Vehicle charging device, mechanical arm mounting platform and vehicle charging system

Abstract

The invention relates to a vehicle charging device mounted suspended on a travel rail suspended from the roof of a parking garage, with several charging stations (6) arranged along the rail corresponding to parking spaces, and comprising: a mounting platform for the mechanical arm (20) mounted suspended on the travel rail and comprising a body and a mechanical arm fixed to its base; a main charging unit (50) containing a charging connector that can be removed from it; and a detection device (40) comprising a visual positioning device for the end of the mechanical arm; the main charging unit includes a movable insert that is powered when connected to the static insert of a charging station, and the mechanical arm, equipped with a gripping module, can adjust its height to connect and disconnect the charging connector from the vehicles. Figure 1B

Description

Title of the invention: Vehicle charging device, mechanical arm mounting platform and vehicle charging system. Technical field

[0001] The utility certificate relates to the field of charging for new energy vehicles, and more particularly to a vehicle charging device on suspended rail, a mechanical arm mounting platform and a vehicle charging system.

[0002] Background technology

[0003] Given the current state of parking space in China, the future of electric vehicle charging relies on shared charging stations. As public charging stations are being developed extensively throughout the country, the ratio of parking spaces with charging stations to public parking areas will increase. Depending on the structure and distribution methods of existing charging stations, the cost per parking space will also increase, as will the size of the charging station, the number of charging points, and standby power consumption. Consequently, charging stations for a single parking space are expensive and consume a significant amount of energy. Therefore, there is an urgent need for low-cost, low-resource-consumption, and high-efficiency charging stations.

[0004] The structural and site characteristics of existing public charging stations determine that various problems arise when vehicle owners proceed to charge, such as an insufficient number of exclusive charging spaces, occupation of spaces by non-electric vehicles, occupation of spaces after charging, queues for charging, interruption of charging (charging connector jump), etc., which makes it easy for users to make mistakes in charging, user experiences are poor and public resources are occupied.

[0005] Although new charging solutions, such as battery swapping stations and wheeled charging robots, have appeared on the market in an attempt to solve the aforementioned problems, none of them can be popularized on a large scale due to their characteristics. In particular: battery swapping stations occupy a large area, the number of swappable batteries at a single station is small, the number of supported vehicle models is limited, and they are located in parking lots. Underground charging stations cannot be built. Wheeled charging robots are all driverless vehicles with an autonomous energy storage system for charging, like the charging station, and the cost of a single charging station is too high; moreover, they must avoid a large number of obstacles when moving around a large site, which leads to legal and safety risks.

[0006] Currently, there are also rail-mounted, suspended charging robots that attempt to solve the problems of existing charging station equipment, such as the rail-mounted, suspended charging equipment and its charging method described in Chinese patent application CN114954079A, which requires the user to manually connect the charging connector to the vehicle's charging interface, making the user operation cumbersome. Furthermore, the technology presents the following problem with gun jumping: if the user does not pay constant attention to the charging process, it is easy to miss the charging connector jump, resulting in a delay in completing the charging process, thus increasing not only the time the parking space is occupied but also the user's charging time.Even if the user is constantly vigilant, if the charging connector pops out, they still have to manually reconnect the vehicle after it does, which not only increases the user's workload but also makes the process more cumbersome. In cases of insufficient charging station reports, the inability to resolve the issue of the charging connector popping out in a timely manner will lead car owners to wait long periods in parking spaces or be unable to charge at all.

[0007] Contents of the utility certificate

[0008] In order to overcome the aforementioned problems of existing charging robots, this utility certificate aims to provide a rail-mounted suspended vehicle charging device, a mechanical arm mounting platform and a vehicle charging system, which can automatically plug and unplug a charging connector via a mechanical arm, then automatically charge the vehicle, and automatically start charging in the event of an interruption of charging, for example in the event of a charging connector jump.

[0009] A first aspect of the utility certificate provides a vehicle charging device mounted suspended on a rail, wherein it is mounted suspended on a travel rail suspended from the roof of a parking garage, with a plurality of charging stations arranged along the travel rail corresponding to the position of the parking spaces in the parking garage, said vehicle charging device comprising: a mounting platform for the mechanical arm that can be mounted suspended on the rail movement, comprising a platform body of the mechanical arm mounting platform and a mechanical arm fixed to the base of the platform body; a main charging unit containing a charging connector which can be removed from it;and a detection device comprising: a visual positioning device for the end of the mechanical arm assembled on the mechanical arm, in which the main charging unit includes a movable insert, and the charging station electrically supplies the main charging unit when the movable insert of the main charging unit is connected to the static insert of the charging station; furthermore, the mechanical arm includes a charging connector gripping module assembled at its end, and the mechanical arm can adjust the altitude to operate the charging connector by the charging connector gripping module and perform the action of connecting and disconnecting the charging connector to the vehicles.

[0010] When a charging service is to be provided to a vehicle to be charged (vehicle to be charged) in a target parking space, the vehicle charging device according to the utility certificate is capable of transporting an inactive main charging unit to a charging station corresponding to the target parking space (target charging station) by means of a mounting platform of a main charging unit mounted suspended on a travel rail, and of moving the mounting platform of the mechanical arm mounted on the travel rail and equipped with a mechanical arm up to above the target parking space, and the mechanical arm removes and actuates the charging connector installed in the main charging unit in order to insert the charging connector into the vehicle to be charged, thus enabling an automatic charging service without manual operation.

[0011] In addition, in the event of the end of charging or other failure such as the occurrence of a charging connector jump, the vehicle charging device according to the utility certificate is capable of causing a mechanical arm mounting platform equipped with a mechanical arm to automatically move to a target parking space where charging has ended or an interruption of charging such as the occurrence of a charging connector jump, and of causing the mechanical arm to perform actions such as disconnecting a charging connector and retrieving the charging connector in the storage mechanism of the main charging unit, or of causing the mechanical arm to perform actions such as reinserting the charging connector to restart charging.This enables an automatic energy recharging service, eliminating the need for constant manual monitoring of the charging status and manual participation in operations such as inserting and removing the charging connector. Therefore, it not only improves the simplicity of the operation... user charging, but it also saves the time spent paying attention to user charging and the time spent occupying the parking space, thus improving the efficiency of parking space use and the efficiency and user charging experience.

[0012] Furthermore, since both the main charging unit mounting platform and the mechanical arm mounting platform are capable of moving along the travel rails above the parking spaces and between the charging stations in the parking lot, the main charging unit is not only capable of moving between the charging stations as a mobile charging station and charging itself when inactive, but it is also capable of supplying power to the vehicle at different charging stations corresponding to different targets in response to the charging demand of vehicles in different parking spaces. The mechanical arm mounting platform can also move smoothly and efficiently between the different charging stations to grasp, plug in, unplug, pick up, and deliver the charging connectors.Therefore, the utility certificate vehicle charging device is highly mobile and can effectively reduce the ratio between main charging units and parking spaces while improving the efficiency and convenience of finding charging stations for new energy vehicles and improving the utilization rate of the main charging unit.

[0013] Preferably, the vehicle charging device according to the utility certificate further comprises: a mounting platform for the main charging unit which can be mounted suspended on a travel rail, and in which the main charging unit is mounted suspended in a removable manner on the lower part of the mounting platform for the main charging unit.

[0014] Preferably, in the vehicle charging device according to the utility certificate, the mounting platform of the main charging unit comprises: a platform body, a receiving and pushing module and a movement track arranged at the base of the platform body, the respective bodies of the mechanical arm mounting platform and of the main charging unit mounting platform each comprising: a movement module, a positioning module and a communication and power supply module arranged on the top of the platform body.

[0015] Preferably, in the vehicle charging device according to this utility certificate, the detection device further comprises: a charging station position identifier and an obstacle avoidance device mounted respectively on at least one of the following platforms: the mounting platform of the mechanical arm or the mounting platform of the main charging unit. The detection device provides environmental detection capabilities for both mounting platforms, i.e., the mechanical arm mounting platform and the main charging unit mounting platform, and provides functions such as obstacle avoidance, positioning and visual recognition for both mounting platforms, thereby improving the safety of operation of both mounting platforms, operational efficiency and precision of mechanical arm movement, etc., and thus improving the reliability and operational efficiency of the vehicle charging device according to this utility certificate.

