Adaptive structure, charging gun head and charging mechanical arm

Abstract

The application provides an adaptive structure, a charging gun head and a charging mechanical arm. The adaptive structure comprises a fixing base, a guide block for interfacing with a charging base, a lip structure arranged on the guide block and used for clamping with the charging base, and a plurality of adaptive driving members. The guide block has an inclined guide surface for contacting the charging base. The movement end of each adaptive driving member is movably connected with the guide block, and the fixed end of the adaptive driving member is fixed on the fixing base. The adaptive structure, the charging gun head and the charging mechanical arm provided by the application can make the guide block adjust to a position and a posture capable of being matched with the charging base in a normal direction by controlling the extension and retraction amount of each adaptive driving member. In this way, when the adaptive structure is interfaced with the charging base, there is a certain interfacing redundancy. By controlling each adaptive driving member, the placement angle of the guide block can be automatically corrected, and the situation that the adaptive structure and the charging base are misaligned and cannot be automatically connected for charging does not occur.

Description

Technical Field

[0001] This invention belongs to the field of charging technology, and more specifically, relates to an adaptive structure, a charging gun head, and a charging robotic arm. Background Technology

[0002] With the rapid development of new energy sources, electric bicycles, electric cars, and other modes of transportation are gradually increasing. To make electric vehicles more widespread, installing charging stations in public places has become inevitable. Currently available automatic charging stations all use robotic arms as carriers, with the charging head held at the end to charge the charging device. Because automatically charging a device requires the charging head and charging base to be perfectly aligned before they are plugged in, the robotic arm demands high precision. Moreover, misalignment between the charging head and charging base frequently occurs, resulting in ineffective charging. Summary of the Invention

[0003] The purpose of this invention is to provide an adaptive structure, a charging gun head, and a charging robotic arm to solve the technical problem in the prior art where the charging head and charging base may not be able to be accurately connected due to the low precision of the robotic arm.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a charging robotic arm is provided, including a fixed base, a guide block for docking and guiding with the charging base, a lip structure disposed on the guide block and for engaging with the charging base, and a plurality of adaptive driving components. The guide block has an inclined guide surface for contacting the charging base. The moving end of each of the adaptive driving components is movably connected to the guide block, and the fixed end of the adaptive driving component is fixed to the fixed base.

[0005] The beneficial effects of the adaptive structure, charging gun head, and charging robotic arm provided by this invention are as follows: Compared with the prior art, the flexible arm segment and adaptive structure of the charging robotic arm of this invention both contain flexible driving components. The adaptive structure includes a fixed base, a guide block, a lip structure, and adaptive driving components. The guide block is used to achieve shallow insertion after the initial positioning of the end of the charging robotic arm. The lip mechanism is used to achieve locking between the end of the charging robotic arm and the charging base after shallow insertion. After locking, through the combined control of the flexible driving components and adaptive driving components of each arm segment of the robotic arm, the adaptive posture adjustment of the charging robotic arm relative to the charging base can be achieved, aligning the charging gun head terminal with the corresponding charging base socket at a more suitable angle, thus ensuring smooth completion of the subsequent steps of inserting the charging gun head terminal into the charging base socket. In this way, when the charging robotic arm docks with the charging base, there is a certain docking redundancy. By controlling each adaptive driving component, the posture of the charging robotic arm can be automatically corrected, and the charging head insertion and removal operation can be successfully completed even under conditions of low initial positioning accuracy, without the situation where the two are misaligned and cannot be automatically plugged in for charging. Attached Figure Description

[0006] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0007] Figure 1 A three-dimensional structural diagram of the adaptive structure provided in the embodiments of the present invention;

[0008] Figure 2 A three-dimensional structural diagram of the guide block and lip / tongue structure provided in an embodiment of the present invention;

[0009] Figure 3 A three-dimensional structural diagram of the charging gun head provided in an embodiment of the present invention;

[0010] Figure 4 This is an exploded view of the charging gun head provided in an embodiment of the present invention;

[0011] Figure 5 A three-dimensional structural diagram of the gun head body and gun head drive component provided in an embodiment of the present invention;

[0012] Figure 6 A cross-sectional view of the adaptive driver provided in an embodiment of the present invention;

[0013] Figure 7 A three-dimensional structural diagram of a first type of charging robotic arm provided in an embodiment of the present invention;

[0014] Figure 8 for Figure 7 3D structural diagram of a flexible telescopic module;

[0015] Figure 9 A three-dimensional structural diagram of the flexible bending module provided in an embodiment of the present invention;

[0016] Figure 10 A three-dimensional structural diagram of a second type of charging robotic arm provided in an embodiment of the present invention;

[0017] Figure 11 for Figure 10 3D structural diagram of a flexible telescopic module;

[0018] Figure 12 A three-dimensional structural diagram of the third type of charging robotic arm hoisting state provided in the embodiments of the present invention;

[0019] Figure 13 A three-dimensional structural diagram of the inverted state of the third type of charging robotic arm provided in an embodiment of the present invention;

