CN219077050U

CN219077050U - Intelligent charging system

Info

Publication number: CN219077050U
Application number: CN202320056066.7U
Authority: CN
Inventors: 韩伟; 刘惠利
Original assignee: Sesaijialijia Beijing Petrochemical Equipment Co ltd
Current assignee: Sesaijialijia Beijing Petrochemical Equipment Co ltd
Priority date: 2023-01-09
Filing date: 2023-01-09
Publication date: 2023-05-26
Anticipated expiration: 2033-01-09

Abstract

The utility model provides an intelligent charging system which is provided with a charging system rack, and further comprises an image identifier, a controller, a cooperative mechanical arm assembly and a vision system, wherein the image identifier, the cooperative mechanical arm assembly and the vision system are respectively in communication connection with the controller, the image identifier can identify vehicle information and transmit the identified information to the controller, the vision system identifies the position of a charging port of a vehicle and transmits the information to the controller, and the controller controls the cooperative mechanical arm to act to open or close a charging port cover of the vehicle and charge, so that automatic charging is completed. The intelligent charging system has high charging efficiency and better system integration level, and can charge vehicles at the left and right charging ports, thereby having high safety and automation degree.

Description

Intelligent charging system

Technical Field

The utility model relates to the technical field of intelligent charging, in particular to an intelligent charging system.

Background

At present, along with the popularization and application of new forms of energy electric car, the demand that the electric car charges is more and more prominent, especially the electric car is driven to highway service area, city charging station, and the electric pile fills service practicality soon and is convenient, saves time. However, the manual charging operation is complicated, fear is not safe, and the repeatability is high.

However, most charging robots cannot realize full-automatic charging at present, the charging efficiency is low, the charging robots can only realize single-lane single-side charging no matter single-arm or double-arm charging, and the charging of the left and right charging port trolleys cannot be realized at the same time. Therefore, the charging station can be solved only by arranging a plurality of charging robots, and the charging station vestibule is unreasonable in charging position arrangement and low in charging efficiency.

Disclosure of Invention

Aiming at the technical problems, the technical scheme of the utility model provides an intelligent charging system to solve the problems that an intelligent charging robot in the prior art is low in charging efficiency and poor in integration level, and can not meet the charging requirements of charging of a charging port on the left side and the right side.

The intelligent charging system comprises a charging system rack, and further comprises an image identifier, a controller, a cooperative mechanical arm assembly and a vision system, wherein the image identifier, the cooperative mechanical arm assembly and the vision system are respectively in communication connection with the controller, the image identifier can identify vehicle information and transmit the identified information to the controller, the vision system identifies the position of a charging port of a vehicle and transmits the information to the controller, and the controller controls the cooperative mechanical arm to act to open or close a charging port cover of the vehicle and charge the charging port cover, so that automatic charging is completed.

In one embodiment, the cooperative mechanical arm assembly comprises a first cooperative mechanical arm assembly and a second cooperative mechanical arm assembly, which are respectively arranged at two sides of the intelligent charging system.

In one embodiment, the first and second cooperating robot assemblies are identical in structure, the first cooperating robot assembly includes a first robot and a second robot, the first robot includes a charging flap end device, the second robot includes a charging gun end device that opens a vehicle charging flap under control of the controller, and the charging gun end device charges at a charging port under control of the controller.

In one embodiment, the charging port cover end device is mounted on the first mechanical arm, the charging port cover end device comprises a charging port outer cover opening and closing assembly and a charging port inner cover opening and closing assembly, and the charging gun end device is mounted on the second mechanical arm.

In one embodiment, the charging port outer cover opening and closing assembly comprises a sucker, a pressure switch and a vacuum pump; the charging gun end device comprises a charging gun and a charging wire.

In one embodiment, the system further comprises a rack moving assembly, wherein the rack moving assembly is connected with the controller.

In one embodiment, the frame moving assembly includes a frame horizontal moving assembly and a frame lifting assembly.

In one embodiment, a touch screen is further disposed on the charging system rack.

In one embodiment, the vision system includes a camera, a converter, and an industrial personal computer.

In one embodiment, the frame horizontal movement assembly comprises a base frame, a guide rail, a gear, a rack and a servo motor; the frame lifting assembly comprises a guide rail, a ball screw and a servo motor.

