1. The utility model provides an automatic charging device of new energy automobile based on AGV which characterized in that: the parking lot comprises a plurality of parking areas which are arranged side by side, a plurality of charging gun supports arranged between the adjacent parking areas, a plurality of charging guns arranged on the charging gun supports, a mobile robot and a power supply device, wherein the mobile robot and the power supply device are respectively arranged behind the parking areas;

the mobile robot comprises an X-axis servo module arranged behind a plurality of parking areas, a Y-axis servo module arranged at the drive end of the X-axis servo module and vertically arranged with the X-axis servo module, and a multi-degree-of-freedom robot arm arranged at the drive end of the Y-axis servo module; the driving end of the multi-degree-of-freedom robot arm is respectively provided with an electric clamping jaw, a vision sensor and a switch cover finger;

the power supply device comprises a storage battery arranged on the X-axis servo module and used for supplying power to the mobile robot, and a charging seat arranged at one end of the X-axis servo module and used for charging the storage battery.

2. The AGV-based automatic charging device for the new energy automobile according to claim 1, wherein: the vision sensor comprises a primary positioning camera and two fine positioning cameras; the primary positioning camera is used for photographing to obtain the position of a charging cover on the new energy automobile; and the two fine positioning cameras are used for photographing to obtain the position of the charging port in the charging cover.

3. The AGV-based automatic charging device for the new energy automobile according to claim 2, wherein: and the driving end of the multi-degree-of-freedom robot arm is provided with a laser displacement sensor for detecting the insertion depth of the charging gun.

4. The AGV-based automatic charging device for the new energy automobile according to claim 3, wherein: the electric clamping jaw and the switch cover fingers are respectively arranged on two sides of the driving end of the multi-degree-of-freedom mechanical arm in an outward inclined mode; the vision sensor and the laser displacement sensor are arranged between the electric clamping jaw and the finger of the switch cover.

5. The AGV based automatic charging device for the new energy automobile according to any one of claims 1 to 4, wherein: the X-axis servo module comprises two X-axis guide rails arranged behind the parking areas in parallel, an X-axis moving platform arranged on the X-axis guide rails in a sliding mode, and a driving mechanism used for driving the X-axis moving platform to move along the X-axis guide rails.

6. The AGV-based automatic charging device for the new energy automobile according to claim 5, wherein: the storage battery is arranged in the X-axis mobile station; the charging seat is arranged at one end of the X-axis guide rail and is positioned between the two X-axis guide rails.

7. The AGV-based automatic charging device for the new energy automobile according to claim 6, wherein: the power supply device also comprises a battery capacity monitor which is arranged in the X-axis mobile station and used for monitoring the capacity of the storage battery.

8. The AGV based automatic charging device of claim 7, wherein: the driving mechanism comprises a synchronous belt which is horizontally and fixedly arranged and is arranged in parallel with the X-axis guide rail, a mounting plate which is vertically arranged on one side of the X-axis moving platform and is arranged in parallel with the X-axis guide rail, an X-axis servo motor which is horizontally arranged on the mounting plate and is arranged in perpendicular to the X-axis guide rail, a driving wheel arranged at the driving end of the servo motor, and two guide wheels which are rotatably arranged on the mounting plate and are respectively positioned on two sides above the driving wheel; the synchronous belt respectively bypasses the bottom of the driving wheel and the tops of the two guide wheels.

9. The AGV based automatic charging device of new energy automobile of claim 8, wherein: the driving mechanism further comprises a protective cover arranged on the mounting plate; the driving wheel and the two guide wheels are both positioned in the protective cover.

10. The AGV-based automatic new energy vehicle charging device of claim 9, wherein: the Y-axis servo module comprises a base, a screw rod, a Y-axis servo motor, two Y-axis guide rails, a Y-axis moving platform and a nut, wherein the base is arranged on the X-axis moving platform and is arranged perpendicular to an X-axis guide rail; the multi-degree-of-freedom robot arm is arranged at the outer end of the top of the Y-axis moving table.