[0020] Figure 14 A cross-sectional schematic diagram of the robotic arm body provided in an embodiment of this application;

[0021] Figure 15 A three-dimensional schematic diagram of the robotic arm body provided in the embodiments of this application;

[0022] Figure 16 for Figure 15 A schematic diagram of the structure of the first flexible telescopic module in the middle;

[0023] Figure 17 for Figure 16 A cross-sectional schematic diagram of the first flexible telescopic module in the middle;

[0024] Figure 18 for Figure 15 A schematic diagram of the structure of the first flexible rotating module in the middle;

[0025] Figure 19 for Figure 18 A cross-sectional schematic diagram of the first flexible rotating module in the middle;

[0026] Figure 20 for Figure 15 A cross-sectional schematic diagram of the second flexible telescopic module and the charging gun head;

[0027] Figure 21 for Figure 15 A schematic diagram of the connecting seat and the cable take-up / delay structure.

[0028] The following are the labeling elements in the figure:

[0029] 100-Charging gun head; 11-Fixing base; 111-First fixing plate; 112-Second fixing plate; 113-Fixing post; 12-Gun head drive component; 121-Guide rod; 13-Gun head body; 14-Adaptive structure; 141-Guide block; 1410-Inclined guide surface; 1411-Allowing hole; 142-Adaptive drive component; 143-Connecting rod; 144-Elastic component; 145-First universal ball bearing; 146-Second universal ball bearing; 15-Lip structure; 151-Lip drive component; 152-Snap-on seat; 153-Snap-on body; 154-Contact switch;

[0030] 200 - Robotic arm body; 201 - Charging cable; 21 - Flexible telescopic module; 211 - First end plate; 212 - Second end plate; 213 - Third end plate; 214 - First fluid folding structure; 2141 - Fluid drive layer; 2142 - Support plate; 2143 - Fluid drive unit; 215 - Second fluid folding structure; 216 - Guide support structure; 2161 - First guide; 2162 - Second guide; 217 - First flexible telescopic module; 2 171-Sixth end plate; 2172-Seventh end plate; 2173-First folding unit group; 21731-First folding unit; 2174-Sliding guide assembly; 21741-First sleeve; 21742-Second sleeve; 218-Second flexible telescopic module; 22-Flexible bending module; 221-Fourth end plate; 222-Fifth end plate; 223-Rotational support structure; 2231-First connecting rod; 2232-Second connecting rod; 224-Third fluid folding structure Structure; 23-Second linear movement mechanism; 24-First linear movement mechanism; 25-Flexible rotary module; 251-First flexible rotary module; 2511-Eighth end plate; 2512-Ninth end plate; 2513-Second folding unit assembly; 25131-Second folding unit; 2514-Rotation support assembly; 25141-First socket; 25142-Second socket; 25143-Third sleeve; 252-Second flexible rotary module; 26-Wiring Constraint assembly; 261-Roller; 27-Take-up and unwinding structure; 271-Take-up and unwinding drive; 272-Clamping component; 273-Synchronizer; 281-Connecting seat; 282-Base; 283-Modible seat; 284-Drive unit; 2841-Fourth folding unit; 285-Guide assembly; 2851-Guide rail; 2852-Slider; 286-Electrical connection assembly; 2861-Conductive sleeve; 2862-Conductive column; 287-Column; 288-Power supply box.

[0031] 300-charging dock;

[0032] 400 - Fluid drive component; 41 - End wall; 42 - Flexible side wall; 421 - Folded structure; 4211 - Folded surface; 422 - Crease surface. Detailed Implementation

[0033] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0034] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0035] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0037] The adaptive structure 14 provided in this embodiment of the invention will now be described. The adaptive structure 14 can be used on the charging gun head 100 to guide the charging gun head 100 when it docks with the charging base 300. Even if there is a certain positional or angular deviation between the charging gun head 100 and the charging base 300 during docking, it can be compensated for by the adaptive structure 14. Therefore, the charging gun head 100 using the adaptive structure 14 has a certain docking redundancy when docking with the charging base 300, and the precision requirements of the robotic arm are correspondingly reduced.

[0038] Please refer to the following: Figure 1 and Figure 2 The adaptive structure 14 includes a fixed base 11, a guide block 141, a lip structure 15, and multiple adaptive drive components 142.

[0039] The fixed end of the adaptive drive component 142 is fixed to the fixed base 11, and the moving end of the adaptive drive component 142 is movably connected to the guide block 141. Since there are multiple adaptive drive components 142, the moving ends of each adaptive drive component 142 are connected to different positions on the guide block 141. When the displacements of the moving ends of each adaptive drive component 142 are the same, the position of the guide block 141 relative to the charging base 300 can be adjusted. When the displacements of the moving ends of each adaptive drive component 142 are different, the attitude of the guide block 141 can be adjusted, so that the guide block 141 can smoothly dock with the charging base 300.

