the target charging base station 6 (step S1112).

[0105] Step 5: In this step, the robot arm 210 is extended (step S1113), and the charging connector gripper module 206 is docked with the charging connector 502 through positioning by the visual positioning device 403 at the end of the robot arm (step S1114). It is determined whether the docking is successful (step S1115), and if it is determined that the docking is successful, locking is performed (step S1115 "Yes"). If it is determined that it is unsuccessful, the process returns to step S1114 to dock again.

[0106] Step 6: In this step, the charging connector 502 releases the locking state with the charging interface (step S1116), and the robot arm 210 performs a charging connector extraction operation, that is, the charging connector 502 is pulled out of the vehicle (step S1117). Through the positioning of the visual positioning device 403 at the end of the robot arm, the charging connector 502 is inserted into the charging connector storage mechanism 503 by the robot arm 210 (step S1118). The charging connector storage mechanism 503 enables assisted resetting upon insertion of the charging connector by the interaction of the guide rails on the left and right sides with the charging connector 502. The mechanism enabling assisted resetting may be a guide rail that, through interaction with the charging connector, enables assisted resetting of the position of the inserted charging connector.The charging plug 502 and the charging plug storage mechanism 503 automatically form a locking state (step S1119), the charging plug gripping module 206 releases the locking on the charging plug 502 and releases the charging plug 502 (step S1120), the robot arm 210 is returned to the side of the robot arm suspension platform 20 (step S1121), and the robot arm returns to its initial state (step S1122).

[0107] Step 7, in which the cable winding and unwinding module 501 winds the charging cable (step S1123), and after determining that the cable is completely wound (step S1124, "Yes"), the robot arm suspension platform 20 is changed to a free state (step S1125), thus completing the charging termination operation.

[0108] In summary, by turning off the charging main unit when detecting full charging and performing the action of pulling out the charging plug by the robot arm, no manual operation is required, which improves the user experience. By transmitting a fee calculation notice to the user, the user can be informed of the end of charging in a timely manner, and the problem of excessive space occupancy after supplying new energy to motor vehicles can also be effectively solved, which increases the utilization rate of parking spaces and improves the charging experience for motor vehicle owners.

[0109] Although the present utility model has been described above using exemplary embodiments, the above-described embodiments merely serve to illustrate the technical idea and features of the present utility model and cannot limit the scope of protection of the present utility model. Any equivalent modification or change made in accordance with the essential spirit of the present utility model falls within the scope of protection of the present utility model. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 114954079A

[0005]

