A robotic arm and a charging device

Abstract

The present application provides a robotic arm and a charging device. The robotic arm includes: a plurality of gimbal sets connected in sequence, and each gimbal set includes a gimbal fork and a cross shaft. The robotic arm is provided with three traction wire sets along the circumference, and the leads of each traction wire set include a first lead, a second lead, and a third lead. A flange plate is provided on the circumferential outer wall of the gimbal fork. The three first leads sequentially and perpendicularly pass through the flange plates of a gimbal forks from the starting end of the robotic arm, the three second leads sequentially and perpendicularly pass through the flange plates of a + b gimbal forks from the starting end of the robotic arm, and the three third leads sequentially and perpendicularly pass through the flange plates of a + b + c gimbal forks from the starting end of the robotic arm, where a, b, and c are all integers. The charging device includes: a frame and the above-mentioned robotic arm. The robotic arm is of a multi-segment structure, has a higher degree of freedom, can enable the charging gun to have a wider coverage range, and moreover, the robotic arm is constructed by a multi-segment gimbal set, which is convenient for bending and storage.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle charging, and particularly relates to a robotic arm and a charging device. Background Art

[0002] With the development of China's economy and the continuous progress of society, automobiles have become an indispensable means of transportation for modern people. At the same time, due to the development trends of future low-carbon and intelligent vehicles, the popularity of electric vehicles will become more and more extensive. Along with the continuous development and progress of technology, fast charging technology will become more and more mature. At the same time, due to the maturity of technologies such as driverless, it is obviously no longer in line with the trend of social development for people to get out of the vehicle to manually charge and manually plug and unplug the charging gun. There is a need for a fully automatic charging mode without human intervention. The patent with the application number 202021714703.8 discloses a flexible arm, a flexible connection structure and a flexible charging device, which use a flexible connector to connect the supporting part and the movable part, so that the charging connector can move, but its moving range is relatively limited, the degree of freedom is low, and the overall structure is rigid, which is not convenient for storage. Summary of the Invention

[0003] To solve the deficiencies of the prior art, the present invention provides a robotic arm and a charging device. The robotic arm has a multi-segment structure, with a specific multi-angle movement space and a higher degree of freedom, which can enable the charging gun to have a wider coverage range. Moreover, the robotic arm is constructed by a multi-segment universal joint group, which is convenient for bending and storage.

[0004] To achieve the purpose of the present invention, the following solutions are proposed:

[0005] A robotic arm, comprising: a plurality of sequentially connected universal joint groups, and each universal joint group includes a universal joint fork and a cross shaft.

[0006] The robotic arm is provided with three traction wire groups along the circumference, and the lead wires of each traction wire group include a first lead wire, a second lead wire and a third lead wire. The circumferential outer wall of the universal joint fork is provided with a flange plate. The three first lead wires sequentially and perpendicularly pass through the flange plates of a universal joint forks from the starting end of the robotic arm, the three second lead wires sequentially and perpendicularly pass through the flange plates of a + b universal joint forks from the starting end of the robotic arm, and the three third lead wires sequentially and perpendicularly pass through the flange plates of a + b + c universal joint forks from the starting end of the robotic arm, where a, b, and c are all integers.

[0007] Further, the middle parts of the universal joint fork and the cross shaft are both through structures along the extending direction of the robotic arm.

[0008] Further, a cylindrical spring is provided between adjacent cross shafts.

[0009] Further, armor is provided on the outer wall of the flange plate corresponding to the position of each traction wire group.

