Articulated power-assisted charging mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a joint type power-assisted charging mechanical arm which comprises a machine body end, a swing hinge, a first-stage arm, a second-stage arm, a driving device and a load end. One end of the first-stage arm is rotationally connected with the machine body end, and the other end is rotationally connected with the swing hinge; one end of the second-stage arm is rotationally connected with the swing leaf, and the other end is rotationally connected with the load end; the two ends of a rotating shaft of the swing hinge are rotationally connected with the first-stage arm and the second-stage arm respectively, so that the first-stage arm and the second-stage arm rotate around the rotating shaft of the swing hinge; the driving device is connected with the first-stage arm and the second-stage arm and used for driving the first-stage arm to rotate around the machine body end and driving the second-stage arm to rotate around a rotating shaft through which the second-stage arm is connected with the swing hinge. The moment opposite to the load moment is generated through vector superposition cooperation of the driving device in the load traction process of the mechanical arm, the moment opposite to the traction direction of the mechanical arm generated by the cable due to the gravity of the cable is overcome, and therefore it is ensured that the mechanical arm meets the requirement of an existing charging cable.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to an articulated power-assisted charging mechanical arm. Background Art

[0002] With the advancement of electric vehicle technology, charging cables are becoming increasingly popular. For example, users can use auxiliary equipment such as robotic arms to move and transport objects, reducing the amount of effort required and improving transportation efficiency. Existing technologies require users to manually move and control the charging cable to insert it into the charging port. As charging cables grow thicker and longer, human strength is no longer sufficient for pulling, thus requiring the assistance of a robotic arm.

[0003] The currently commonly used robotic arm is the Chinese patent application publication number: CN212683950U which discloses a power-assisted robotic arm, including a lifting assembly for driving the rear arm to lift and a rotating assembly for driving the forearm to rotate, the lifting assembly including a rotating seat, the upper surface of the rotating seat is installed with a support member, the interior of the support member is provided with a rear arm rotary joint, and the support member is rotatably connected to the rear arm rotary joint through a bearing, a lifting arm is provided on the rotating seat, and the lifting arm and the rotating seat are hinged, a first connecting member is installed on the lower surface of the lifting arm, and a cylinder is provided below the lifting arm, and the output shaft of the cylinder is hinged to the first connecting member; by setting the cylinder, when the output shaft of the cylinder is extended, the lifting arm moves upward along the rotating seat, and when the output shaft of the cylinder is retracted, the lifting arm moves downward along the rotating seat, thereby realizing the lifting and lowering of the forearm.

[0004] However, the above method has the following problems: the cable generates a torque opposite to the pulling direction of the robot arm due to its own gravity, resulting in the robot arm being unable to provide sufficient traction to meet the traction operation of the existing charging cable. Utility Model Content

[0005] To this end, the utility model provides an articulated assisted charging robotic arm to overcome the problem in the prior art that the cable generates a torque opposite to the traction direction of the robotic arm due to its own gravity, resulting in the robotic arm being unable to provide sufficient traction force to meet the traction operation of the existing charging cable.

[0006] To achieve the above-mentioned purpose, the utility model provides an articulated power-assisted charging robot arm, comprising a body end, a swing leaf, a primary arm, a secondary arm, a driving device and a load end;

[0007] One end of the primary arm is rotatably connected to the body end, and the other end is rotatably connected to the swing leaf;

[0008] One end of the secondary arm is rotatably connected to the swing leaf, and the other end is rotatably connected to the load end;

[0009] The swing leaf, whose two ends of the rotation axis are respectively connected to the primary arm and the secondary arm for rotation around the swing leaf rotation axis;

[0010] The driving device is connected to the primary arm and the secondary arm respectively, and is used to drive the primary arm to rotate around the end of the machine body, and to drive the secondary arm to rotate around the rotating shaft connecting the secondary arm and the swing leaf;

[0011] The axial direction of the swing leaf shaft is perpendicular to the axial direction of the shaft connecting the primary arm and the swing leaf, and the axial direction of the swing leaf shaft is perpendicular to the axial direction of the shaft connecting the secondary arm and the swing leaf.

[0012] Furthermore, the primary arm is rotatably connected to the body end via a first rotating shaft group, the primary arm is rotatably connected to the swing leaf via a second rotating shaft group, the secondary arm is rotatably connected to the swing leaf via a third rotating shaft group, and the secondary arm is rotatably connected to the load end via a fourth rotating shaft group;

[0013] Wherein, each rotating shaft in the first rotating shaft group is parallel to each rotating shaft in the second rotating shaft group, and each rotating shaft in the third rotating shaft group is parallel to each rotating shaft in the fourth rotating shaft group.