Background

Along with the high-speed development of new energy automobile, fill electric pile's comprehensive construction and compel not to delay. Traditional new energy automobile generally adopts the mode of manual charging to charge, need with the car open the assigned position after, personnel get off the manual car of opening and charge the interface and will charge the joint manual insertion, switch on again, the operation is complicated, and forget very easily when leaving and pull out the joint that charges, directly start the car, charge interface and battery charging outfit to the car and cause the harm, more probably cause personnel to be injured.

The automatic charging device of new energy automobile also appears in the market at present, like the automatic charging system of electric automobile that prior art 201510235350.0 disclosed, a new energy automobile charging device that prior art 201610124284.4 disclosed, a portable electric pile and electric pile system of filling that prior art 201820608154.2 disclosed, the full-automatic safe electric pile of filling of a new energy automobile that prior art 201922144852.9 disclosed, a mechanical charging arm and the automatic intelligent charging device of electric automobile that prior art 202011133919.X disclosed, prior art can be to the automatic charging of a new energy automobile, but have the following problem: 1. in the prior art, a charging head is arranged on a mechanical arm, so that only one new energy automobile can be charged at one time, the charging efficiency is low, and if a plurality of new energy automobiles need to be charged simultaneously, a plurality of mechanical arms are needed, so that the manufacturing cost is greatly increased, and the control difficulty is increased; 2. in the prior art, before or after charging, a charging cover needs to be manually opened or closed, so that the degree of automation is low; as another example, in the energy storage charging station for a new energy vehicle at a user side disclosed in prior art 202010557439.X, by providing a clamp on a robot arm, although a charging head can be clamped and automatically plugged, the following problems exist: 1. when the hierarchical motion control and the cooperative operation of the cooperative automatic trolley and the multi-degree-of-freedom mechanical arm are matched, the control difficulty of the cooperative automatic trolley is greatly increased due to the fact that the sizes of new energy vehicles of different models are different and the parking positions of each person are different; 2. in the prior art, before or after charging, the charging cover still needs to be manually opened or closed, and the automation degree is low.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide an automatic charging device for a new energy automobile based on an AGV.

In order to achieve the purpose, the invention adopts the technical scheme that: an automatic charging device of a new energy automobile based on an AGV comprises a plurality of parking areas which are arranged side by side, a plurality of charging gun supports arranged between the adjacent parking areas, a plurality of charging guns arranged on the charging gun supports, a mobile robot and a power supply device, wherein the mobile robot and the power supply device are respectively arranged behind the parking areas;

the mobile robot comprises an X-axis servo module arranged behind a plurality of parking areas, a Y-axis servo module arranged at the drive end of the X-axis servo module and vertically arranged with the X-axis servo module, and a multi-degree-of-freedom robot arm arranged at the drive end of the Y-axis servo module; the driving end of the multi-degree-of-freedom robot arm is respectively provided with an electric clamping jaw, a vision sensor and a switch cover finger;

the power supply device comprises a storage battery arranged on the X-axis servo module and used for supplying power to the mobile robot, and a charging seat arranged at one end of the X-axis servo module and used for charging the storage battery.

Preferably, the vision sensor comprises a primary positioning camera and two fine positioning cameras; the primary positioning camera is used for photographing to obtain the position of a charging cover on the new energy automobile; and the two fine positioning cameras are used for photographing to obtain the position of the charging port in the charging cover.

Preferably, the driving end of the multi-degree-of-freedom robot arm is provided with a laser displacement sensor for detecting the insertion depth of the charging gun.

Preferably, the electric clamping jaw and the finger of the switch cover are respectively arranged on two sides of the driving end of the multi-freedom-degree robot arm in an outward inclined mode; the vision sensor and the laser displacement sensor are arranged between the electric clamping jaw and the finger of the switch cover.

Preferably, the X-axis servo module comprises two X-axis guide rails arranged in parallel behind the plurality of parking areas, an X-axis moving table arranged on the X-axis guide rails in a sliding manner, and a driving mechanism for driving the X-axis moving table to move along the X-axis guide rails.