The intelligent charging system comprises 2 groups or 1 group of mechanical arms, and has the following advantages: the charging robot has the advantages that 2 groups of mechanical arms in front of and behind the double lanes are symmetrically distributed, the mechanical arm structure layout, the identification algorithm and the control program are the same, and complicated functional programs are avoided; aiming at the trolley type of the left and right charging port, the charging robot can realize that one machine can charge the trolley at the left and right charging port at the same time, thereby improving the charging efficiency; the existing charging robots can meet the requirements of left and right charging port trolley types by arranging two charging robots, the occupied area is large, the cost is higher than that of the intelligent charging system, the foundation of a pipeline is complicated, and the integration is poor; the intelligent charging system provided by the utility model adopts the cooperative mechanical arms respectively, the load is dispersed, the single arm load is small, and compared with a heavy industrial mechanical single arm, the double-arm charging station man-machine cooperation scene is safer, lighter and more attractive.

Drawings

The utility model will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of an embodiment of an intelligent charging system according to the present utility model;

FIG. 2 is a schematic diagram of a frame of the intelligent charging system in the intelligent charging system according to the present utility model;

fig. 3-5 are schematic structural diagrams of an embodiment of the intelligent charging system according to the present utility model, in which the intelligent charging system can charge the left and right charging ports simultaneously;

fig. 6 is a method for charging by using the intelligent charging system of the present utility model.

In the drawings, like parts are designated with like reference numerals. The figures are not drawn to scale.

The reference numerals are: an image identifier-1; a charging system rack-2; a controller-3; an intelligent touch screen-4; a frame lifting assembly-5; a vision system-6; a first mechanical arm-7; a charging gun end device-8; a charging port cover end device-9; a charging port outer lid opening and closing assembly-91; a charging port inner lid opening/closing assembly-92; a second mechanical arm-10; a frame horizontal movement assembly-11; charging pile-12; charging island-13;

Detailed Description

The utility model will be further described with reference to the accompanying drawings.

As shown in fig. 1-2, the intelligent charging system of the present utility model comprises an image identifier 1, a controller 3, a cooperative mechanical arm assembly, and a vision system 6, wherein the image identifier 1, the cooperative mechanical arm assembly, and the vision system 6 are all in communication connection with the controller 3, respectively, the image identifier 1 can identify vehicle information, such as license plates, charging mode information, etc., and transmit the identification information to the controller 3, the intelligent charging system prompts the vehicle to drive to a proper range area position of the charging system, the vision system 6 identifies the charging port position of the vehicle and transmits the information to the controller 3, and the controller 3 controls the cooperative mechanical arm to act so as to reset after the charging port cover opening, charging, and charging port cover closing operation of the vehicle to be charged. Thus, the full-automatic intelligent charging operation for the vehicle is completed.

The cooperation mechanical arm assembly comprises a first cooperation mechanical arm assembly and a second cooperation mechanical arm assembly, wherein the first cooperation mechanical arm assembly and the second cooperation mechanical arm assembly are respectively arranged on two sides of the intelligent charging system so as to charge the left and right charging port electric car types. The structural components and the working principles of the first cooperative mechanical arm assembly and the second cooperative mechanical arm assembly are the same, and only the first cooperative mechanical arm assembly is described in detail below.

The first cooperating robot assembly includes a first robot arm 7 and a second robot arm 10, the first robot arm 7 including a charging port cover end device 9, the second robot arm 10 including a charging gun end device 8, the charging port cover end device 9 being operable to open a vehicle charging port cover, such as a charging port outer cover and a charging port inner cover of a vehicle having a charging port inner cover, with the assistance and control of the vision system 6 and the controller 3. The charging gun end 8 may complete charging of the charging port with the assistance and control of the vision system 6 and the controller 3. After the charging operation is completed, the controller 3 controls the first mechanical arm 7 and the second mechanical arm 10 to close the charging port cover and reset, so that the state of resetting to be charged is entered.

Specifically, in one embodiment of the present utility model, the charging port cover end device 9 is mounted on the first robot arm 7, and the charging port cover end device 9 includes a charging port outer cover opening and closing assembly 91 and a charging port inner cover opening and closing assembly 92, for example, a suction cup assembly including opening/closing of the charging port cover, to effect opening or closing of the charging port outer cover. For the electric vehicle with the charging opening inner cover, the vision system accurately identifies the relative position of the charging inner cover and the vehicle, the vision system transmits information to the controller, the controller drives the first mechanical arm and the pneumatic system, the clamping cylinder drives the soft claw to clamp the inner cover, and the inner cover is pulled out, so that the charging opening inner cover is closed and opened. The charging gun end 8 is mounted on a second mechanical arm 10, including a charging gun, a charging wire, etc.