[0014] Furthermore, the primary arm includes a first active rod and a first auxiliary rod, and the first active rod and the first auxiliary rod are parallel, and the plane where the first active rod and the first auxiliary rod are located is perpendicular to the horizontal plane;

[0015] The secondary arm includes a second active rod and a second auxiliary rod, and the second active rod and the second auxiliary rod are parallel, and the plane where the second active rod and the second auxiliary rod are located is perpendicular to the horizontal plane;

[0016] The first rotating shaft group includes a first active rotating shaft and a first auxiliary rotating shaft, wherein the first active rotating shaft is connected to the first active rod, and the first auxiliary rotating shaft is connected to the first auxiliary rod;

[0017] The second rotating shaft group includes a second active rotating shaft and a second auxiliary rotating shaft, wherein the second active rotating shaft is connected to the first active rod, and the second auxiliary rotating shaft is connected to the first auxiliary rod;

[0018] The third rotating shaft group includes a third active rotating shaft and a third auxiliary rotating shaft, wherein the third active rotating shaft is connected to the second active rod, and the third auxiliary rotating shaft is connected to the second auxiliary rod;

[0019] The fourth rotating shaft group includes a fourth active rotating shaft and a fourth auxiliary rotating shaft, wherein the fourth active rotating shaft is connected to the second active rod, and the fourth auxiliary rotating shaft is connected to the second auxiliary rod.

[0020] Further, the driving device includes a primary arm driving part and a secondary arm driving part;

[0021] The primary arm driving portion includes a first driving rod for driving the first active rod, one end of the first driving rod is arranged on a body swing leaf connected to the body end, and the other end is connected to a rod body on the first active rod near the body end, so that the first driving rod, the body swing leaf and a part of the rod body of the first active rod form a triangular structure;

[0022] The secondary arm driving portion includes a second driving rod for driving the second active rod, one end of the second driving rod is arranged on the swing leaf, and the other end is connected to the rod body of the second active rod close to the swing leaf, so that the second driving rod, the swing leaf and part of the rod body of the second active rod form a triangular structure;

[0023] The first driving rod adjusts the angle between the first active rod and the body swing leaf by changing the rod body length, and the second driving rod adjusts the angle between the second active rod and the swing leaf by changing the rod body length.

[0024] Furthermore, the first driving rod and the second driving rod are both hydraulic driving rods.

[0025] Furthermore, the length of the first active rod is greater than the first spacing value, and the length of the second active rod is greater than the second spacing value;

[0026] The vertical spacing distance between the first active rotating shaft and the first auxiliary rotating shaft is a first spacing, and the vertical spacing distance between the second active rotating shaft and the second auxiliary rotating shaft is a second spacing.

[0027] Furthermore, the length of the first active rod is an integer multiple of the first spacing, and the length of the second active rod is an integer multiple of the second spacing.

[0028] Furthermore, the ratio of the traction force provided by the driving device to the gravity borne by the load end is greater than the ratio of the length of the active rod to the first spacing value;

[0029] The gravity borne by the load end is the gravity of the charging cable suspended from the load end.

[0030] The traction force is used to pull the charging cable to move.

[0031] Furthermore, it also includes:

[0032] An image collector, which is provided on the load swing page at the load end and is used to obtain image information of the fuel tank cap and the charging port;

[0033] A positioning analysis component is arranged on the load swing page of the load end and is connected to the image collector to establish the three-dimensional coordinates of the fuel tank cap and the charging port according to the image information.

[0034] Furthermore, it also includes:

[0035] A position sensor, which is arranged on the load swing leaf of the load end and is used to obtain the three-dimensional coordinates of the load end;

[0036] a path analysis component, disposed on the load end and connected to the positioning component, the positioning component, and the position sensor, for determining a charging path to generate path information based on the three-dimensional coordinates of the load end and the three-dimensional coordinates of the fuel tank cap and the charging port;

[0037] an actuator connected to the path analysis component and configured to drive the robot arm to execute the path information;

[0038] The path information is the shortest path from the load end to the charging port without colliding with the fuel tank cap.

