The invention discloses a mobile charging robot carrying a flexible mechanical arm and a control method and device. The mobile charging robot comprises a movement mechanism, a multi-axis flexible arm, a depth camera, a tail end executing mechanism, a processing unit and a control unit. The movement mechanism is connected with the annular sliding rail assembly, and the annular sliding rail assembly is arranged above the multiple parking spaces. The multi-shaft flexible arm is connected with the movement mechanism, and a plurality of connecting shafts and connecting arms are arranged on the multi-shaft flexible arm; the tail end executing mechanism is arranged at the tail end of the multi-axis flexible arm, and the tail end executing mechanism is provided with a clamping jaw and used for achieving taking and placing of the charging gun; the charging gun is connected to the charging pile through the cable winding device; the depth camera is arranged on the clamping jaw and connected with the processing unit, and the control unit is connected with the processing unit, the multi-axis flexible arm and the tail end executing mechanism. And the mobile charging robot automatically moves to the charging port of the target vehicle, automatic charging is achieved, and it is guaranteed that track planning and pose movement are conducted in a narrow space.

    本申请公开了一种搭载柔性机械臂的移动充电机器人及控制方法、设备,移动充电机器人包括:运动机构、多轴柔性臂、深度相机、末端执行机构、处理单元、控制单元;运动机构与环形滑轨组件相连,环形滑轨组件设置于多个停车位上方;多轴柔性臂与运动机构相连,多轴柔性臂上设置有多个连接轴以及连接臂;末端执行机构设置于多轴柔性臂末端,末端执行机构设置有夹爪,用于实现充电枪的取放;充电枪通过线缆卷绕装置连接于充电桩;深度相机设置于夹爪上,深度相机与处理单元相连,控制单元与处理单元、多轴柔性臂、末端执行机构相连。移动充电机器人自动移动至目标车辆的充电口处,实现自动充电,并保证在狭小空间内进行轨迹规划和位姿运动。


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    Title :

    Mobile charging robot carrying flexible mechanical arm and control method and equipment


    Additional title:

    一种搭载柔性机械臂的移动充电机器人及控制方法、设备


    Contributors:
    KONG QIANG (author) / LIU RUNCHEN (author) / CUI WEIQI (author)

    Publication date :

    2023-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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