[0016] Preferably, in the vehicle charging device according to this utility certificate, the respective positioning modules of the mechanical arm mounting platform and the main charging unit mounting platform are clamping and gripping mechanisms and are capable of extending and retracting by means of a screw drive; when the positioning module holds the parking bar of the charging station, the corresponding mounting platform forms a locking state with the charging station and, in this state, said corresponding mounting platform is electrically connected to the charging station via the communication and power supply module; and if the positioning module releases the parking bar of the charging station, the locking state of said corresponding mounting platform with the charging station is released.By supplying power when the positioning module and the parking beam are in a locked state, the stability of the power supply can be ensured.

[0017] Preferably, in the vehicle charging device according to this utility certificate, said mechanical arm comprises: a mechanical arm module assembled on the upper part of the charging connector gripping module, and a lifting and lowering module assembled on the base of the mechanical arm mounting platform body which can adjust the height of the mechanical arm module.

[0018] Preferably, in the vehicle charging device according to the utility certificate, the main charging unit comprises positioning assemblies arranged symmetrically at the two longitudinal apex ends of the main charging unit. The receiving and pushing module of the mounting platform for the main charging unit comprises a positioning limitation assembly fixed to the lateral end near the charging station. The positioning limitation assembly is a movable mechanism corresponding to the positioning assembly of the main charging unit, and the positioning assembly is locked or released by opening or releasing the positioning limitation assembly. The cooperation between the positioning limitation assembly of the platform The mounting form of the main charging unit and the main charging unit positioning assembly allows the locking state of the main charging unit to be unlocked with the main charging unit mounting platform or the main charging unit with the charging station, as well as unlocking the locking state of the main charging unit with the receiving and pushing module, so as to facilitate pushing and receiving the main charging unit by the main charging unit mounting platform.

[0019] Preferably, in the vehicle charging device according to the utility certificate, the movement track of the charging main unit's mounting platform is adapted to the locking track of the charging station. When the charging main unit's mounting platform is locked to the charging station, the movement track of the charging main unit's mounting platform connects to the locking track of the charging station to form a horizontal track. By connecting the movement track to the locking track of the charging station, the receiving and pushing module can transport the charging main unit smoothly between the charging main unit's mounting platform and the charging station.

[0020] According to a second aspect of this utility certificate, a mechanical arm mounting platform for a vehicle charging device mounted suspended on rail is proposed, characterized in that it comprises a platform body and a mechanical arm fixed to the base of the platform body, in which the mechanical arm mounting platform body comprises: a displacement module, a positioning module and a communication and power supply module arranged on the top of the platform body, and said mechanical arm comprises: a mechanical arm module assembled to a lower part of the platform body, a charging connector gripping module connected to the end of the mechanical arm module, and a visual positioning device for the end of the mechanical arm.

[0021] As the mounting platform of the utility certificate's mechanical arm can travel along the travel rail above the parking spaces in the parking lot and between charging stations, the mounted mechanical arm can also move smoothly and efficiently between the different charging stations to grasp, plug in, unplug, pick up, and deliver the charging connector. This not only effectively solves the problem of the charging connector jumping out during charging and improves the charging experience, but also effectively solves the problem of prolonged space occupation after recharging new energy vehicles thanks to the automatic unplugging design of the mechanical arm, thus improving the experience of recharges vehicle owners and increases the resource utilization rate in the parking lot.

[0022] According to a third aspect of this utility certificate, a vehicle charging system mounted suspended on a rail is proposed, characterized in that it comprises: a rail structure mounted on the roof of a car park, comprising: travel rails arranged above a parking space in the car park, mounted suspended in a penetrating manner; a vehicle charging device according to the first aspect of the utility certificate; a plurality of charging stations arranged along the travel rail so as to correspond to the parking spaces; and a server capable of communicating respectively with the vehicle charging device and the charging station, wherein the charging station comprises vehicle parking bars, a communication and power supply module and a static insert,In the event that the mounting platform of the mechanical arm or the mounting platform of the main charging unit of the vehicle charging device attaches to the parking bar via its positioning module and forms a locking state with the charging station, the communication and power module of the charging station is connected to the communication and power module of the corresponding mounting platform to form an electrical connection so that the charging station can supply power to the corresponding mounting platform, and when the static insert of the charging station is connected to the mobile insert of the main charging unit of the vehicle charging device, the charging station is able to supply power to the main charging unit.

[0023] In summary, the beneficial effects of the utility certificate are at least the following:

[0024] 1. The utility certificate is used in vehicle-mounted charging devices on high-mobility rail, to solve the problem of the low utilization rate of traditional charging facilities and the workload associated with transforming the ground of the parking space.

[0025] 2. It makes it possible to effectively reduce the ratio between the main charging unit and the parking space while improving the efficiency of finding a charging station and the convenience of new energy vehicles and improving the utilization rate of the main charging unit.

[0026] 3. Thanks to the arrangement of the mechanical arm, this effectively solves the problem prevents the charging connector from jumping during the charging process and improves the charging experience.

[0027] 4. The mechanical arm can disconnect the charging connector in a way Automatic, this design effectively solves the problem of the occupancy of parking spaces after charging new energy vehicles, and to improve the charging experience for the vehicle owner.

[0028] 5. The utility certificate can cover all the spaces over a large area Regarding parking in the lot, it is not necessary to create dedicated charging spaces exclusively for new energy vehicles; gasoline vehicles can also be parked there, thus improving resource utilization. This addresses the problem of limited parking spaces, which leads to gasoline cars occupying charging spots, insufficient parking space for new energy vehicles, or low utilization of the parking space reserved for them.

[0029] Description of the attached figures

[0030] The [Fig. 1 A] is a functional diagram of the structure of a vehicle charging system illustrating the utility certificate;

[0031] Fig. 1B is a diagram of the structure of a vehicle charging device illustrating the utility certificate;

[0032] The [Fig.2] is a diagram of the structure of a frame displacement rail illustrating the charging system for utility certificate vehicles;

[0033] The [Fig.3] is a diagram of the structure illustrating the structure of a mounting platform for the mechanical arm of the utility certificate;

[0034] The [Fig.4] is a diagram of the structure illustrating the structure of a main unit mounting platform for the utility certificate charging;

[0035] Figs. 5A, 5B, 5C and 5D are diagrams of the structure of a detection device illustrating a vehicle charging device of this utility certificate;

[0036] Fig. 6 is a diagram of the structure of a main charging unit illustrating the vehicle charging device of the utility certificate;

[0037] Fig. 7 is a diagram of the structure of a charging station illustrating the vehicle charging system of the utility certificate;

[0038] Fig. 8 is a diagram of the structure illustrating the locking state of the mounting platform of the main charging unit and the utility certificate charging station;

[0039] Fig. 9A, Fig. 9B and Fig. 9C are flowcharts illustrating the charging operations of the vehicle charging device of this utility certificate;

[0040] Fig. 10 is a flowchart illustrating an operation to resolve the problem of the charging connector popping out of the vehicle charging device of the utility certificate;

[0041] The [Fig. 11] is a flowchart illustrating a completed charging operation of the utility certificate vehicle charging device.

[0042] Description of the markings of the attached figures

[0043] 1000-Vehicle charging system; 1-Rail structure; 101-Travel rail; 102-Cable channel; 103-Lifting skeleton; 2-Vehicle charging unit; 20-Mechanical arm mounting platform; 200-Platform body; 200A, 200B Body protrusion; 201-Travel module; 201A, 201B-Roller assembly; 201C-Travel motor; 202-Communication and power supply module; 203-Positioning module; 204-Lifting and lowering module; 205-Mechanical arm module; 206-Charging connector gripping module; 210-Mechanical arm; 30-Main charging unit mounting platform; 300-Platform body; 300A, 300B - Body size; 301 - Displacement module; 301A, 301B - Roller group; 301C - Displacement motor; 302 - Communication and power module; 303 - Positioning module; 301C - Displacement motor; 302 - Communication and power module; 303 - Positioning module;304-Position limitation assembly; 305-Receiver and push module; 306-Movement track; 40-Detection device; 401-Station position identifier; 402-Obstacle avoidance device; 403-Visual positioning device for the end of the mechanical arm; 50-Main charging unit; 501-Cable receiver and release module; 502-Charging connector; 503-Charging connector storage mechanism; 504-Movable insert; 505-Movement module; 506-Positioning module; 6-Charging station; 600-Support frame; 600W-Side frame; 601-Locking track; 601H-Locking hole; 602-Parking bar; 603-Communication and power module; 604-static insert; 7-server. ;

[0044] Specific embodiment

[0045] Examples of embodiments of the utility certificate will be described in detail below with reference to the accompanying figures. It should be noted that the relative configurations of the parts, the numerical representations, and the values ​​described in these embodiments do not limit the scope of this utility certificate, unless otherwise specified. For simplicity, the same marks or labels are used for the same structural parts or steps, and their descriptions are omitted.