[0010] Further, it further includes multiple groups of driving components. One group of driving components is provided at the starting end corresponding to each of the first lead wire, the second lead wire, and the third lead wire. The driving components are located at the starting end of the robotic arm. The driving components include a motor and a wire winding mechanism. The wire winding mechanism includes a transmission shaft connected to the main shaft of the motor. A wire reel is movably sleeved along the axis outside the transmission shaft. The relative position of the wire reel and the circumference of the transmission shaft remains fixed. The outer wall of the wire reel is provided with a thread groove. An outer tube body is sleeved outside the wire reel. The position of the outer tube body relative to the motor remains fixed. The upper section of the inner wall of the outer tube body has an internal thread, and the internal thread meshes with the thread groove. A cavity with a spiral structure is formed between the thread top surface of the internal thread and the root of the thread groove for accommodating the lead wires of the traction wire group.

[0011] Further, the transmission shaft is coaxially connected to the main shaft of the motor, and the transmission shaft is parallel to the extension direction of the robotic arm in its natural state. The starting end of the robotic arm is provided on a mounting plate. The mounting plate is provided with pulleys corresponding to the lead wires of the traction wire group. The starting ends of the lead wires bypass the corresponding pulleys and are connected to the wire reel.

[0012] A charging device includes: a frame and the above-mentioned robotic arm.

[0013] The starting end of the robotic arm is installed on the frame, and a charging gun is provided at the end of the robotic arm.

[0014] Further, the interior of the robotic arm is a hollow structure for threading the connection cable of the charging gun.

[0015] The beneficial effects of the present invention are as follows: First, the main body of the robotic arm is formed by splicing universal joint groups, with a large degree of spatial movement freedom, which can provide a wider movement space at its end, and its own structure is convenient for bending, thus facilitating storage. Second, the robotic arm is divided into a three-section structure by the first lead wire, the second lead wire, and the third lead wire. Each section can move independently and can also move in coordination at the same time. And by using the method of pulling with lead wires, the bending of the robotic arm can be made more linear. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are only for illustrating the selected embodiments, not all possible implementation schemes, and are not intended to limit the scope of the present invention.

[0017] Figure 1 FIG. shows a schematic structural diagram of a preferred embodiment of the robotic arm of the present application.

[0018] Figure 2 FIG. shows an overall cross-sectional view of a preferred embodiment of the robotic arm of the present application.

[0019] Figure 3 FIG. shows Figure 2 the partial enlarged view at A in

[0020] Figure 4Shows a schematic structural diagram of the robotic arm drive mechanism and the traction assembly of the present application.

[0021] Figure 5 Shows Figure 4 The partial enlarged view at position B in

[0022] Figure 6 Shows a schematic structural diagram of the other side of the robotic arm drive mechanism and the traction assembly of the present application.

[0023] Figure 7 Shows a schematic partial structural diagram of the robotic arm of the present application.

[0024] Figure 8 Shows a schematic installation structure diagram of the traction wire group of the present application.

[0025] Figure 9 Shows Figure 8 The partial enlarged view at position C in

[0026] Figure 10 Shows a schematic diagram of a bent state of the robotic arm of the present application.

[0027] Figure 11 Shows a schematic structural diagram of an embodiment of the charging device of the present application.

[0028] Figure 12 Shows a schematic diagram of a usage state of the charging device of the present application.

[0029] Markings in the figure: Cardan joint fork - 11, Flange plate - 111, Cross shaft - 12, Connecting shaft - 121, Cylindrical spring - 13, Armor - 14, Traction wire group - 2, First lead - 21, Second lead - 22, Third lead - 23, Drive assembly - 3, Motor - 31, Wire winding mechanism - 32, Transmission shaft - 321, Wire reel - 322, Outer tube body - 323, Mounting plate - 4, Pulley - 41, Frame - 5, Charging gun - 6. Detailed implementation manners

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following describes the embodiments of the present invention in detail with reference to the accompanying drawings. However, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0031] Embodiment 1

[0032] As Figures 7 to 9As shown, a robotic arm includes: a plurality of gimbal groups connected in sequence, which includes gimbal forks 11 and cross shafts 12. The outer wall of the cross shaft 12 has two pairs of connecting shafts 121 perpendicular to each other. The connecting shafts 121 are respectively used to connect the gimbal forks 11 at both ends of the cross shaft 12. The gimbal forks 11 at both ends can rotate around the connecting shafts 121, so as to achieve the purpose of "universal transmission".