Preferably, the storage battery is arranged in the X-axis mobile station; the charging seat is arranged at one end of the X-axis guide rail and is positioned between the two X-axis guide rails.

Preferably, the power supply device further comprises a battery charge monitor disposed in the X-axis mobile station for monitoring the charge of the battery.

Preferably, the driving mechanism comprises a synchronous belt which is horizontally and fixedly arranged and is arranged in parallel with the X-axis guide rail, a mounting plate which is vertically arranged on one side of the X-axis moving table and is arranged in parallel with the X-axis guide rail, an X-axis servo motor which is horizontally arranged on the mounting plate and is arranged in perpendicular to the X-axis guide rail, a driving wheel arranged at the driving end of the servo motor, and two guide wheels which are rotatably arranged on the mounting plate and are respectively positioned on two sides above the driving wheel; the synchronous belt respectively bypasses the bottom of the driving wheel and the tops of the two guide wheels.

Preferably, the driving mechanism further comprises a protective cover arranged on the mounting plate; the driving wheel and the two guide wheels are both positioned in the protective cover.

Preferably, the Y-axis servo module comprises a base which is arranged on the X-axis moving table and is arranged perpendicular to the X-axis guide rail, a lead screw which is horizontally arranged on the base and is arranged perpendicular to the X-axis guide rail, a Y-axis servo motor which is arranged at one end of the base and is used for driving the lead screw to rotate, two Y-axis guide rails which are arranged on the base and are respectively positioned at two sides of the lead screw, a Y-axis moving table which is slidably arranged on the two Y-axis guide rails and can extend out of the base, and a nut which is arranged at the inner end of the bottom of the Y-axis moving table and is in threaded connection with the lead screw; the multi-degree-of-freedom robot arm is arranged at the outer end of the top of the Y-axis moving table.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:

1. according to the invention, through the X-axis servo module, the Y-axis servo module, the multi-degree-of-freedom robot arm and the electric clamping jaw, a plurality of charging guns can be respectively clamped to charge a plurality of automobiles, so that the charging efficiency is greatly improved, the direct contact between the limbs of a user and charging equipment can be avoided, the potential electric shock hazard can be prevented, and certain safety is realized;

2. according to the invention, the charging cover can be automatically opened or closed through the X-axis servo module, the Y-axis servo module, the multi-degree-of-freedom robot arm and the cover opening and closing finger, and the degree of automation is high;

3. according to the invention, the charging gun is arranged between the adjacent parking areas, so that the new energy automobile in the adjacent parking areas can be charged, the distance between the charging gun and the charging port of the new energy automobile can be greatly shortened, and the plugging time is saved.

4. The mobile robot is powered by the storage battery, so that the trouble of wiring is avoided, the maintenance is convenient, and the cost is saved.

Drawings

The technical scheme of the invention is further explained by combining the accompanying drawings as follows:

FIG. 1 is a schematic structural diagram of an AGV-based automatic charging device for a new energy vehicle according to the present invention;

FIG. 2 is a schematic structural diagram of a mobile robot according to the present invention;

FIG. 3 is a schematic structural view of a six-axis robot arm according to the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 2 at A;

FIG. 5 is a schematic structural view of a driving mechanism according to the present invention;

fig. 6 is a schematic structural view of a charging gun support and a charging gun according to the present invention.

Wherein: 1. a parking area; 2. a charging gun support; 3. an X-axis servo module; 31. an X-axis guide rail; 32. an X-axis moving stage; 33. a drive mechanism; 331. a synchronous belt; 332. mounting a plate; 333. an X-axis servo motor; 334. a driving wheel; 335. a guide wheel; 336. a protective cover; 4. a Y-axis servo module; 41. a base; 42. a screw rod; 43. a Y-axis servo motor; 44. a Y-axis guide rail; 45. a Y-axis moving stage; 5. a six-axis robotic arm; 51. an electric jaw; 52. finely positioning the camera; 53. a laser displacement sensor; 54. primarily positioning a camera; 55. a switch cover finger; 6. a storage battery; 7. a charging seat; 8. and (4) charging the gun.