[0046] [Structure of the charging system for utility certificate vehicles].

[0047] The structure of the utility certificate vehicle charging system is described below with reference to the structure illustrated in [Fig. 1A]. The vehicle charging system 1000 comprises: a rail structure 1 arranged in a parking lot, a vehicle charging device mounted suspended on rail 2, several charging stations 6 mounted suspended above the parking spaces in the parking lot by the rail structure 1 in a manner corresponding to the positions of the parking spaces in the parking lot, and a server 7 capable of communicating with user terminals, vehicle charging unit 2, and charging stations 6, respectively. The user sends a charging request to server 2 of the vehicle charging system 1000 by operating a user terminal (vehicle-mounted terminal or a portable user terminal (e.g., a mobile phone), etc.). The charging request includes at least information about the certificate of the vehicle to be charged, information about the location of the parking space where the charging is to be carried out, and the direction in which the vehicle is parked.After receiving the charging request, server 2 locates a parking space for the vehicle to be charged (the target parking space) and a charging station 6 corresponding to the target parking space (the target charging station), programs the vehicle charging device 2 in standby mode to go to the target parking space, and the vehicle charging device 2 automatically charges the vehicle to be charged without any further manual operation by the user.

[0048] The specific structure of the rail 1 is described below with reference to [Fig. 2]. As shown in [Fig. 2], the travel rail 1 structure comprises: a travel rail 101 mounted suspended penetratingly above the parking spaces in the parking lot; a cable channel 102 designed to connect the charging stations 6 arranged along the travel rail; and a lifting frame 103 that secures the travel rail 101 to the top of the parking lot. The cables supplying the vehicle charging system are all routed through the cable channels 102, covering all the charging stations. By way of example, the utility certificate illustrates that the travel rail 101 has an I-beam cross-section, but it is clear that other shapes can be used.

[0049] The charging station 6 can be arranged in a manner corresponding to the parking spaces, one after the other, along the travel rail above each parking space. Of course, other arrangements can be used, for example, one charging station 6 for two parking spaces where the two rear ends of the cars are adjacent, one charging station 6 can correspond to two parking spaces, or an arrangement of three parking spaces to one charging station 6, four to one, etc., or a combination of two or more of the above arrangements, depending on the specific layout of the parking spaces, can be adopted to position the charging station 6.

[0050] The vehicle charging device 2 can be mounted in a suspended manner on the travel rails of the rail structure 1 and can communicate with the server 7 and the charging stations 6 to move between the charging stations along the travel rails 101 according to the instructions of the server 7.

[0051] The specific structures of the charging station and the vehicle charging device included in the vehicle charging system of the utility certificate are described in detail below, respectively.

[0052] [Structure of the utility certificate charging station].

[0053] The structure of the charging station according to this utility certificate is described below with reference to [Fig. 7]. The charging station 6 comprises: a support frame 600, a locking track 601, a parking bar 602, a communication and power supply module 603, and a static insert 604. The support frame 600 has a frame structure, and a side frame 600W extends downwards from the side of the support frame 600 far from the side of the travel track 101. A static insert 604 is mounted on an extended portion of the side frame 600W. In a preferred example, the static insert 604 of [Fig. 7] is located in the center of the side frame 600W, and can obviously be located on either side of the side frame 600W as long as it is compatible with the position of the corresponding movable insert.

[0054] The locking track 601 comprises two parallel U-shaped tracks with facing openings, located at the two lateral ends of the bottom of the support frame 600 perpendicular to the travel track 101 in the mounted state to support the main charging unit. The locking track 601 has a locking hole 601H located in the middle of its axial direction, capable of connecting a positioning module (to be described later) of the main charging unit to form a locking state. The parking bar 602 may have the structure of a straight column located in the upper central portion of the support frame 600 parallel to the locking track 601, and in the mounted state, the parking bar 602 protrudes lengthwise from the side of the travel track 101.

[0055] By way of example, in the horizontal direction, the parking bar 602 is positioned centrally between the two U-shaped tracks of the locking track 601. Obviously, the parking bar 602 can be positioned close to one of the two U-shaped tracks of the locking track 601. The communication and power module 603 is attached to the base of the protruding end of the parking bar 602 and can be coupled to the positioning module 203 of the mounting platform of the mechanical arm 20 (see [Fig. 3]) or to the positioning module 303 of the mounting platform of the main charging unit 30 in order to form a locking state (see [Fig. 8]). In this state, the communication and power module 603 of the charging station 6 couples with the communication and power modules of the two mounting platforms to form a connection electric.In addition, the static insert 604 can be docked to the dynamic insert of the main charging unit to form an electrical connection.

[0056] [Structure of the charging device for utility certificate vehicles].

[0057] With reference to [Fig. 1B] below, the structure of the charging device for The vehicle of this utility certificate is described. The vehicle charging device 2 according to this utility certificate comprises: a mechanical arm mounting platform 20, a main charging unit mounting platform 30, a detection device 40, and a main charging unit 50 which is mounted removably suspended on a lower part of the main charging unit mounting platform 30, in which the mechanical arm mounting platform 20 and the main charging unit mounting platform 30 are mounted suspended under a frame travel rail 101 in an operating state.The mounting platform for the main charging unit 30 is capable of moving with or without the main charging unit 50 mounted there, between the charging stations 6 along the guide rails 101 of the rail structure of the frame 1, and can push the main charging unit 50 to the side of the charging station 6.

[0058] The mounting platform of the mechanical arm 20 can move between the charging stations 6 and adjust the attitude of the mechanical arm to operate the charging connector and perform, for example, the connection and disconnection of the charging connector on the vehicle, for example, a charging operation which consists of removing the charging connector and inserting it into the vehicle, a charging operation which consists of disconnecting and connecting the charging connector to the vehicles in response to a charging connector jump problem, and an end-of-charging operation concerning removing and replacing the charging connector, and so on.

[0059] The detection device 40 is capable of communicating with the mounting platform of the mechanical arm 20 and the mounting platform of the main charging unit 30, and of providing environmental detection, positioning, and obstacle avoidance control. The specific structure of the detection device 40 will be described later.

[0060] A detailed description of the specific structure of each part of the vehicle charging device of this utility certificate will be presented below.

[0061] [Structure of the mechanical arm mounting platform of the utility certificate].

[0062] With reference to [Fig. 3] below, the structure of a mechanical arm mounting platform is described. The mechanical arm mounting platform 20 comprises: a platform body 200 and an extendable mechanical arm 210 fixed to the base of the platform body, in which two displacement modules 201 are arranged on the upper surface of the platform body 200. In a preferred example, the two displacement modules 201 are arranged symmetrically along both sides of the upper surface of the platform body 200. longitudinal direction (the direction parallel to the travel rails 101 in the mounted state) of the platform body 200. Of course, the number and arrangement of the travel modules 201 are not limited to this, and other numbers and arrangements can also be used.

[0063] In this preferred embodiment, each travel module 201 uses a set of wheels arranged symmetrically on both sides of the lateral direction (the direction perpendicular to the travel rail 101 in the suspended mounted state) of the platform body 200. In the suspended mounted state, the travel rail 101 is held in the midpoint between the respective wheel sets. Of course, the number of wheel sets is not limited to 2, but can, for example, be 1 set or more than 2 sets. The arrangement of the wheel sets is also not limited to the above arrangement.

[0064] The movement module 201 also includes a movement motor 201C, and the wheel assembly connected to the movement motor 201C is the drive wheel assembly 201B, while the one not connected to the movement motor is the driven wheel assembly 201A. As a preferred example, in this embodiment, the two wheel assemblies 201A are configured respectively with a drive wheel assembly and a driven wheel assembly. In operation, the drive wheel assembly and the driven wheel assembly of the movement module clamp onto the movement rail in the middle and, via the drive from the movement motor, propel the drive wheel assembly forward and backward along the movement rail 101.