[0033] Specifically, as Figure 4 and Figures 6 to 10 shown, the robotic arm is provided with three traction wire groups 2 along the circumference, and the leads of each traction wire group 2 include a first lead 21, a second lead 22 and a third lead 23. The first lead 21, the second lead 22 and the third lead 23 are respectively arranged in a circular array. The leads of the traction wire group 2 are all steel wires. The circumferential outer wall of the gimbal fork 11 is provided with a flange plate 111. The three first leads 21 sequentially and perpendicularly pass through the flange plates 111 of a gimbal forks 11 from the starting end of the robotic arm, and the passing positions of the three first leads 21 are arranged in a circular array along the circumference of the gimbal fork 11. The three second leads 22 sequentially and perpendicularly pass through the flange plates 111 of a + b gimbal forks 11 from the starting end of the robotic arm, and the passing positions of the three second leads 22 are arranged in a circular array along the circumference of the gimbal fork 11 and are spaced from the passing positions of the three first leads 21. The three third leads 23 sequentially and perpendicularly pass through the flange plates 111 of a + b + c gimbal forks 11 from the starting end of the robotic arm, and the passing positions of the three third leads 23 are arranged in a circular array along the circumference of the gimbal fork 11 and are spaced from the passing positions of the three first leads 21 and the second leads 22. a, b, and c are all integers.

[0034] More specifically, as Figures 1 to 6As shown in the figure, it further includes multiple groups of driving components 3. One group of driving components 3 is provided corresponding to the starting end of each of the first lead 21, the second lead 22, and the third lead 23. The driving components 3 are located at the starting end of the robotic arm. The driving component 3 includes a motor 31 and a wire winding mechanism 32. The wire winding mechanism 32 includes a transmission shaft 321 connected to the main shaft of the motor 31. A wire reel 322 is movably sleeved on the outer side of the transmission shaft 321 along the axis. The relative position between the wire reel 322 and the circumference of the transmission shaft 321 remains fixed. The outer wall of the wire reel 322 is provided with a thread groove. The leads of the traction wire group 2 are wound around the root of the thread groove. An outer tube body 323 is sleeved outside the wire reel 322. The position of the outer tube body 323 relative to the motor 31 remains fixed. The upper section of the inner wall of the outer tube body 323 has an internal thread. The internal thread meshes with the thread groove, and a cavity with a spiral structure is formed between the top surface of the internal thread and the root of the thread groove for accommodating the leads of the traction wire group 2, that is, the first lead 21, the second lead 22, and the third lead 23. The leads of the traction wire group 2 pass through the upper end of the outer tube body 323. In this structure, when pulling out or retracting the leads of the traction wire group 2, the motor 31 drives the transmission shaft 321 to rotate, and the transmission shaft 321 drives the wire reel 322 to rotate. Under the cooperation of the internal thread of the outer tube body 323 and the thread groove, the wire reel 322 will move along the axis of the transmission shaft 321 while rotating. In this way, it can be ensured that when pulling out or retracting the leads of the traction wire group 2, the pulling out or retracting position of the leads will remain unchanged, thus being convenient.

[0035] By retracting the leads of the traction wire group 2, the bending direction and angle of the robotic arm can be adjusted.

[0036] The lengths extended by the first lead 21, the second lead 22, and the third lead 23 correspond to different length ranges of the robotic arm. Thus, each section of the robotic arm from top to bottom, as well as the bending direction and angle of each section, can be adjusted separately. For example, if a, b, and c are all 6, then the three first leads 21 sequentially and perpendicularly pass through the flange plates 111 of 6 universal joint forks 11 from the starting end of the robotic arm; the three second leads 22 sequentially and perpendicularly pass through the flange plates 111 of 12 universal joint forks 11 from the starting end of the robotic arm; the three third leads 23 sequentially and perpendicularly pass through the flange plates 111 of 18 universal joint forks 11 from the starting end of the robotic arm.