Claims

[1] Rail-mounted vehicle charging device, characterized by , that it is suspended from a guide rail mounted hanging from the top of a parking lot, a multitude of charging base stations are arranged along the guide rail according to the positions of the parking spaces in the parking lot, the vehicle charging device includes: a suspension platform (20) for robot arms which can be suspended from the travel guide rail and which comprises a platform main body (200) of the suspension platform for robot arms and a robot arm (210) which is attached to the lowest part of the platform main body; a charging main unit (50) that detachably accommodates a charging plug (502); and a detection device (40) comprising: a visual positioning device (403) at the end of the robot arm, which is attached to the robot arm, wherein the charging main unit comprises a movable plug part (504), in the case that the movable plug part of the charging main unit is docked to a static plug part of the charging base station, the charging base station supplies power to the charging main unit, and the robot arm includes a charging plug gripper module (206) attached to its end, the position of the robot arm can be adjusted to actuate the charging plug by the charging plug gripper module, and to perform an action to plug in and unplug the charging plug from a vehicle. [2] Motor vehicle charging device according to claim 1, wherein the motor vehicle charging device further comprises: a suspension platform (30) for main charging devices which can be suspended on the travel guide rail, and the main charging device is detachably suspended on the lower part of the suspension platform for main charging devices. [3] Motor vehicle charging device according to claim 2, wherein The suspension platform for main loading equipment comprises: a platform main body (300) of the suspension platform for main loading equipment, as well as a thrust and receiving module (305) and a travel rail (306) provided on the lowest part of its platform main body, The respective platform main bodies of the suspension platform for robot arms and the suspension platform for charging main devices both comprise: a walking module (201, 301), a positioning module (203, 303) and a communication and power supply module (202, 302) which are arranged in the uppermost part of the platform main bodies. [4] Motor vehicle charging device according to claim 2 or 3, wherein the detection device further comprises: a charging base station position detection device (401) and an obstacle avoidance device (402), each of which is attached to at least one of the suspension platforms for robot arms or suspension platforms for charging main devices. [5] Motor vehicle charging device according to claim 3, wherein the respective positioning modules of the suspension platform for robot arms and the suspension platform for charging main devices are each a gripping mechanism and can be telescopically extended by means of a threaded spindle drive, when the positioning module clamps a parking mounting bar of the charging base station, the corresponding suspension platform forms a locking state with the charging base station, and in this state the corresponding suspension platform is electrically connected to the charging base station via the communication and power supply module; and when the positioning module releases the parking mounting bar of the charging base station, the locking state of the corresponding suspension platform and the charging base station is released. [6] Motor vehicle charging device according to claim 3, wherein the robot arm comprises: a robot arm module (205) attached to the upper part of the charging plug gripper module, and a lifting module (204) attached to the lower part of the platform main body of the suspension platform for robot arms and capable of adjusting the height of the robot arm module. [7] Motor vehicle charging device according to claim 2 or 3, wherein the main charging device comprises a positioning assembly (506) which is arranged symmetrically at the two ends of the uppermost part of the main charging device in the longitudinal direction, The push and receive module of the suspension platform for charging main units comprises a position limiting assembly (304) which is attached at its lateral end near the charging base station, the position limiting assembly being a movable mechanism and fitting to the positioning assembly of the charging main unit, and by opening or releasing the position limiting assembly locking or releasing the positioning assembly. [8] Motor vehicle charging device according to claim 5, wherein the travel rail of the suspension platform for charging main devices fits a locking rail of the charging base station when the suspension platform for charging main devices is locked to the charging base station, the travel rail of the suspension platform for charging main devices docks to the locking rails of the charging base station, so that a horizontal rail is formed. [9] Suspension platform for robot arms for rail-mounted vehicle charging devices, characterized by , that this comprises a platform main body (200) and a robot arm (210) which is attached to the lowest part of the platform main body, wherein the main platform body of the suspension platform for robot arms comprises: a walking module (201, 301), a positioning module (203, 303) and a communication and power supply module (202, 302) which are arranged in the uppermost part of the main platform body, and the robot arm comprises: a robot arm module (205) attached to the lower part of its main platform body, a charging plug gripper module (206) connected to the end of the robot arm module, and a visual positioning device (403) at the end of the robot arm. [10] Rail-mounted vehicle charging system, characterized by , that it includes: a guide rail structure installed in the uppermost part of a parking lot, comprising: a walking guide rail positioned above the parking spaces of the parking lot and mounted suspended through; a motor vehicle charging device according to any one of claims 1 to 8; a large number of charging base stations arranged along the hiking guide rail according to the parking spaces; and a server capable of communicating with both the vehicle charging device and the charging base station, the charging base station comprises: a parking support bar, a communication and power supply module, and a static plug-in component, In a case where the suspension platform for robot arms or the suspension platform for charging main units of the vehicle charging device clamps the parking mounting beam via its positioning module and forms a locking state with the charging base station, the communication and power supply module of the charging base station is docked with the communication and power supply module of the corresponding suspension platform to form an electrical connection so that the charging base station can supply power to the corresponding suspension platform, In a case where the static plug part of the charging base station is docked to the movable plug part of the charging main unit of the vehicle charging device, the charging base station can supply power to the charging main unit.

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