[0065] The mounting platform for the mechanical arm 20 further comprises: a positioning module 203 disposed on the upper surface of the platform body 200 and a communication and power supply module 202 disposed on the top of the positioning module 203. Preferably, the positioning module 203 is disposed on the side of the platform body 200 close to the station 6, but it is evident that it can also be disposed on the side of the platform body 200 far from the station 6 as long as it is possible to achieve a lock with the parking bar 602 of the charging station 6.

[0066] Preferably, the positioning module 203 is a clamping and gripping mechanism that performs a locking action (clamping / holding action) in an upward direction by means of a screw drive, so as to be able to clamp / hold a mechanism located at the center of the clamping and gripping mechanism of the positioning module 203. According to a preferred example, when the mounting platform of the mechanical arm 20 moves into a suitable position, it is possible to make the position of the parking bar 602 of the charging station 6 and the position of the positioning module 203 overlap. In the vertical direction, the positioning module 203 performs the clamping action, thereby clamping the communication and power module 603, which is attached to the base of the protruding end of the parking bar 602. This ensures that the mounting platform of the mechanical arm 20 locks into place with the parking bar 602 (and the charging station 6). While the positioning module 203 is locked into place with the parking bar 602 of the charging station 6, the communication and power module 202 of the mounting platform of the mechanical arm 20 establishes an electrical connection with the communication and power module 603 of the charging station 6 and communicates with it. Furthermore, the communication and power module 202 is capable of communicating not only with the charging station but also with the server 7 via signal communication.

[0067] Furthermore, by way of example, the platform body 200 of the mounting platform for the mechanical arm 20 has two projections 200A (located on the far side of the charging station 6) and 200B (located on the near side of the charging station 6) extending upwards from the upper surface, and it is clear that the shape of the platform body 200 is not limited to this, and that other shapes, such as shapes not including the projections, etc., can be used. In addition, devices such as a rechargeable battery, a processor, memory (not shown), etc., can be arranged inside the projecting parts 200A and 200B. The rechargeable battery can provide power for operations such as walking on the travel track, sending and receiving commands and messages, etc., when the mechanical arm mounting platform 20 and the charging station are not powered.A computer program enabling the control of various operations or processes of the mechanical arm mounting platform 20, such as walking on the travel track, powering on, communication, locking the charging station, adjusting the attitude of the mechanical arm, connecting and disconnecting the charging connector, and others, can be stored in memory.

[0068] The mechanical arm 210 comprises: a charging connector gripping module 206 assembled at its end, and a mechanical arm module 205 disposed at the upper part of the charging connector gripping module and connected to the charging connector gripping module 206. Preferably, the charging connector gripping module 206 adopts an electromagnetic mechanism whose magnetism is created by the power supply, and consequently, the end of the charging connector comprises an iron structure with a directional guide. When the charging connector gripping module 206 is powered, it can form a solid connection with the charging connector in the The correct orientation allows the charging connector to perform gripping actions and to operate the charging connector to perform actions such as plugging and unplugging. Therefore, the mechanical arm 210, via the charging connector's gripping module 206, can perform the connection, securing, and other operations of the mechanical arm and the charging connector.

[0069] In addition, preferably, in order to deal with the situation of insufficient arm reach, the mechanical arm 210 can also include a lifting and lowering module 204, which can be disposed in the upper part of the mechanical arm module 205 to adjust the height of the mechanical arm module, so as to make the mechanical arm 210 have a sufficient arm reach to deal with a variety of parking space arrangements, vehicle parking directions and vehicle model situations (the location of the vehicle charging interface), and thus capable of performing operations such as plugging and unplugging the charging connector for the vehicle to be charged in different circumstances.

[0070] In summary, when a charging service is to be provided to a vehicle to be charged (vehicle to be charged) in a target parking space, the vehicle charging device according to the utility certificate is capable of moving over the target parking space by means of a mechanical arm mounting platform assembled from a mechanical arm mounted suspended on a travel rail, and the mechanical arm removes and operates the charging connector to perform the action of inserting the charging connector into the vehicle to be charged, so as to perform the automatic charging service without the need for a manual operation.

[0071] Furthermore, in the event of an interruption such as the end of charging or the occurrence of a charging connector jump, the vehicle charging device according to the utility certificate is capable of ensuring that a mechanical arm mounting platform equipped with a mechanical arm automatically transports itself to a target parking space where charging has ended or a charging interruption such as the occurrence of a charging connector jump occurs, and of ensuring that the mechanical arm performs actions such as disconnecting a charging connector and retrieving / storing the charging connector in the storage mechanism of the main charging unit, or of ensuring that the mechanical arm performs actions such as reinserting the charging connector in order to restart charging,thus providing an automatic energy recharging service without the need for constant manual attention to the charging situation, such as inserting and removing the charging connector.

[0072] Consequently, it not only improves the simplicity of the charging operation for the user, but it also saves the user's attention time as well as the time spent occupying the parking space, which in turn improves the efficiency of the parking space and the efficiency and experience of charging for the user.

[0073] [Structure of the mounting platform of the utility certificate main charging unit].

[0074] With reference to [Fig. 4] below, the structure of the mounting platform for the main charging unit is described. The upper part of the mounting platform for the main charging unit 30 may adopt the same structure as that of the mounting platform for the mechanical arm 20, and this will not be repeated. More specifically, the mounting platform for the main charging unit 30 comprises: a platform body 300, two sets of movement modules 301 (301A and 301B) arranged symmetrically on both sides along a longitudinal direction of the movement rail, which hold the movement rail in an intermediate position by a left- and right-hand arrangement. The movement module 301 includes a movement motor 301C, which is driven by the movement motor to move back and forth along the movement rail with the mounting platform for the main charging unit.The mounting platform for the main charging unit 30 further includes a positioning module 303 located on the upper surface of the platform body 300 and a communication and power module 302 arranged on top of the positioning module 303. When the positioning module 303 and the parking bar 602 of the charging station 6 are locked together, the communication and power module 302 and the communication and power module of the parking bar are electrically connected and communicate with each other. The positioning module 303 is a gripping mechanism driven by a screw to telescopically hold the parking bar 602 so that the mounting platform for the main charging unit 30 is locked with the charging station 6.

[0075] For example, the platform body 300 of the mounting platform for the main charging unit 30 has two projections 300A (located on the far side of the charging station 6) and 300B (located on the near side of the charging station 6) that extend upwards from the upper surface. Rechargeable batteries, a processor, memory (not shown), and other devices are provided in the projections 300A and 300B. The rechargeable batteries can provide power for operations such as movement along a travel track, sending and receiving commands and messages, etc., when the mounting platform of The main charging unit 30 is not electrically connected to the charging station. A computer program for various operations or processes of the mounting platform of the main charging unit 30, such as walking on the movement track, powering on, communication, mounting the main charging unit, discharging the main charging unit, locking the charging station, and so on, can be stored in memory.

[0076] In addition, the mounting platform for the main charging unit 30 comprises: a receiving and pushing module 305 and a travel track 306 disposed at the base of the platform body 300, and a position limiting assembly 304, which is a movable mechanism, disposed at one end of the receiving and pushing module 305 near the side of the charging station. As a preferred example, in this utility certificate, the position limiting assembly 304 is preferably a pin-type structure, but other position limiting mechanism structures can obviously be used.

[0077] In addition, the position limitation assembly 304 corresponds to the positioning module 506 of the main charging unit 50. When the position limitation assembly 304 is open (the plugs are ejected so as to protrude on both sides), the positioning module 506 of the main charging unit 50 is locked and leans outwards, so that the receiving and pushing module 305 forms a locking state with the main charging unit 50.If the receiving and pushing module 305 continues to be pushed out of the mounting platform of the main charging unit 30 towards the side of the charging station 6 (or to be retracted from the charging station 6 towards the side of the mounting platform of the main charging unit 30) by locking the main charging unit 50, it is possible to make the locking state between the main charging unit 50 and the mounting platform of the main charging unit 30 be released (or of the charging station 6).Furthermore, when the mounting platform of the main charging unit 30 is locked with the charging station 6, the travel rail 306 is connected with the locking track 601 of the charging station 6 to form a horizontal rail, so that the push-pull module 305 can transport the main charging unit 50 between the mounting platform of the main charging unit 30 and the charging station 6, and support the weight of the main charging unit by means of the travel rail 306 when the main charging unit is in the suspended mounted state.