Detailed Description

The invention is described in further detail below with reference to the figures and the embodiments.

Fig. 1-6 show an AGV-based automatic charging device for a new energy vehicle according to the present invention, which comprises a plurality of parking areas 1 arranged side by side, a plurality of charging gun holders 2 disposed between adjacent parking areas 1, a plurality of charging guns 8 disposed on the charging gun holders 2, and a mobile robot and a power supply unit respectively disposed behind the parking areas 1;

the mobile robot comprises an X-axis servo module 3 arranged behind a plurality of parking areas 1, a Y-axis servo module 4 arranged at the driving end of the X-axis servo module 3 and vertically arranged with the X-axis servo module 3, and a six-axis robot arm 5 arranged at the driving end of the Y-axis servo module 4; the driving ends of the six-axis robot arm 5 are respectively provided with an electric clamping jaw 51, a vision sensor and a switch cover finger 55;

the power supply device comprises a storage battery 6 arranged on the X-axis servo module 3 and used for supplying power to the mobile robot, and a charging seat 7 arranged at one end of the X-axis servo module 3 and used for charging the storage battery 6.

When in work: the method comprises the steps that a driver opens a new energy automobile into a parking area 1, charging information is sent to a cloud server through a mobile phone APP, after an electric cabinet receives a charging starting signal of the cloud server, a Y-axis servo module 4 is driven to reach one side of a charging port of the new energy automobile through an X-axis servo module 3, a six-axis robot arm 5 is driven to reach the side of a charging cover at one side of the charging port of the new energy automobile through the Y-axis servo module 4, then the six-axis robot arm 5 drives a switch cover finger 55 to open the charging cover, and finally an electric clamping jaw 51 is driven by the six-axis robot arm 5 to clamp a charging gun 8 to be inserted into the charging port of the new energy automobile so as to charge the new energy automobile; after charging, the electric cabinet sends the end signal of charging to the cloud ware, and the cloud ware takes place driver's cell-phone APP with the end signal of charging again, gets charging gun 8 through six robotic arm 5 drive electric clamping jaw 51 clamps simultaneously and extracts from the new energy automobile mouth that charges, and place on charging gun support 2, and the lid that charges is closed to rethread six robotic arm 5 drive switch lid finger 55, and the driver opens out parking area 1 with the new energy automobile at last.

Further, the vision sensors include a primary positioning camera 54 and two fine positioning cameras 52; the primary positioning camera 54 is used for taking a picture to obtain the position of a charging cover on the new energy automobile; the two fine positioning cameras 52 are used for photographing to obtain the position of a charging port in the charging cover; when the six-axis robot arm 5 drives the switch cover fingers 55 to open the charging cover, the position of the charging cover on the new energy automobile can be obtained by photographing through the primary positioning camera 54, so that the switch cover fingers 55 can open the charging cover accurately; when six robotic arms 5 will charge rifle 8 and insert the mouth that charges of new energy automobile, the position of charging the mouth in the lid of acquireing to charge is taken a picture to two smart position cameras 52 of accessible, and the rifle 8 that charges of being convenient for is accurate to be inserted in the mouth that charges.

Further, the driving end of the six-axis robot arm 5 is provided with a laser displacement sensor 53 for detecting the insertion depth of the charging gun 8; when in work: the secondary confirmation of the insertion depth of the charging gun 8 can be realized through the laser displacement sensor 53, and the charging gun 8 is ensured to be fully contacted with a charging port.

Further, the electric clamping jaw 51 and the switch cover finger 55 are respectively arranged on two sides of the driving end of the six-axis robot arm 5 in an outward inclined manner; the vision sensor and the laser displacement sensor 53 are arranged between the electric clamping jaw 51 and the switch cover finger 55; when in work: through setting up the both sides at six robotic arm 5 drive ends outwards slope respectively with electronic clamping jaw 51 and switch lid finger 55, when avoiding electronic clamping jaw 51 to press from both sides to get the rifle 8 that charges, the rifle 8 that charges takes place to interfere with switch lid finger 55, perhaps when switch lid finger 55 dials the lid that charges, electronic clamping jaw 51 takes place to interfere with the lid that charges.

