New energy automobile charger

[0015] Embodiment: The present invention includes a charging pile 3 and a charging gun 2 connected to the charging pile 3 through a charging cable 1, and also includes a mechanical arm 6, a guide rail 4 matched with the charging pile 3, and a walking trolley 5 on the guide rail 4. One end of the robotic arm 6 is installed on the trolley 5, and the charging gun 2 is installed on the other end of the robotic arm 6. The guide rail 4 is arranged in parallel on one side of the charging pile 3 or vertically arranged on the side of the charging pile 3. The robot arm 6 is provided with an image recognition sensor 7 for recognizing the socket of a new energy vehicle and a charging gun, wherein the charging cable 1 can be installed on the walking trolley 5 through a crawler.

[0016] The mechanical arm 6 includes a screw rod 61 and at least one condyle. The screw rod 61 has at least three. The condyle includes a head module 62 and a base 63 with a guide hole 63a and a mounting cavity 63b. The head module 62 is provided with at least three mounting holes 62a, the guide holes 63a are at least three, and one end of each screw 61 is connected with a universal ball head 64 arranged in the mounting hole 62a, The other end of the screw rod 61 is located in the guide hole 63a and is provided with a driving device for driving the screw rod 61, and the driving device is disposed in the mounting cavity 63b. The driving device includes a stepping motor 67, a driving gear 68, and a driven gear 69. The driving gear 68 is mounted on the motor shaft of the stepping motor 67. The driven gear 69 is respectively connected to the driving gear 68 and the elastic screw rod. 61 meshing connection. The driving device includes a stepping motor 67, a driving gear 68, and a driven gear 69. The driving gear 68 is mounted on the motor shaft of the stepping motor 67. The driven gear 69 is connected to the driving gear 68 and the screw 61 respectively. Engagement connection. The head module 62 and the base 63 are respectively provided with a first wire harness hole 62b and a second wire harness hole 63c. The shape of the head module 62 is a circular block or a polygonal block, and the base 63 The shape of is a circular column shape or a polygonal column shape, and the thread on the screw rod 61 is a half-turn thread or a full-turn thread. A first locking device 610 for locking the screw rod 61 is also provided in the mounting cavity 63b. The screw 61 is an elastic screw, and at least one intermediate module 612 is provided between the head module 62 and the base 63. The intermediate module 612 is provided with at least three positioning holes 612a and at least three The second position sensor 613 that collects the displacement signal of the screw rod 61, the rod body of each screw rod 61 passes through the positioning hole 612a, and the inner side of each positioning hole 612a is provided with a second position sensor for positioning the screw rod 61 For the locking device 614, each of the second position sensors 613 is connected to the PLC controller 65. The head module 62 and the middle module 612 and the middle module 612 and the base 63 are connected by an elastic jacket 611. The middle module 612 is provided with a third harness hole 612b, and the middle module 612 has a shape Round block or polygon block. The base 63 is installed on the walking trolley 5, the charging gun 2 is installed on the head module 62, and the charging cable 1 can be connected to the charging gun 2 through the first harness hole 62b.

[0017] In the present invention, the guide rail 4 laid along the charging pile 3 and the walking trolley 5 located on the guide rail 4, so that no matter which direction the new energy vehicle comes, the image recognition sensor 7 can identify the position of the new energy vehicle, and then the walking trolley 5 slides to the new Next to the energy vehicle, the position of the charging interface is identified by the image recognition sensor 7, and the robot arm 6 points the charging gun 2 at the charging interface of the car for charging.

[0018] When the condyle is a multi-segment (that is, a condyle refers to a base and a head module, and a multi-segment refers to multiple intermediate modules), the working process is as follows:

[0019] According to the displacement state of each screw 61 calculated by the mathematical model, the stepping motor 67 is started to drive the driving gear 68 to run. The driving gear 68 drives the screw 61 to move through the driven gear 69. Since the three points form a plane, when the wire When the rod 61 moves downwards or upwards, one corner of the head module 62 and the middle module 612 will tilt, thereby driving the entire plane of the head module 62 and the middle module 612 to tilt. When the screw 61 moves to a preset position When the second position sensor 66 detects the displacement signal, and sends this displacement signal to the PLC controller 65. After receiving the displacement signal, the PLC controller 65 locks the screw rod 61 through the second locking device 614, that is, the The rod is positioned, and then the relative positions of the remaining middle module 612 and the screw rod 61 are locked in sequence in the order from the closest to the head module 62.

[0020] The elastic jacket 611 is bonded or keyed between the head module 62 and the middle module 612 and between the middle module 612 and the base 63. When the screw 61 drives the head module 62 and the middle module 612 to move, it causes the head module 62 and the middle module 612 to move. The elastic jacket 611 is compressed. At this time, the elastic jacket 611 can not only control the bending range of the screw 61, but also protect the screw 61 from being broken. When the task of the mechanical arm is completed, release each second locking device 614 At this time, the elastic force between the head module 62, the middle module 612, and the adjacent middle module 612 due to the previous compression of the elastic jacket 611 is automatically reset.

[0021] When working with a long distance or more complicated work, multiple condyles can be used in combination, that is, the base 63 of one condyle is installed on the head module 62 of another condyle, or the head module of another condyle can be installed. 62 is removed, a mounting hole is drilled in the base 63 of one joint, the universal ball head 64 is installed, and then the screw 61 of the other joint is connected to the universal ball head 64.