The charging equipment comprises a control structure and a mechanical arm body provided with a force sensor and a charging plug, and the force sensor is used for collecting acting force information between the side face of the charging plug and a charging port after the charging plug makes contact with the charging port; the control structure can control the posture of the mechanical arm body according to the acting force information so that the charging plug can be inserted into the charging port. The pose control of the mechanical arm is performed by acquiring the acting force information acquired by the force sensor, and the charging plug can adapt to the insertion direction of the charging port according to the force sense adjustment position and pose under the condition that the charging plug is partially inserted and the visual information cannot acquire errors, so that the charging effect is improved. Therefore, the accuracy and the reliability of the plugging task are improved.
本申请实施例公开了一种充电设备,包括:控制结构以及设置有力传感器以及充电插头的机械臂主体,力传感器用于在充电插头与充电口接触后采集充电头的侧面和充电口之间的作用力信息;控制结构可以根据作用力信息,控制机械臂主体的位姿,以便将充电插头插入至充电口。本申请通过获取到力传感器采集的作用力信息来进行机械臂的位姿控制,可在充电插头已部分插入,视觉信息无法获取误差的情况下,根据力觉调整位置和位姿,让充电插头适应充电口的插入方向,从而提高了插拔任务的准确性以及可靠性。
Charging equipment and method for controlling charging of mechanical arm
一种充电设备以及控制机械臂充电的方法
2023-06-23
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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