Further, the X-axis servo module 3 includes two X-axis guide rails 31 disposed in parallel behind the parking areas 1, an X-axis moving stage 32 slidably disposed on the X-axis guide rails 31, and a driving mechanism 33 for driving the X-axis moving stage 32 to move along the X-axis guide rails 31; when in work: the driving mechanism 33 can drive the X-axis moving table 32 to move along the two X-axis guide rails 31, and drive the Y-axis servo module 4 and the six-axis robot arm 5 to move to one side of the new energy automobile charging port for charging.

Further, the battery 6 is provided in the X-axis moving stage 32; the charging seat 7 is arranged at one end of the X-axis guide rails 31 and is positioned between the two X-axis guide rails 31; the invention supplies power to the mobile robot through the storage battery 6, thereby saving the trouble of wiring, being convenient for maintenance and saving cost, when the electric quantity of the storage battery 6 is lower than the set electric quantity value, the driving mechanism 33 drives the X-axis mobile station 32 to move towards the charging seat 7, and the storage battery 6 is charged through the charging seat 7.

Further, the power supply device further comprises a battery electric quantity monitor arranged in the X-axis mobile station 32, and the battery electric quantity monitor is used for monitoring the electric quantity of the storage battery 6 in real time and is convenient for charging the storage battery 6 in time.

Further, the driving mechanism 33 includes a synchronous belt 331 horizontally fixed and disposed parallel to the X-axis guide rail 31, an installation plate 332 vertically disposed at one side of the X-axis moving stage 32 and disposed parallel to the X-axis guide rail 31, an X-axis servo motor 333 horizontally disposed on the installation plate 332 and disposed perpendicular to the X-axis guide rail 31, a driving wheel 334 disposed at a driving end of the servo motor, and two guide wheels 335 rotatably disposed on the installation plate 332 and respectively located at two sides above the driving wheel 334; the synchronous belt 331 respectively bypasses the bottom of the driving wheel 334 and the tops of the two guide wheels 335; when in work: because the synchronous belt 331 is horizontally fixed, when the driving wheel 334 is driven to rotate by the X-axis servo motor 333, the X-axis moving stage 32 can be driven to move along the two X-axis guide rails 31 under the reaction force, and the synchronous belt 331 has the advantages of simple and compact structure, convenient maintenance, low cost and the like.

Further, the driving mechanism 33 further includes a shield 336 disposed on the mounting plate 332; the driving wheel 334 and the two guide wheels 335 are both positioned in a protective cover 336 to play a protective role.

Further, the Y-axis servo module 4 includes a base 41 disposed on the X-axis moving stage 32 and disposed perpendicular to the X-axis guide rail 31, a screw rod 42 horizontally disposed on the base 41 and disposed perpendicular to the X-axis guide rail 31, a Y-axis servo motor 43 disposed at one end of the base 41 for driving the screw rod 42 to rotate, two Y-axis guide rails 44 disposed on the base 41 and respectively located at two sides of the screw rod 42, a Y-axis moving stage 45 slidably disposed on the two Y-axis guide rails 44 and extending out of the base 41, and a nut disposed at an inner end of a bottom of the Y-axis moving stage 45 and threadedly connected to the screw rod 42; the six-axis robot arm 5 is arranged at the outer end of the top of the Y-axis moving table 45; when in work: the Y-axis servo motor 43 drives the screw rod 42 to rotate, and the nut is in threaded connection with the screw rod 42, so that the Y-axis moving table 45 is driven to move along the two Y-axis guide rails 44, and the position of the six-axis robot arm 5 is adjusted; meanwhile, the Y-axis mobile station 45 can extend out of the base 41, so that the stroke of the six-axis robot arm 5 can be greatly prolonged, and the working range is enlarged.

The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited in any way. All the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.