[0078] When it is time to unlock the locking state of the receiving and pushing module 305 with the main charging unit 50, the position limiting assembly 304 is released and the positioning module 506 of the main charging unit is retracted inwards in the longitudinal direction so that the position limitation assembly 304 is unlocked from the positioning assembly 506 of the main charging unit 50.

[0079] In addition, the main charging unit includes functional modules such as AC / DC conversion, billing and safety switch.

[0080] Furthermore, since both the mounting platform for the main charging unit and the mounting platform for the mechanical arm that can be mounted on the main charging unit are capable of moving along the travel rails above the parking spaces between the charging stations in the parking lot, the main charging unit is not only capable of moving between the charging stations as a mobile charging station and charging itself when inactive, but it is also capable of supplying power to the vehicle at different charging stations corresponding to different targets in response to the charging demand of vehicles in different parking spaces. The mounting platform for the mechanical arm can also move smoothly and efficiently between the different charging stations to grasp, plug in, unplug, pick up, and deliver the charging connector.Therefore, the utility certificate vehicle charging device is highly mobile and can effectively reduce the ratio between the number of main charging units and the number of parking spaces, while improving the efficiency and convenience of finding charging stations for new energy vehicles and improving the utilization rate of the main charging unit.

[0081] [Structure of the utility certificate detection device].

[0082] With reference to FIGS. 5A to 5D below, a structure of the detection device is described. The detection device 40 includes a station position identifier 401 disposed on a side facing the charging station of the platform body 200 of the mechanical arm mounting platform 20 and of the platform body 300 of the main charging unit mounting platform 30, respectively, and identifying a two-dimensional code on the side of the charging station by the station position identifier 401 to determine the position of the charging station so as to perform a positioning operation of a relative position between the platform (the mechanical arm mounting platform 20 or the main charging unit mounting platform 30) and the station.

[0083] Furthermore, the detection device 40 further includes an obstacle avoidance device 402 which includes a detection component mounted on an outer surface of a platform body of the respective platforms (the mounting platform of the mechanical arm 20 and the mounting platform of the main charging unit 30). The detection component may be a camera, a distance sensor, etc. Preferably, the detection component may be arranged, for example, on the end surfaces on both sides of the platform body in the longitudinal direction (in the direction parallel to the travel rail 101 in the mounted state), and on the lower surface of the platform body near the outer end edges (for example, at the central point along the longitudinal direction of the lower surface of the platform body in FIGS. 5B and 5D, and at the end edges along the transverse direction of the side far from the charging station), so that the sensing components enable controls such as environmental sensing and obstacle avoidance to be performed when the platform moves on a railway track.

[0084] Furthermore, the detection device 40 may also include a visual positioning device 403 for the end of the mechanical arm, which is mounted at the end of the mechanical arm and is capable of detecting the environment and avoiding obstacles when the mechanical arm moves, as well as recognizing the orientation / location of the charging connector, the vehicle's charging cover, and the charging head, in order to provide positioning control for the charging connector gripping module when it is connected to the charging connector, so that the mechanical arm can grasp the charging connector and plug and unplug it at the appropriate angle. By way of example, the visual positioning device 403 for the end of the mechanical arm may be a visual detection device such as a camera.

[0085] [Structure of the main utility certificate recharge unit].

[0086] With reference to [Fig. 6] below, the structure of the main charging unit is described. The main charging unit 50 includes a positioning module 506, which is located on the upper part of the main charging unit and along the lateral direction (the direction perpendicular to the travel guide in the mounted state) near one lateral end of the charging station. As a preferred example, a locking pin structure corresponding to the position limiting assembly 304 may be used, and is obviously not limited to this, but may also use other locking structures corresponding to the position limiting assembly 304.The positioning module 506 can be used to match the position limitation assembly 304 of the mounting platform of the main charging unit 30, and when the position limitation assembly 304 is opened (extended outwards), the positioning module 506 is pressed outwards, causing the positioning module 506 to lock with the position limitation assembly 304 to achieve the locking of the receiving and pushing module 305 with the main charging unit 50, and when the position limitation assembly 304 is released to be retracted, the lock with the positioning module 506 is unlocked, allowing the main charging unit. to form a locking state with the charging main unit mounting platform 30 or the locking track on the charging station. The charging main unit positioning module and the charging main unit mounting platform limitation assembly cooperate with each other to form a locking attachment between the charging main unit and the receiving and pushing module, the charging station locking track and the charging main unit mounting platform.

[0087] The main charging unit 50 also includes: two sets of movement wheels 505 installed on its left and right sides, which can bear against the locking track of the charging station or the movement rail 306 of the mounting platform of the main charging unit, at the lateral end, so that the main charging unit can move on the movement rail; a movable insert 504, which is connected to the static insert 604 of the charging station 6 to form an electrical connection for the main charging unit in order to provide a power supply;the charging connector storage mechanism 503, which cooperates with the charging connector 502 via the left and right lateral guide rails to help correct the position of the charging connector when it is inserted (it includes guide rails to help correct the position of the inserted charging connector by cooperating with the charging connector); the cable receive and release module 501, which receives and stores the charging cable in the main charging unit via the turntable structure, and can perform the cable receive and release action according to a signal command; for example, the cable receive and release module 501 can be driven by a motor to perform the cable receive and release action.

[0088] With reference to [Fig.8], the positioning module 303 of the mounting platform of the main charging unit 30 holds the communication and power module 603 on the parking bar 602 in the middle to form a locked state, and the communication and power module 302 on the mounting platform of the main charging unit 30 is electrically coupled to the communication and power module 603 on the parking bar 602 to power the mounting platform of the main charging unit 30, and communicate with it.

[0089] In order to better understand the operating process of the vehicle charging system and the vehicle charging device of the utility certificate, the control method is described in detail below.

[0090] [Method of recharging the vehicle charging system / vehicle charging device of the utility certificate].

[0091] First, a method for recharging the vehicle charging system of this utility certificate is described with reference to FIGS. 9A to 9C and FIGS. IB to 8.

[0092] When the mechanical arm mounting platform and the main charging unit mounting platform are mounted on the travel rail, after receiving the charging instruction from the vehicle owner, it identifies and locks an inactive main charging unit, and the main charging unit mounting platform moves to its charging station to pick up the main charging unit and transport it to the target charging station, and pushes it to the charging station to complete the delivery of the main charging unit, then the main charging unit mounting platform leaves the target charging station to stop at the nearest station to replenish its energy supply.The mechanical arm mounting platform moves to the target charging station, the mechanical arm holds the charging connector on the main charging unit to automatically charge the vehicle, and the mechanical arm mounting platform completes the current set of instructions and begins processing the next set of charging instructions. More specifically, the utility certificate charging method includes the following processing steps.

[0093] As shown in [Fig.9A], at step S10, the server receives from a terminal used by the user who is going to charge his vehicle a command to charge a vehicle parked in a parking space, then proceeds to step S20.

[0094] At step S20, the server 7 informs the assembly platform of the main charging unit 30 of the vehicle charging device to start the charging station pickup operation.During the charging station pickup operation, the main charging unit mounting platform 30 first moves to a nearby free main charging unit 50 and connects the main charging unit. The main charging unit mounting platform 30, connected with the main charging unit 50, moves to a target charging station corresponding to the parking space of the vehicle to be charged. It pushes the main charging unit towards the target charging station to establish an electrical connection with it. The main charging unit mounting platform 30, with the discharged main charging unit 50, moves to a nearby free station for charging. The charging station pickup operation is then complete.

[0095] At step S30, the server 7 informs the mounting platform of the mechanical arm 20 of the vehicle charging device to initiate the mechanical arm charging operation. During the mechanical arm charging operation, the mounting platform of the mechanical arm 20 moves to a target charging station, releases the mechanical arm after establishing an electrical connection with it, the arm mechanically operates a charging connector to perform a plug-in action with the charging interface of the vehicle to be charged, and retrieves the mechanical arm after the main charging unit has started charging the vehicle and the charging operation has ended.