The intelligent charging system comprises a charging system frame 2 and a frame moving assembly, wherein the charging system frame 2 is arranged above a charging island 13, one side of the charging system frame 2 is provided with a charging pile 12, the frame moving assembly is connected with a controller 3 and comprises a frame horizontal moving assembly 11 and a frame lifting assembly 5, the frame horizontal moving assembly 11 can drive the charging system frame 2 to move along the horizontal direction, and the frame lifting assembly 5 can drive the charging system frame 2 to move up and down along the vertical direction so as to adjust the relative positions of the charging system frame 2, a cooperative mechanical arm assembly on the frame and the like, so that intelligent automatic charging can be better carried out. In addition, the intelligent charging system of the utility model can also comprise an intelligent touch screen 4 arranged on the charging system frame 2, so that the intelligent charging system of the utility model has the functions of display and more complete man-machine interaction.

Specifically, in one embodiment of the present utility model, the frame horizontal movement assembly 11 includes a base frame, a guide rail, a gear, a rack and a servo motor, and the servo motor drives the gear to drive the slide block to horizontally move, so as to realize horizontal lateral movement of the charging system frame 2. The frame lifting assembly 5 comprises a guide rail, a ball screw and a servo motor, and the servo motor drives the ball screw to drive the sliding block to move up and down, so that the up and down movement of the cooperative mechanical arm is realized.

The intelligent charging system of the utility model has the working process that when a vehicle runs to a charging area, the image identifier 1 automatically identifies vehicle information, such as charging modes of license plates, quick and slow charging and the like, the intelligent charging system prompts the vehicle to correctly run to a charging range area according to the information identified by the image identifier 1, then the vision system 6 identifies the charging port outer cover position of the vehicle, the vision system 6 transmits information to the controller 3, the controller 3 controls the frame horizontal moving assembly 11 and the frame lifting assembly 5 to do horizontal movement and lifting movement, so that the charging system frame 2 moves to a working radius range in which a mechanical arm can charge the vehicle, the first mechanical arm 7 and the second mechanical arm 10 start to move, the charging port cover opening assembly of the charging port cover end device 9 opens the charging port outer cover, the inner cover is opened, the gun lifting assembly of the charging gun end device 8 charges the vehicle, and all mechanisms are reset in sequence after the charging is finished.

As shown in fig. 3 to 5, in the automatic charging process, after the vehicle correctly enters the parking charging range, the vision system 6 recognizes the license plate of the vehicle, and the intelligent charging system automatically acquires the vehicle model and the charging mode corresponding to the license plate. Subsequently, the vision system 6 automatically identifies the position of the charging port outer cover of the vehicle, the vision system 6 transmits information to the controller 3, the rack horizontal moving assembly 11 and the rack lifting assembly 5 automatically move to the proper position of the charging port outer cover, and the first mechanical arm 7 drives the cover opening assembly to absorb the charging port outer cover and then open; the vision system 6 accurately identifies the relative position of the charging port inner cover and the vehicle, the vision system 6 transmits information to the controller 3, the controller 3 drives the first mechanical arm 7 and the pneumatic system thereof, the clamping cylinder drives the soft claw to clamp the inner cover, and the inner cover is pulled out to open the charging port inner cover. The second mechanical arm 10 automatically moves the charging gun to a proper position according to the system information, and correctly inserts the charging gun into the charging port for charging, and after the charging is finished, the charging gun is automatically closed, and the charging system is reset. Then, the intelligent charging system controls the first mechanical arm 7 related components to close the charging port inner cover, and simultaneously controls the first mechanical arm 7 to drive the related components to close the charging port outer cover, so that the charging port cover is closed.

The visual system 6 comprises a camera, a lens, a converter and an industrial personal computer, can realize that the 2D visual system can recognize license plate information, the 3D visual system automatically scans the appearance of a vehicle model, the system forms a 3D appearance model of the vehicle model, and the accurate positions of the outer cover and the inner plug of the charging port are obtained through analysis. The vision system 6 sends information to the controller 3, and the controller 3 drives each motor, the mechanical arm and the pneumatic system to complete relevant program actions.

The frame lifting component 5 can be a motion pair driven by a servo motor, an air pressure motor, a hydraulic motor driven gear-rack pair, a roller screw pair, a belt, a chain wheel and the like along a guide rail, and the controller 3 drives the servo motor to drive the ball screw and the sliding block to do lifting motion. For example, the charging port cover end device 9 and the gripper sucker for opening and closing the outer cover can be a pneumatic pump and a vacuum pump, and the power for opening and closing the charging gun by the charging gun end device 8 is also controlled by a pneumatic pump pneumatic valve.

The charging port outer cover opening and closing assembly 91 comprises a sucker, a pressure switch and a vacuum pump, the controller 3 controls the vacuum pump to vacuumize, and the pressure switch controls the sucker to suck or loosen the charging port outer cover.