[0039] Compared with the existing technology, the beneficial effect of the present invention is that by setting a hydraulic first drive rod and a hydraulic second drive rod, the vector superposition and cooperation generate a torque opposite to the load torque in the process of the robotic arm pulling the load. In the process of pushing the load, the two torques cancel each other out, overcoming the torque opposite to the traction direction of the robotic arm due to the cable's own gravity, thereby ensuring that the robotic arm meets the needs of existing charging cables.

[0040] Furthermore, the length of the first active rod of the utility model is greater than the first spacing value and the length of the second active rod is greater than the second spacing value, ensuring that the robotic arm can move and operate in a wider range, improving the flexibility and applicability of the robotic arm, and can accurately perform various charging cable traction tasks. At the same time, it can increase the force area of ​​the robotic arm, improve the stability and reliability of the robotic arm, thereby further ensuring that the robotic arm meets the needs of existing charging cables.

[0041] Furthermore, the length of the first active rod of the utility model is set to an integer multiple of the first spacing value and the length of the second active rod is set to an integer multiple of the second spacing value. When moving and pulling loads, the integer multiple relationship between the length of the active rod and the spacing can maintain the balance and stability of the robotic arm, reduce unnecessary vibration and swing, and increase the stability of the robotic arm's traction, thereby further ensuring that the robotic arm meets the requirements of existing charging cables.

[0042] Furthermore, the present invention realizes precise positioning of the fuel tank cap and charging port of the vehicle to be charged by setting an image collector and a positioning component, ensuring that the robotic arm pulls the charging cable and accurately inserts it into the charging port, avoiding connection problems caused by incorrect or crooked insertion and damage to components around the charging port when inserting the charging gun, and at the same time provides a basis for automated control. By accurately positioning the charging port, the charging equipment can accurately identify and control the charging process, improving the overall intelligence and automation level, thereby further ensuring that the robotic arm meets the needs of existing charging cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a structural diagram of an articulated power-assisted charging robotic arm according to an embodiment of the present utility model;

[0044] Figure 2 This is a schematic structural diagram of the primary arm driving portion of an embodiment of the present utility model;

[0045] Figure 3 This is a schematic structural diagram of the secondary arm driving portion of an embodiment of the present utility model;

[0046] Figure 4 This is a schematic structural diagram of the first active rotating shaft and the first auxiliary rotating shaft of an embodiment of the utility model;

[0047] Among them, there are the body end 1, the swing leaf 2, the load end 3, the first active rod 4, the first auxiliary rod 5, the second active rod 6, the second auxiliary rod 7, the first driving rod 8, the second driving rod 9, the first auxiliary rotating shaft 10, and the first active rotating shaft 11. DETAILED DESCRIPTION

[0048] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0050] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0051] Furthermore, it should be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0052] See also Figure 1 As shown, it is a structural diagram of the articulated power-assisted charging robot arm according to an embodiment of the present invention. The articulated power-assisted charging robot arm includes a body end 1, a swing leaf 2, a primary arm, a secondary arm, a driving device and a load end;

[0053] One end of the primary arm is rotatably connected to the body end 1, and the other end is rotatably connected to the swing leaf 2;

[0054] One end of the secondary arm is rotatably connected to the swing leaf 2, and the other end is rotatably connected to the load end 3;

[0055] The two ends of the swing leaf 2 are respectively connected to the primary arm and the secondary arm for rotating around the swing leaf axis.

[0056] The driving device is connected to the primary arm and the secondary arm respectively, and is used to drive the primary arm to rotate around the end of the machine body, and to drive the secondary arm to rotate around the rotating shaft connecting the secondary arm and the swing leaf;

[0057] The axial direction of the swing leaf shaft is perpendicular to the axial direction of the shaft connecting the primary arm and the swing leaf, and the axial direction of the swing leaf shaft is perpendicular to the axial direction of the shaft connecting the secondary arm and the swing leaf.

[0058] Specifically, the primary arm is rotatably connected to the body end through the first rotating shaft group, the primary arm is rotatably connected to the swing leaf through the second rotating shaft group, the secondary arm is rotatably connected to the swing leaf through the third rotating shaft group, and the secondary arm is rotatably connected to the load end through the fourth rotating shaft group;

[0059] The rotating shafts in the first rotating shaft group are parallel to the rotating shafts in the second rotating shaft group, and the rotating shafts in the third rotating shaft group are parallel to the rotating shafts in the fourth rotating shaft group.