[0096] The specific control process of the operation of collecting the charging stations and of the operation of charging the mechanical arm of the vehicle charging device of the utility certificate is described in detail below in relation to [Fig.9B].

[0097] [Operation to collect the charging stations of the vehicle charging system / device of this utility certificate].

[0098] First, an operation process for the mounting platform of the main charging unit 30 of the vehicle charging device 2 of the utility certificate to perform a charging station pickup operation is described in detail with reference to [Fig.9B].

[0099] Step 1, the positioning module 303 of the mounting platform of the main charging unit 30 retracts to release the parking bar 602, which ends the locking state with the charging station 6 (step S902).

[0100] Step 2, the displacement module 301 on the mounting platform of the main charging unit 30 moves the platform on the displacement rail 101 towards the charging station 6 where the nearest inactive main charging unit 50 is located, and locates the target charging station 6 to arrive on the side of the target charging station according to the position identifier of the station 401 (step S903).

[0101] In this utility certificate, an idle main charging unit means a main charging unit that is not in a state to charge a vehicle, whether mounted on the main charging unit mounting platform 30 or separate from the main charging unit mounting platform 30, and that is normally in a state to be connected to a charging station and is charged, except when moving on a travel track.

[0102] In step 3, the mounting platform of the main charging unit 30 requests its positioning module 303 to perform a hold action to lock itself with the parking bar 602 of the charging station 6 in order to establish a locked state (step S904). The communication and power module 302 of the mounting platform of the main charging unit 30 is connected with the communication and power module 603 of the charging station 6 to provide power and perform communications with the mounting platform of the main charging unit 30.

[0103] Step 4, the limiting assembly 304 of the mounting platform of the main charging unit 30 follows the movement of the receiving and pushing module 305 above the receiving and pushing module 305. The receiving and pushing module 305 is pushed towards the side of the charging station 6 (step S905), and the sensing device 40 measures the distance between the receiving and pushing module 305 and the main charging unit 50 (step S906), and determines whether a predetermined position is reached (step S907). When it is determined that the predetermined position is reached, the position limiting assembly 304 opens to lock the main charging unit 50 with the receiving and pushing module 305 (step S908), and the receiving and pushing module 305 transports the main charging unit 50 through the displacement module 505, through the locking track 601 and the displacement track 306, and retracts towards the side of the mounting platform of the main charging unit 30 (step S909).

[0104] Step 5, when the detection device 40 detects the position of the receiving and pushing module 305 (step S910), and judges whether the predetermined position has been reached (step S911). After determining that the main charging unit 50 has reached the predetermined position, the position limiting assembly 304 is released (step S912), and the positioning module 506 of the main charging unit 50 forms a lock with the mounting platform of the main charging unit 30 (step S913), thus completing the charging station search process.

[0105] The foregoing describes the process of searching for charging stations for the utility certificate vehicle charging device, which comprises steps 1 to 5 (S901-S913). In summary, the mounting platform for the main charging unit 30 locates a vacant main charging unit and mounts the main charging unit 50.

[0106] The process for collecting the charging station for the vehicle charging device of the utility certificate is described below. It comprises steps 6 to 9 (S914-S931), as follows.

[0107] In step 6, the positioning module 303 of the charging main unit mounting platform 30 releases the parking bar 602 and releases the locking state with the parking bar 602 (step S914). The charging main unit mounting platform 30 transports the charging main unit 50 mounted on the charging main unit mounting platform 30 by the displacement module 301 on the displacement rail 101 to the target charging station 6 corresponding to the parking position of the target charging vehicle (step S915), and the relative positions of the charging main unit mounting platform 30 and the charging station 6 are precisely adjusted to the alignment state by the charging station position identifier 401 of the detection device 40. The positioning module 303 holds the bar parking 602 to form a locking state with the parking bar 602 of the target charging station 6 (step S916).

[0108] Step 7, the position limitation assembly 304 on the receiving module The push and receive module 305 opens (step S917), resulting in the formation of a lock between the main charging unit 50 and the push and receive module 305 (step S918). The push and receive module 305 pushes the main charging unit 50 towards the side of the target charging station 6 (step S919). The movement module 505 of the main charging unit 50 moves along the locking track 601 of the charging station 6 via the movement rail 306 of the mounting platform of the main charging unit 30. The sensing device 40 detects the position of the push and receive module 305 (step S920) and determines whether the main charging unit 50 reaches the target position (step S921).After determining that the target position has been reached ("yes" in step S921), the position limiting assembly 304 is released (step S922) and the positioning module 506 of the main charging unit 50 forms a locking state with the locking track 601 of the charging station 6, and the mobile insert 504 forms an electrical connection with the static insert 604 to electrically link the main charging unit 50 and the target charging station 6 (step S923).

[0109] Step 8, the receiving and pushing module 305 has retracted towards the side of the mounting platform of the main charging unit 30 (step S924), the sensing device 40 detects the position of the receiving and pushing module 305 (step S925), and determines whether the receiving and pushing module 305 has reached a predetermined position (step S926), and the receiving and pushing module 305 returns to an initial state after determining that it has reached the predetermined position (step S926 is "yes") (step S927).

[0110] In step 9, the positioning module 303 of the mounting platform for the main charging unit 30 retracts to release the parking bar 602, thereby releasing the locking state with the parking bar 602 (step S928). The displacement module 301 of the mounting platform for the main charging unit 30 drives the platform along the displacement rail 101 towards the nearest available charging station (step S929).The position of the charging station 6 is accurately recognized by the charging station position identifier 401 of the detection device 40 (on the mounting platform of the main charging unit 30), and when it reaches a target position (e.g., a nearby free charging station), the positioning module 303 hooks onto the parking bar 602 of the target charging station in order to form a lock-on state with the target charging station 6 (step S929), and the server 7 changes the state of the mounting platform of the main charging unit to put it. at rest (step S931), and the operation to recover the charging stations is thus completed.

[0111] In summary, the main charging unit mounting platform 30 transports the main charging unit to the target charging station and pushes the main charging unit to the target charging station to form a lock with it, and the main charging unit mounting platform 30 moves to a nearby inactive station for its charging.

[0112] [Vehicle charging system / device recharging operation of the utility certificate].

[0113] The charging operation process (including steps 10-15 (S932-S953)) of a charging operation in which a charging connector is actuated by a mechanical arm of the mechanical arm mounting platform 20 of the utility certificate vehicle charging system is then described with reference to [Fig.9C].

[0114] In step 10, the server 7 notifies the mounting platform of the mechanical arm 20 to perform a charging task on the side of the target charging station 6 (step S932). The positioning module 201 of the mounting platform of the mechanical arm 20 releases the currently locked parking bar 602 to unlock the charging station to which it is currently electrically connected (step S933). The displacement module 201 of the mounting platform of the mechanical arm 20 moves the platform via the displacement rail 101 towards the target charging station 6 (the target charging station 6 being electrically connected to the main charging unit 50 in step S923) (step S934).The relative position of the charging station 6 is accurately recognized by the charging station position identifier 401 of the detection device 40 (charging station position identifier 401 on the mechanical arm mounting platform 20), and the position of the mechanical arm mounting platform 20 is adjusted to align the mechanical arm mounting platform 20 with the charging station 6. When the target position (position alignment) is reached, the positioning module 203 locks the parking bar 602 to the target position to form a locking state with the target charging station 6, and the communication and power module 603 of the charging station 6 forms an electrical connection with the communication and power module 202 on the side of the mechanical arm mounting platform 20 (step S935).

[0115] Step 11, releasing the module from the mechanical arm 205 (step S936), guiding the charging connector gripping module 206 so that it is connected to the charging connector 502 by the visual positioning device at the end of the mechanical arm 403 (step S937), then checking whether the connection is established or not (step S938), and if connected (step S938 "yes"), the gripping module of the Charging connector 206 is locked with charging connector 502 (step S938).

[0116] Step 12, the cable receiving and release module 501 of the main charging unit 50 releases the charging cable (step S940), determines whether the release is complete (step S941) and, if the charging cable is completely released (step S942), ends the locking state between the charging connector and the main charging unit (step S943).