[0037] If only one of the first leads 21 is retrieved, the universal joint groups of the 1st to 6th segments of the robotic arm can be bent in one direction. When two of the second leads 21 are retrieved, while the universal joint groups of the 1st to 6th segments of the robotic arm are bent in one direction, they will also be bent in the direction of retrieval of the other second lead 21 at the same time; both of the above adjustments can only drive the position adjustment of the universal joint groups of the 1st to 6th segments of the robotic arm. Since both the second lead 22 and the third lead 23 are retrieved for the 7th to 18th segment universal joint groups, they will not actively bend. When bending the 7th to 12th segment universal joint groups, the second lead 22 needs to be retrieved, and the first lead 21 and the second lead 22 can be retrieved simultaneously to bend the robotic arm. Moreover, the retrieved first lead 21 and second lead 22 can be on different sides of the circumference, so that the front and middle sections of the robotic arm are bent in different directions, thereby obtaining a wider range of movement space and enabling the end of the robotic arm to be at more three-dimensional space points; similarly, if the adjustment of the third lead 23 is increased, then the space coverage range of the end of the robotic arm will be further increased. As can be seen from the above, the present application can also be provided with a fourth lead, a fifth lead, a sixth lead, etc.

[0038] Preferably, as Figure 7 shown, the middle parts of the universal joint forks 11 and the cross shafts 12 are both through structures along the extending direction of the robotic arm, so that the middle part of the robotic arm is a hollow structure, thus facilitating the threading of cables.

[0039] Preferably, as Figure 7 shown, cylindrical springs 13 are provided between adjacent cross shafts 12, so that the robotic arm is in an extended state and can also adapt to bending deformation. When the robotic arm is bent, the cylindrical springs 13 will bend along the axis.

[0040] Preferably, as Figure 9 、 Figure 10 shown, armor 14 is provided on the outer wall of the flange plate 111 corresponding to the position of each set of traction wire groups 2 to shield the traction wire groups 2, thereby playing a protective role for the traction wire groups 2.

[0041] Preferably, as Figure 1 、 Figure 4 and Figure 6As shown in the figure, the transmission shaft 321 is coaxially connected to the main shaft of the motor 31, and the transmission shaft 321 is parallel to the extension direction of the robotic arm in its natural state, so as to facilitate the circumferential arrangement of a plurality of drive components 3, reduce the overall structural size formed by the drive components 3, and thus facilitate the layout. The starting end of the robotic arm is provided on a mounting plate 4. The mounting plate 4 is provided with pulleys 41 corresponding to the lead wires of the traction wire group 2. The starting end of the lead wire bypasses the corresponding pulley 41 and is connected to the wire reel 322. Specifically, the starting end of the lead wire is connected to the lower end of the wire reel 322, and the lead wire is wound from bottom to top in the thread groove on the outer wall of the wire reel 322. This structure can not only reduce the wear of each lead wire of the traction wire group 2, but also keep the positions of the respective lead wires relatively fixed, so as to facilitate the control of the bending angle of the robotic arm and the position of the end by precisely controlling the pulling out and retracting lengths of the lead wires. Specifically, the outer tube body 323 is vertically and fixedly installed on the top surface of the mounting plate 4. A speed reducer is provided above the outer tube body 323, and the speed reducer is connected to the motor 31. In this embodiment, the transmission shaft 321 is coaxially connected to the output shaft of the speed reducer.

[0042] Embodiment 2

[0043] As Figure 11 、 Figure 12 As shown in the figure, a charging device includes: a robotic arm disclosed in Embodiment 1 of the frame 5. The starting end of the robotic arm is installed on the frame 5. A charging gun 6 is provided at the end of the robotic arm. The drive component 3 is arranged in the upper section inside the frame 5. The starting end of the robotic arm is located at the upper end of the frame 5. When the robotic arm is not working, it can hang down naturally to avoid the long-term load on the lead wires of the traction wire group 2.