[0060] Please continue reading Figure 1 As shown, it is a schematic structural diagram of an articulated power-assisted charging robotic arm according to an embodiment of the present invention. The primary arm includes a first active rod 4 and a first auxiliary rod 5. The first active rod 4 and the first auxiliary rod 5 are parallel, and the plane where the first active rod 4 and the first auxiliary rod 5 are located is perpendicular to the horizontal plane.

[0061] The secondary arm includes a second active rod 6 and a second auxiliary rod 7, and the second active rod 6 and the second auxiliary rod 7 are parallel, and the plane where the second active rod 6 and the second auxiliary rod 7 are located is perpendicular to the horizontal plane;

[0062] The first rotating shaft group includes a first active rotating shaft and a first auxiliary rotating shaft, wherein the first active rotating shaft is connected to the first active rod, and the first auxiliary rotating shaft is connected to the first auxiliary rod;

[0063] The second rotating shaft group includes a second active rotating shaft and a second auxiliary rotating shaft, wherein the second active rotating shaft is connected to the first active rod, and the second auxiliary rotating shaft is connected to the first auxiliary rod;

[0064] The third rotating shaft group includes a third active rotating shaft and a third auxiliary rotating shaft, wherein the third active rotating shaft is connected to the second active rod, and the third auxiliary rotating shaft is connected to the second auxiliary rod;

[0065] The fourth rotating shaft group includes a fourth active rotating shaft and a fourth auxiliary rotating shaft, wherein the fourth active rotating shaft is connected to the second active rod, and the fourth auxiliary rotating shaft is connected to the second auxiliary rod.

[0066] See also Figure 2 and Figure 3 As shown, Figure 2 This is a structural diagram of the first-stage arm driving unit of an embodiment of the utility model. Figure 3 This is a structural diagram of the secondary arm driving portion of an embodiment of the present utility model, wherein the driving device includes a primary arm driving portion and a secondary arm driving component;

[0067] The primary arm driving portion includes a first driving rod 8 for driving the first active rod 4. One end of the first driving rod 8 is arranged on the body swing leaf connected to the body end 1, and the other end is connected to the rod body of the first active rod 4 close to the body end 1, so that the first driving rod 8, the body swing leaf and part of the rod body of the first active rod 4 form a triangular structure.

[0068] The secondary arm driving portion includes a second driving rod 9 for driving the second active rod 6. One end of the second driving rod 6 is arranged on the swing leaf 2, and the other end is connected to the rod body of the second active rod 6 near the swing leaf 2, so that the second driving rod 9, the swing leaf 2 and part of the rod body of the second active rod 6 form a triangular structure;

[0069] The first driving rod adjusts the angle between the first active rod and the body swing leaf by changing the rod body length, and the second driving rod adjusts the angle between the second active rod and the swing leaf by changing the rod body length.

[0070] In implementation, the first auxiliary rod is provided with a first auxiliary rotating shaft and a second auxiliary rotating shaft, one end of the first auxiliary rod is rotatably connected to the machine body through the first auxiliary rotating shaft, and the other end is rotatably connected to the swing leaf through the second auxiliary rotating shaft, and the second auxiliary rod is provided with a third auxiliary rotating shaft and a fourth auxiliary rotating shaft, one end of the second auxiliary rod is rotatably connected to the swing leaf through the third auxiliary rotating shaft, and the other end is rotatably connected to the load end through the fourth auxiliary rotating shaft.

[0071] The triangular structure formed by the first driving rod 8, the body swing leaf and part of the rod body of the first active rod 4, and the triangular structure formed by the second driving rod 9, the swing leaf 2 and part of the rod body of the second active rod 6 help the articulated assisted charging robot arm to be more stable during operation and reduce the impact of vibration and fluctuation.

[0072] By setting a hydraulic first drive rod and a hydraulic second drive rod, vector superposition and cooperation generate a torque opposite to the load torque during the process of the robotic arm pulling the load. In the process of pushing the load, the two torques cancel each other out, overcoming the torque opposite to the traction direction of the robotic arm due to the cable's own gravity, thereby ensuring that the robotic arm meets the needs of existing charging cables.

[0073] Specifically, the first drive rod and the second drive rod are both hydraulic drive rods.