[0117] In step 13, the mechanical arm module 205 removes the charging connector 502 from the main charging unit 50 (step S944), locates the target vehicle's charging interface via the visual positioning device at the end of the mechanical arm 403, and adjusts the attitude of the charging connector 502 relative to the charging interface based on the precise positioning information returned by the visual positioning device at the end of the mechanical arm 403, in order to insert the charging connector into the charging interface (step S945). It then determines whether the connection is successful (step S946), and if successful ("yes" in step S946), the charging connector establishes a locking state with the vehicle's charging interface (step S947), and the main charging unit completes the handshake of the charging protocol with the vehicle (step S948).

[0118] Step 14, the charging connector gripping module 206 releases the charging connector 502 (step S949) and retrieves it on the side of the mechanical arm mounting platform 20 (step S950), and the mechanical arm module 205 returns to its initial state after reaching a predetermined position (step S951).

[0119] At step 15, the main charging unit 50 begins to power the vehicle and charge it (step S952), and the server 7 changes the state of the mounting platform of the mechanical arm 20 to an inactive state (step S953). At this point, the charging operation is completed.

[0120] Therefore, when a charging service is to be provided to a vehicle to be charged (vehicle to be charged) in a target parking space, the vehicle charging device according to the utility certificate is capable of transporting an inactive main charging unit to a charging station corresponding to the target parking space (target charging station) by means of a main charging unit mounted suspended on a travel rail, and of operating the mechanical arm mounting platform mounted suspended on a travel rail and assembled from a mechanical arm above the target parking space, and of picking up and operating the charging connector stored in the main charging unit by the mechanical arm to insert the charging connector into the vehicle to be charged, thus enabling an automatic charging service to be performed without manual operation.

[0121] A detailed description of the process by which this utility certificate for the vehicle charging device resolves the problem of the charging connector jump that occurs during the charging process is given below.

[0122] [Operation of the vehicle charging system / device to resolve the charging connector jump problem of this utility certificate].

[0123] With reference to [Fig. 10] and [Fig. 1B] to 8 below, an operational flow of the utility certificate vehicle charging device for resolving a charging connector jump problem is described, specifically comprising the following steps:

[0124] In step 1, when a main charging unit 50 is determined to have experienced a charging connector jump problem (step S1001), detect whether the parking bar 602 of the target charging station (target stationary fixed beam) corresponding to the charging parking space where the vehicle experiencing the charging connector jump problem is occupied (step S1002). If it is not occupied, it proceeds to step 3 to notify the mechanical arm mounting platform to come and perform the charging connector jump problem resolution (step S1008), and if it is occupied, it determines whether the occupant is the mechanical arm mounting platform 20 or the main charging unit mounting platform 30 (step S1003).If the occupant is the mechanical arm mounting platform 20, it proceeds to step 4 (step S1011) to perform the charging connector jump problem resolution, and if the charging main unit mounting platform 30 is occupied, it proceeds to step 2 (step S1004) to move the charging main unit mounting platform 30 to the parking bar 602 of the nearest inactive charging station (the inactive parking bar).

[0125] In step 2, the positioning module 303 of the mounting platform for the main charging unit 30 is released, which disengages the locking state with the parking bar 602 (step S1004). The movement module 301 of the mounting platform for the main charging unit 30 drives the platform along the movement rail 101 to move to the nearest free parking bar 602 (step S1005).The position of the charging station 6 is accurately recognized by the charging station position identifier of the detection device 401 (charging station position identifier of the detection device 401 of the main charging unit mounting platform 30), and the position is adjusted, and when the target position is reached, the positioning module 303 locks the parking bar 602 to the target position in order to form a locking state with the charging station at rest (step S1006) and notifies the server to change the state of the charging station at rest (step S1006). and to the server the fact that the reload state of the main reload unit mounting platform is changed to the rest state (step S1007).

[0126] In step 3, the mechanical arm mounting platform 20 is informed that it must run towards the target charging station 6 to resolve the charging connector jump problem (step S1008). The mechanical arm mounting platform moves towards the target charging station 6 (step S1009), accurately identifies the position of the charging station 6 using the charging station position identifier 401 of the detection device 40 (the charging station position identifier of the detection device 401 of the mechanical arm mounting platform 20), and makes position adjustments, and after reaching the target position, the positioning module 203 locks the parking bar 602 to the target position, forming a lock state with the corresponding target charging station (step S1010).

[0127] Step 4, extend the mechanical arm 210 and adjust it to the appropriate position (step S1011), and guide the charging connector gripping module 206 to connect with the charging connector 502 by positioning the visual positioning device at the end of the mechanical arm 403 (step S1012). Verify that the connection is successful (step S1013); if it is determined that the connection to the charging connector 502 is successful, the charging connector gripping module 206 is locked with the charging connector 502.

[0128] Step 5, the locking state of the charging connector 502 and the vehicle charging interface is released (step S1014), the mechanical arm module 205 drives the charging connector 502 to perform the plug and unplug actions (step S1015), and the charging connector 502 relocks the charging interface (step S1016).

[0129] Step 6 determines whether the handshake of the charging protocol between the main charging unit 50 and the vehicle is re-established (step S1017). If it is determined that it is not re-established, the server 7 is informed to mark this problem as unresolved (step S1020), terminate billing for this order (step S1021), and send it to the vehicle owner with an error report, while simultaneously listing the problematic charging station as being in a pending maintenance state (step S1022). This then proceeds to step 7. If it is determined that the handshake of the charging protocol is re-established, the main charging unit 50 charges the vehicle (step S1018). Charging continues based on the amount billed from the previous order (step S1019).

[0130] In step 7, the charging connector gripping module 206 releases the charging connector 502 (step S1023), and the mechanical arm 210 is returned to the mechanical arm mounting platform 20 (step S1024) and restored to the initial state (step S1025).

[0131] In step 9, the server 7 puts the mechanical arm mounting platform 20 into an inactive state (step S1026), which terminates the operation aimed at resolving the charging connector jump problem.

[0132] In summary, by sending the mounting platform of the mechanical arm 20 mounted suspended on rail to the charging station corresponding to the parking space where the problematic vehicle is parked when the charging connector jump is detected, and by operating the charging connector by the control mechanical arm to perform the disconnect and connect actions, in order to automatically charge the vehicle without supervision or manual operation, this not only effectively solves the problem of the charging connector jump in the charging process, but also improves the user's charging experience.

[0133] [Operation at the end of charging of the charging system / device for vehicles of the utility certificate].

[0134] With reference to [Fig. 11] and Figs. 1B to 8, the following describes a process for controlling the end-of-charging operation of the vehicle charging system / vehicle charging device of this utility certificate. Specifically, the following steps are included:

[0135] In step 1, the vehicle is charged to a predetermined value to terminate charging, and the main charging unit 50 is notified that charging is complete (step SI 101). The main charging unit 50 receives the message and cuts off the power to terminate vehicle charging (step SI 102). Billing is completed, and an order is generated and sent to the vehicle owner (step SI 103). Steps SI 101 and SI 103 can be executed simultaneously.

[0136] Step 2 detects whether the parking bar of the target charging station corresponding to the parking space where the fully charged vehicle is parked (the target parking bar) is occupied (step SI 104) and, if it is not, proceeds to step 4 to notify the mounting platform of the mechanical arm 20 to perform an end-of-service charging operation on the side of the target charging station 6 (step SI 110). If occupied, checks whether the mounting platform of the main charging unit 30 or the mounting platform of the mechanical arm 20 is occupied (step SI 105).If the mounting platform for the mechanical arm 20 is occupied, it proceeds to step 5 to begin performing the charging connector disconnection operation (step SI 117), and if it is occupied by the mounting platform for the main charging unit 30, it proceeds to step 3 to move the mounting platform for the main charging unit 30 towards the bar. parking 602 of charging station at rest closest to the charging station (parking bar at rest) (step S1107).

[0137] In step 3, the positioning module 303 of the mounting platform of the main charging unit 30 retracts to release the parking bar 602, thereby releasing the locking state with the charging station 6 (step SI 106). The displacement module 301 of the mounting platform of the main charging unit 30 drives the platform along the displacement rail 101 to move towards the parking bar 602 of the nearest inactive charging station (inactive parking bar) (step SI 107).The position of the charging station 6 is precisely identified by the charging station position identifier 401 of the detection device 40 (the position identifier 401 of the main charging unit mounting platform 30), and after adjusting the relative position to reach a target position, the positioning module 303 locks the parking bar 602 to the target position to form a locking state with the corresponding charging station (step SI 108), and the state of this main charging unit mounting platform is put to rest (step SI 109).