[0044] Preferably, the inside of the robotic arm is a hollow structure for passing through the connection cable of the charging gun 6. Specifically, it can be realized by designing a through-type universal joint fork 11 and a cross shaft 12. This can not only keep the outside of the robotic arm clean and facilitate the movement of the robotic arm, but also play a good role in protecting the cable.

[0045] The above are only the preferred embodiments of the present invention, and do not represent that they are the only ones or limit the present invention. Those skilled in the art should understand that without departing from the scope of the present invention, various changes or equivalent replacements made to the present invention all fall within the scope of protection of the present invention.

Claims

1. A robotic arm, comprising: A plurality of sequentially connected universal joint groups, each universal joint group including a universal joint fork (11) and a cross shaft (12), characterized in that the robotic arm is provided with three traction wire groups (2) along the circumference, and the lead wires of each traction wire group (2) include a first lead wire (21), a second lead wire (22) and a third lead wire (23). A flange plate (111) is provided on the circumferential outer wall of the universal joint fork (11). Three first lead wires (21) sequentially and perpendicularly pass through the flange plates (111) of a universal joint forks (11) from the starting end of the robotic arm. Three second lead wires (22) sequentially and perpendicularly pass through the flange plates (111) of a + b universal joint forks (11) from the starting end of the robotic arm. Three third lead wires (23) sequentially and perpendicularly pass through the flange plates (111) of a + b + c universal joint forks (11) from the starting end of the robotic arm, where a, b, and c are all integers; Armor (14) is provided on the outer wall of the flange plate (111) corresponding to the position of each traction wire group (2); It further includes multiple groups of driving components (3). A group of driving components (3) is provided corresponding to the starting end of each first lead wire (21), second lead wire (22) and third lead wire (23). The driving components (3) are located at the starting end of the robotic arm. The driving components (3) include a motor (31) and a wire winding mechanism (32). The wire winding mechanism (32) includes a transmission shaft (321) connected to the main shaft of the motor (31). A wire winding wheel (322) is movably sleeved on the outside of the transmission shaft (321) along the axis. The relative position between the wire winding wheel (322) and the circumference of the transmission shaft (321) remains fixed. A thread groove is provided on the outer wall of the wire winding wheel (322). An outer tube body (323) is sleeved outside the wire winding wheel (322). The position of the outer tube body (323) relative to the motor (31) remains fixed. The upper section of the inner wall of the outer tube body (323) has an internal thread, and the internal thread meshes with the thread groove. A cavity with a spiral structure is formed between the thread top surface of the internal thread and the root of the thread groove for accommodating the lead wires of the traction wire group (2); The transmission shaft (321) is coaxially connected to the main shaft of the motor (31), and the transmission shaft (321) is parallel to the extension direction of the robotic arm in the natural state. The starting end of the robotic arm is provided on a mounting plate (4). The mounting plate (4) is provided with pulleys (41) corresponding to the lead wires of the traction wire group (2). The starting ends of the lead wires bypass the corresponding pulleys (41) and are connected to the wire winding wheel (322).

2. The robotic arm according to claim 1, characterized in that, Both the middle parts of the universal joint fork (11) and the cross shaft (12) are of a through structure along the extension direction of the robotic arm.

3. The robotic arm according to claim 1 or 2, characterized in that, Cylindrical springs (13) are provided between adjacent cross shafts (12).

4. A charging device, characterized in that, Including: A frame (5) and the robotic arm according to any one of claims 1 - 3; The starting end of the robotic arm is mounted on the frame (5), and a charging gun (6) is provided at the end of the robotic arm.

5. A charging device according to claim 4, characterized in that, The interior of the robotic arm is a hollow structure for passing through the connection cable of the charging gun (6).

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