[0074] Specifically, the length of the first active rod is greater than the first spacing value, and the length of the second active rod is greater than the second spacing value;

[0075] See also Figure 4 As shown, it is a structural schematic diagram of the first active rotating shaft and the first auxiliary rotating shaft of an embodiment of the present utility model. The vertical spacing distance between the first active rotating shaft 11 and the first auxiliary rotating shaft 10 is the first spacing, and the vertical spacing distance between the second active rotating shaft and the second auxiliary rotating shaft is the second spacing.

[0076] The length of the first active rod is greater than the first spacing value, and the length of the second active rod is greater than the second spacing value, ensuring that the robotic arm can move and operate within a wider range, improving the flexibility and applicability of the robotic arm, and being able to accurately perform various charging cable traction tasks. At the same time, it can increase the force area of ​​the robotic arm, improve the stability and reliability of the robotic arm, and further ensure that the robotic arm meets the needs of existing charging cables.

[0077] Specifically, the length of the first active rod is an integer multiple of the first spacing, and the length of the second active rod is an integer multiple of the second spacing.

[0078] Please refer to Table 1, which is a comparison table of the length value of the first active rod and the first spacing value, and the length value of the second active rod and the second spacing value;

[0079] Table 1 Relationship between the first active rod and the first spacing and the second active rod and the second spacing

[0080] First spacing / cm Length of the first active rod / cm Second spacing / cm Length of the second active rod / cm 20 40 20 40 30 60 30 60

[0081] It can be understood that the first spacing is 20 cm, the corresponding length of the first active rod is 40 cm, the second spacing is 20 cm, the corresponding length of the second active rod is 40 cm; the first spacing is 30 cm, the corresponding length of the first active rod is 60 cm, the second spacing is 30 cm, and the corresponding length of the first active rod is 60 cm.

[0082] It can be understood that the value of the first spacing and the value of the second spacing are related to the actual setting of the robotic arm.

[0083] Generally, the first spacing is the same as the second spacing, and the length of the first active rod is the same as the length of the second active rod.

[0084] The length of the first active rod is set to an integer multiple of the first spacing value and the length of the second active rod is set to an integer multiple of the second spacing value. When moving and pulling loads, the integer multiple relationship between the length of the active rod and the spacing can maintain the balance and stability of the robotic arm, reduce unnecessary vibration and swing, and increase the stability of the robotic arm's traction, thereby further ensuring that the robotic arm meets the requirements of existing charging cables.

[0085] Specifically, the ratio of the traction force provided by the driving device to the gravity borne by the load end is greater than the ratio of the active rod length to the first spacing value;

[0086] The gravity borne by the load end is the gravity of the charging cable hanging on the load end.

[0087] The traction force is used to pull the charging cable to move.

[0088] Please refer to Table 2, which is a comparison table of the ratios of the traction force provided by the driving device, the gravity borne by the load end, the first spacing value, and the active rod length value;

[0089] Table 2 Comparison table of ratios of traction force, gravity, first spacing value, and active rod length value

[0090] Traction force / N Load end gravity / N ratio Active rod length / cm First spacing / cm ratio 300 100 3 40 20 2 750 150 5 90 30 3

[0091] It can be understood that the length of the active rod is 40 cm, the first spacing is 20 cm, the ratio of the length of the active rod to the first spacing is 2, the gravity at the load end is 100 N, and the traction force provided by the corresponding drive device is set to 300 N; the length of the active rod is 90 cm, the first spacing is 30 cm, the ratio of the length of the active rod to the first spacing is 3, the gravity at the load end is 150 N, and the traction force provided by the corresponding drive device is set to 750 N.

[0092] The ratio of the traction force provided by the drive device to the gravity borne by the load end is greater than the ratio of the first spacing value to the active rod length value, which can ensure that the system has sufficient power to pull the charging cable and ensure that the articulated power-assisted charging robotic arm operates normally and completes the task.

[0093] Specifically, it also includes:

[0094] An image collector is provided on the load swing page at the load end to obtain image information of the fuel tank cap and the charging port;

[0095] The positioning analysis component is arranged on the load swing page at the load end and is connected to the image collector to establish the three-dimensional coordinates of the fuel tank cap and the charging port based on the image information.

[0096] In implementation, the image collector is composed of a camera or a camera, which can be a single camera or an array of multiple cameras. It is set at the load end of the articulated power-assisted charging robot arm. By taking images or videos of the target area, image information for positioning is obtained. The image collector captures images periodically or in a triggered manner, and transmits the images to the control system for processing and analysis to achieve positioning and identification of the target.