[0138] In step 4, the server 7 notifies the mechanical arm mounting platform 20 to go to the target charging station 6 to perform an end-of-service charging operation (step SI 110). The mechanical arm mounting platform 20 moves to the target charging station 6 (step SI 111), accurately identifies the position of the charging station 6 by the charging station position identifier 401 of the sensing device 40 (the charging station position identifier 401 of the mechanical arm mounting platform 20), and adjusts the relative positions to reach the target position (aligned with each other), then the positioning module 203 locks the parking bar 602 to the target position to form a locked state with the target charging station 6 (step SI 112).

[0139] In step 5, the mechanical arm 210 is deployed (step SI 113), and the charging connector gripping module 206 is connected to the charging connector 502 by means of the visual positioning device at the end of the mechanical arm 403 (step SI 114). It is determined whether the connection is successful (step SI 115), and if the connection is deemed successful, they are locked (step SI 115 "yes"). If the determination is unsuccessful, return to step SI 114 to perform a new connection.

[0140] In step 6, the charging connector 502 is released from its locking state with the charging interface (step SI 116), and the mechanical arm 210 performs a charging connector disconnection operation, i.e., it removes the charging connector 502 from the vehicle (step SI 117), and thanks to the positioning of the visual positioning device 403 at the end of the mechanical arm, the mechanical arm 210 Insert the charging connector 502 into the charging connector storage mechanism 503 (step SI 118). The charging connector storage mechanism 503 cooperates with the charging connector 502 via the left and right lateral guides to achieve the assisted return-to-correct position mechanism when the charging connector is inserted. The assisted return-to-correct position mechanism may be a sliding rail, cooperating with the charging connector to help return it to the correct position after insertion.The charging connector 502 and the charging connector storage mechanism 503 automatically form a locked state (step SI 119), the charging connector gripping module 206 unlocks the charging connector 502, releases the charging connector 502 (step SI 120), the mechanical arm 210 has retracted to the side of the mechanical arm mounting platform 20 (step SI 121) and the mechanical arm is returned to its initial state (step SI 122).

[0141] Step 7, the cable receive and release module 501 retrieves the cable from recharge (step SI 123), and when it is judged that all cables have been recovered ("yes" in step SI 124), the mechanical arm mounting platform 20 moves to the rest state (step SI 125), and the end-of-recharge operation is completed here.

[0142] In summary, the user experience is improved by disconnecting the main charging unit and the mechanical arm performing the disconnection action without manual operation when full charging is detected, and the user can be informed of the end of charging in a timely manner by sending a billing notification to the user, and this can also effectively solve the problem of parking space occupancy for extra hours after charging the new energy vehicle, improve the parking space utilization rate and enhance the vehicle owner's charging experience.

[0143] Although the utility certificate is described above with reference to exemplary embodiments, these serve only to illustrate the technical concepts and features of the utility certificate and cannot be used to limit the scope of protection of the utility certificate. Any equivalent variant or modification carried out in accordance with the spirit of the utility certificate will be covered by the scope of protection of the utility certificate.

Claims

Demands

1. Vehicle charging device mounted suspended on a rail, characterized in that it is mounted suspended on a travel rail suspended from the roof of a car park, with a plurality of charging stations arranged along the travel rail corresponding to the position of the parking spaces in the car park, said vehicle charging device comprising: a mechanical arm mounting platform (20) capable of being mounted suspended on the travel rail, comprising a platform body (200) of the mechanical arm mounting platform and a mechanical arm (210) fixed to a base of the platform body; a main charging unit (50) containing a charging connector (502) which can be removed therefrom;and a detection device (40) comprising: a visual positioning device (403) for the end of the mechanical arm assembled on the mechanical arm, wherein the main charging unit includes a movable insert (504), and one of the plurality of charging stations electrically supplies the main charging unit when the movable insert of the main charging unit is connected to the static insert of the charging station; furthermore, the mechanical arm includes a charging connector gripping module (206) assembled at its end, and the mechanical arm can adjust the altitude to operate the charging connector by the charging connector gripping module and perform the action of connecting and disconnecting the charging connector to the vehicles.

2. Vehicle charging device according to claim 1, wherein said vehicle charging device further comprises: a mounting platform for the main charging unit (30) which can be mounted suspended on a travel rail, and wherein the main charging unit is mounted suspended removably on the lower part of the mounting platform for the main charging unit.

3. Vehicle charging device according to claim 2, wherein, The main charging unit mounting platform includes: a platform body (300) of the main charging unit mounting platform, a receiving and pushing module (305) and a travel track (306) disposed at the base of the platform body, the respective bodies of the mechanical arm mounting platform and the main charging unit mounting platform each comprising: a travel module (201, 301), a positioning module (203, 303) and a communication and power module (202, 302) disposed on a top of the platform body.

4. Vehicle charging device according to claim 3, wherein the detection device further comprises: a charging station position identifier (401) and an obstacle avoidance device (402) mounted respectively on at least one of the following platforms: the mechanical arm mounting platform or the main charging unit mounting platform.

5. Vehicle charging device according to claim 3, wherein the respective positioning modules of the mechanical arm mounting platform and the main charging unit mounting platform are clamping and gripping mechanisms and are capable of extending and retracting by means of a screw drive, when the positioning module holds a parking bar of the charging station, the corresponding mounting platform forms a locking state with the charging station and, in this state, said corresponding mounting platform is electrically connected to the charging station via the communication and power supply module; and if the positioning module releases the parking bar of the charging station, the locking state of said corresponding mounting platform with the charging station is released.

6. Vehicle charging device according to claim 3, wherein said mechanical arm comprises: a mechanical arm module (205) assembled on an upper portion of the charging connector gripping module, and a lifting and lowering module (204) assembled on the base of the platform body of assembly of the mechanical arm which can adjust the height of the mechanical arm module.

7. Vehicle charging device according to claim 3, wherein the main charging unit comprises positioning assemblies (506) which are arranged symmetrically at two longitudinal apex ends of the main charging unit, the receiving and pushing module of the mounting platform of the main charging unit comprises a position limiting assembly (304) fixed to a lateral end of the receiving and pushing module near the charging station, the position limiting assembly being a movable mechanism and corresponding to the positioning assemblies of the main charging unit, and the positioning assemblies being locked or released by the opening or releasing of the position limiting assembly.

8. Vehicle charging device according to claim 5, wherein the movement track of the main charging unit mounting platform is adapted to a locking track of the charging station, when the main charging unit mounting platform is locked with the charging station, the movement track of the main charging unit mounting platform is connected to the locking track of the charging station to form a horizontal track.

9. A mounting platform for a mechanical arm for a vehicle charging device according to any one of claims 1 to 8, suspended on a rail, characterized in that it comprises a platform body (200) and a mechanical arm (210) fixed to the base of the platform body, wherein the mounting platform body of the mechanical arm comprises: a movement module (201), a positioning module (203), and a communication and power supply module (202) arranged on a vertex of the platform body, and said mechanical arm comprises: a mechanical arm module (205) assembled to a lower portion of the platform body, and a charging connector gripping module (206) connected at the end of the mechanical arm module, and a visual positioning device (403) for the end of the mechanical arm.

10. A vehicle charging system mounted suspended on a rail, characterized in that it comprises: a rail structure mounted on the roof of a parking lot, comprising: travel rails arranged above a parking space in the parking lot, mounted suspended in a penetrating manner; a vehicle charging device according to any one of claims 3 to 8; a plurality of charging stations arranged along the travel rail so as to correspond to the parking spaces; and a server capable of communicating respectively with the vehicle charging device and one of the plurality of charging stations, wherein the charging station comprises vehicle parking bars, a communication and power supply module, and a static insert,In the case where the mounting platform of the mechanical arm or the mounting platform of the main charging unit of the vehicle charging device attaches to the parking bar via its positioning module and forms a lock with the charging station, the communication and power module of the charging station is connected to the communication and power module of the corresponding mounting platform to form an electrical connection so that the charging station can supply power to the corresponding mounting platform, and when the static insert of the charging station is connected to the mobile insert of the main charging unit of the vehicle charging device, the charging station is able to supply power to the main charging unit.

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