Therefore, the intelligent charging system comprises a plurality of groups of cooperative mechanical arm assemblies, the front side and the rear side of the charging robot are symmetrical, one machine body is provided with two groups of double arms, the two groups of double arms share one set of control system and have the same recognition algorithm, the intelligent charging system is compact in structure, the charging of electric vehicles with different left and right charging ports of double lanes is met, and the charging efficiency is remarkably improved.

As shown in fig. 6, the utility model also discloses a method for charging by using the intelligent charging system, which comprises the following steps: the mobile phone APP or the WeChat applet registers and binds information such as a vehicle, a charging mode, a charging port of a vehicle on the left side and a charging port of a vehicle on the right side, and the like, and a customer selects the charging mode and the amount and pays for ordering; after receiving the order, the intelligent charging system sends a signal to the robot controller 3, and the intelligent touch screen 4 displays charging information to guide the trolley to stop; the electric car enters a charging station, the image identifier 1 identifies license plate numbers, the license plate numbers search the order information of the vehicles from a background server, a guiding system (for example, AGV trolley) guides the vehicles to be charged to enter different lanes and four-arm robot charging positions, and the vehicles are guided to stop in a charging area; the vision camera discerns electric car and charges a mouthful characteristic, according to different motorcycle types and the mouth height that charges, and frame lifting assembly 5 proper amount adjustment confirms best double armed height, catches electric car and charges mouthful different position appearance coordinate information, and controller 3 drive second arm 10, the mouth end device that charges opens electric car and charges mouthful enclosing cover, inner cup. The vision camera recognizes the pose of the opened charging port again, then drives the first mechanical arm 7 and the charging gun terminal device 8 to be inserted into the charging port, and starts charging according to the charging mode and the charging amount; and after the charging is completed, the controller 3 drives the first mechanical arm 7 and the charging gun end device 8 to retract the charging gun, and drives the second mechanical arm 10 and the charging port cover end device 9 to close the charging port inner and outer covers. The frame lifting mechanism drives the double arms to reset and wait for the next charging. The other side double-arm operation flow is the same as that of the side, and can support the simultaneous charging of the left and right charging port trolleys, thereby improving the charging efficiency.

While the utility model has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present utility model is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. The intelligent charging system is characterized by further comprising an image identifier, a controller, a cooperative mechanical arm assembly and a vision system, wherein the image identifier, the cooperative mechanical arm assembly and the vision system are respectively in communication connection with the controller, the image identifier can identify vehicle information and transmit the identified information to the controller, the vision system identifies the position of a charging port of the vehicle and transmits the information to the controller, and the controller controls the cooperative mechanical arm to act to open or close a charging port cover of the vehicle and charge, so that automatic charging is completed.

2. The intelligent charging system of claim 1, wherein the cooperating robotic arm assembly comprises a first cooperating robotic arm assembly and a second cooperating robotic arm assembly, the first cooperating robotic arm assembly and the second cooperating robotic arm assembly being disposed on respective sides of the intelligent charging system.

3. The intelligent charging system of claim 2, wherein the first and second cooperating robotic arm assemblies are identical in structure, the first cooperating robotic arm assembly comprising a first robotic arm and a second robotic arm, the first robotic arm comprising a charging flap end device, the second robotic arm comprising a charging gun end device that opens a vehicle charging flap under control of the controller, the charging gun end device charging at a charging port under control of the controller.

4. The intelligent charging system of claim 3, wherein the charging port cover end device is mounted on the first robotic arm, the charging port cover end device comprising a charging port outer cover opening and closing assembly and a charging port inner cover opening and closing assembly, the charging gun end device being mounted on the second robotic arm.

5. The intelligent charging system of claim 4, wherein the charging port cover opening and closing assembly comprises a suction cup, a pressure switch, and a vacuum pump; the charging gun end device comprises a charging gun and a charging wire.

6. The smart charging system of any one of claims 1-5, further comprising a rack movement assembly, the rack movement assembly being coupled to the controller.

7. The intelligent charging system of claim 6, wherein the rack moving assembly comprises a rack horizontal moving assembly and a rack lift assembly.

8. The intelligent charging system of claim 6, wherein the charging system rack is further provided with a touch screen.

9. The intelligent charging system of claim 6, wherein the vision system comprises a camera, a converter, and an industrial personal computer.

10. The intelligent charging system of claim 7, wherein the rack horizontal movement assembly comprises a base frame, a rail, a gear, a rack, and a servo motor; the frame lifting assembly comprises a guide rail, a ball screw and a servo motor.