[0097] During implementation, the positioning analysis component is connected to the image collector and is set at the load end of the articulated power-assisted charging robotic arm. The positioning analysis component consists of an image processing unit and an algorithm module. The image processing unit is used to receive image information and perform processing and analysis. The algorithm module contains a positioning algorithm and model, which is used to identify the fuel tank cap and charging port and determine their positions.

[0098] In implementation, the image collector can also prevent the power-assisted charging robot arm from being damaged and be used for monitoring.

[0099] It is understandable that the specific structure of the algorithm module of the present invention can be set up using any structure and method in the prior art, as long as the functions described in the present invention can be obtained, and no further details will be given here.

[0100] Specifically, it also includes:

[0101] A position sensor is provided on the load swing at the load end to obtain the three-dimensional coordinates of the load end;

[0102] a path analysis component, which is disposed on the load end and connected to the positioning component, the positioning component and the position sensor, and is used to determine the charging path based on the three-dimensional coordinates of the load end and the three-dimensional coordinates of the fuel tank cap and the charging port to generate path information;

[0103] An actuator, connected to the path analysis component, for driving the robotic arm to execute the path information;

[0104] The path information is the shortest path from the load end to the charging port without colliding with the fuel tank cap.

[0105] In implementation, a position sensor is provided at the load end of the articulated power-assisted charging robotic arm to sense the current position of the load end of the articulated power-assisted charging robotic arm in real time and obtain the three-dimensional coordinates corresponding to the load end.

[0106] During implementation, the path analysis component is connected to the position sensor and is set at the load end of the articulated power-assisted charging robotic arm. It is used to determine the charging path based on the three-dimensional coordinates of the load end and the three-dimensional coordinates of the fuel tank cap and the charging port, using a path planning algorithm to generate path information.

[0107] It can be understood that the path information is the shortest path for the load end to move from the current position to the charging port without colliding with the fuel tank cap.

[0108] It is understandable that the specific structure of the charging algorithm of the present invention can be set using any structure and method in the prior art, as long as the functions described in the present invention can be obtained, and no further details will be given here.

[0109] During implementation, the actuator is connected to the path analysis component. According to the path information generated by the path analysis component, the actuator controls the drive device of the articulated power-assisted charging robotic arm to execute the path information, adjust the movement of the robotic arm, and achieve precise positioning and operation.

[0110] By setting up an image collector and a positioning component, the fuel tank cap and charging port of the vehicle to be charged can be accurately positioned, ensuring that the robotic arm pulls the charging cable into the charging port accurately, avoiding connection problems caused by incorrect or crooked insertion, and damage to components around the charging port when inserting the charging gun. At the same time, it provides a basis for automated control. By accurately positioning the charging port, the charging equipment can accurately identify and control the charging process, improving the overall intelligence and automation level, thereby further ensuring that the robotic arm meets the needs of existing charging cables.

[0111] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0112] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An articulated power-assisted charging robot arm, characterized in that: It includes a body end, a swing leaf, a primary arm, a secondary arm, a driving device and a load end; One end of the primary arm is rotatably connected to the body end, and the other end is rotatably connected to the swing leaf; One end of the secondary arm is rotatably connected to the swing leaf, and the other end is rotatably connected to the load end; The swing leaf, the two ends of whose rotating shaft are respectively connected to the primary arm and the secondary arm for rotation, so as to make the primary arm and the secondary arm rotate around the swing leaf rotating shaft; The driving device is connected to the primary arm and the secondary arm respectively, and is used to drive the primary arm to rotate around the end of the machine body, and to drive the secondary arm to rotate around the rotating shaft connecting the secondary arm and the swing leaf; The axial direction of the swing leaf rotating shaft is perpendicular to the axial direction of the rotating shaft connecting the primary arm and the swing leaf, and the axial direction of the swing leaf rotating shaft is perpendicular to the axial direction of the rotating shaft connecting the secondary arm and the swing leaf.

2. The articulated power-assisted charging robot arm according to claim 1, characterized in that: The primary arm is rotatably connected to the body end through a first rotating shaft group, the primary arm is rotatably connected to the swing leaf through a second rotating shaft group, the secondary arm is rotatably connected to the swing leaf through a third rotating shaft group, and the secondary arm is rotatably connected to the load end through a fourth rotating shaft group; Wherein, each rotating shaft in the first rotating shaft group is parallel to each rotating shaft in the second rotating shaft group, and each rotating shaft in the third rotating shaft group is parallel to each rotating shaft in the fourth rotating shaft group.

3. The articulated power-assisted charging robot arm according to claim 2, characterized in that: The primary arm comprises a first active rod and a first auxiliary rod, and the first active rod and the first auxiliary rod are parallel, and the plane where the first active rod and the first auxiliary rod are located is perpendicular to the horizontal plane; The secondary arm comprises a second active rod and a second auxiliary rod, and the second active rod and the second auxiliary rod are parallel, and the plane where the second active rod and the second auxiliary rod are located is perpendicular to the horizontal plane; The first rotating shaft group includes a first active rotating shaft and a first auxiliary rotating shaft, wherein the first active rotating shaft is connected to the first active rod, and the first auxiliary rotating shaft is connected to the first auxiliary rod; The second rotating shaft group includes a second active rotating shaft and a second auxiliary rotating shaft, wherein the second active rotating shaft is connected to the first active rod, and the second auxiliary rotating shaft is connected to the first auxiliary rod; The third rotating shaft group includes a third active rotating shaft and a third auxiliary rotating shaft, wherein the third active rotating shaft is connected to the second active rod, and the third auxiliary rotating shaft is connected to the second auxiliary rod; The fourth rotating shaft group includes a fourth active rotating shaft and a fourth auxiliary rotating shaft, wherein the fourth active rotating shaft is connected to the second active rod, and the fourth auxiliary rotating shaft is connected to the second auxiliary rod.

4. The articulated power-assisted charging robot arm according to claim 3, characterized in that: The driving device comprises a primary arm driving part and a secondary arm driving part; The primary arm driving part includes a first driving rod for driving the first active rod, one end of the first driving rod is arranged on a body swing leaf connected to the body end, and the other end is connected to a rod body on the first active rod close to the body end, so that the first driving rod, the body swing leaf and a part of the rod body of the first active rod form a triangular structure; The secondary arm driving part includes a second driving rod for driving the second active rod, one end of the second driving rod is arranged on the swing leaf, and the other end is connected to the rod body of the second active rod close to the swing leaf, so that the second driving rod, the swing leaf and part of the rod body of the second active rod form a triangular structure; The first driving rod adjusts the angle between the first active rod and the body swing leaf by changing the rod body length, and the second driving rod adjusts the angle between the second active rod and the swing leaf by changing the rod body length.

5. The articulated power-assisted charging robot arm according to claim 4, characterized in that: The first driving rod and the second driving rod are both hydraulic driving rods.

6. The articulated power-assisted charging robot arm according to claim 5, characterized in that: The length of the first active rod is greater than the first spacing value, and the length of the second active rod is greater than the second spacing value; The vertical spacing distance between the first active rotating shaft and the first auxiliary rotating shaft is a first spacing, and the vertical spacing distance between the second active rotating shaft and the second auxiliary rotating shaft is a second spacing.

7. The articulated power-assisted charging robot arm according to claim 6, characterized in that: The length of the first active rod is an integer multiple of the first spacing, and the length of the second active rod is an integer multiple of the second spacing.

8. The articulated power-assisted charging robot arm according to claim 7, characterized in that: The ratio of the traction force provided by the driving device to the gravity borne by the load end is greater than the ratio of the length of the active rod to the value of the first spacing; The gravity borne by the load end is the gravity of the charging cable suspended from the load end; The traction force is used to pull the charging cable to move.

9. The articulated power-assisted charging robot arm according to claim 8, characterized in that: Also includes: An image collector, which is arranged on the load swing page of the load end and is used to obtain image information of the fuel tank cover and the charging port; A positioning and analysis component is arranged on the load swing page at the load end and is connected to the image collector to establish the three-dimensional coordinates of the fuel tank cover and the charging port according to the image information.

10. The articulated power-assisted charging robot arm according to claim 9, characterized in that: Also includes: A position sensor, which is arranged on the load swing leaf of the load end and is used to obtain the three-dimensional coordinates of the load end; a path analysis component, which is arranged on the load end and connected to the positioning component, and is connected to the positioning component and the position sensor, and is used to determine the charging path to generate path information according to the three-dimensional coordinates of the load end and the three-dimensional coordinates of the fuel tank cap and the charging port; An actuator, connected to the path analysis component, for driving the mechanical arm to execute the path information; The path information is the shortest path from the load end to the charging port without colliding with the fuel tank cap.

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