[0040] The guide block 141 has an inclined guide surface 1410, which is used to guide the contact with the charging base 300. The inclined guide surface 1410 is set at an angle to the insertion direction of the gun head body 13, so that the inclined guide surface 1410 has the function of a guide ramp, thereby allowing the guide block 141 to enter the charging base 300 more smoothly.

[0041] The lip structure 15 is disposed on the guide block 141. After the guide block 141 is docked with the charging base 300, the lip structure 15 is used to engage with the charging base 300 to prevent the adaptive structure 14 from falling off the charging base 300.

[0042] The adaptive structure 14 in the above embodiment includes a fixed base 11, a guide block 141, a lip structure 15, and an adaptive drive component 142. The adaptive drive component 142 is used to drive the guide block 141 to move, and there are multiple adaptive drive components 142, all of which are movably connected to the guide block 141. By controlling the extension and retraction of each adaptive drive component 142, the guide block 141 can be adjusted to a position and posture that can directly mate with the charging base 300. In this way, when the adaptive structure 14 mates with the charging base 300, there is a certain degree of mate redundancy. By controlling each adaptive drive component 142, the placement angle of the guide block 141 can be automatically corrected, and the situation where the two are misaligned and cannot be automatically plugged in for charging will not occur.

[0043] In one embodiment of the present invention, please refer to Figure 1 The adaptive structure 14 also includes multiple connecting rods 143. One end of each connecting rod 143 is fixedly connected to the moving end of the adaptive drive component 142, and the other end of each connecting rod 143 is universally connected to the guide block 141. The arrangement of the connecting rods 143 allows for a certain distance between the adaptive drive component 142 and the guide block 141, facilitating the layout and installation of structures such as the gun head body 13, and also providing the guide block 141 with greater positional adjustment space.

[0044] Optionally, an elastic element 144 is fitted onto the connecting rod 143. One end of the elastic element 144 abuts against the connection between the connecting rod 143 and the adaptive drive element 142, and the other end of the elastic element 144 abuts against the connection between the connecting rod 143 and the guide block 141. The elastic element 144 makes the movement of the guide block 141 smoother and prevents the guide block 141 from shaking during adjustment. The elastic element 144 can be a spring.

[0045] The adaptive drive component 142 comprises multiple components, and the number of connecting rods 143 is the same as the number of adaptive drive components 142. Each adaptive drive component 142 is connected to one connecting rod 143, and the connection positions of each connecting rod 143 to the guide block 141 are different. The adaptive drive component 142 is a fluid-driven deformation component, and the fluid can be gas, liquid, etc. In other words, the adaptive drive component 142 can be a soft muscle or other structure capable of stretching and shortening.

[0046] Optionally, the guide block 141 is annular, with multiple adaptive drive components 142 circumferentially arranged around the centerline of the guide block 141, and multiple connecting rods 143 also circumferentially arranged around the centerline of the guide block 141. The connection positions of each connecting rod 143 and the guide block 141 are also circumferentially arranged around the centerline of the guide block 141. This allows for more precise adjustment of the position and orientation of the guide block 141. The number of adaptive drive components 142 and guide blocks 141 is not limited here; it can be two, three, four, etc.

[0047] The fixing base 11 includes a first fixing plate 111, a second fixing plate 112, and fixing posts 113. The first fixing plate 111 and the second fixing plate 112 are spaced apart and connected by fixing posts 113. That is, the two ends of the fixing posts 113 are connected to the first fixing plate 111 and the second fixing plate 112, respectively. Multiple fixing posts 113 can be used to make the connection between the first fixing plate 111 and the second fixing plate 112 more stable.

[0048] Optionally, the fixed end of the adaptive drive component 142 is fixed to the first fixed plate 111, and the second fixed plate 112 is used to support multiple connecting rods 143. One end of each connecting rod 143 near the adaptive drive component 142 passes through the second fixed plate 112 and is universally connected to it, so that the second fixed plate 112 only supports the connecting rods 143 and does not restrict their movement. All connecting rods 143 are universally connected to the second fixed plate 112, thus providing support and ensuring the stable movement of the guide block 141. Specifically, when the adaptive drive component 142 is working, the connecting rods 143 can slide relative to the second fixed plate 112, and the connecting rods 143 can rotate universally relative to the second fixed plate 112.

[0049] Optionally, the connecting rod 143 and the second fixing plate 112 are universally connected by a first universal ball bearing 145. The first universal ball bearing 145 can be fixed to the second fixing plate 112, and the connecting rod 143 passes through the spherical structure of the first universal ball bearing 145.

[0050] Optionally, the connecting rod 143 and the guide block 141 are universally connected via a second universal ball bearing 146.

[0051] In one embodiment of the present invention, please refer to Figure 2 The lip-tongue structure 15 includes a lip-tongue drive member 151 and a latching seat 152. The lip-tongue drive member 151 drives the latching seat 152 to move. The latching seat 152 has a latching body 153, which can engage with the charging base 300. After the guide structure and the charging base 300 come into contact, the lip-tongue drive member 151 extends, causing the latching seat 152 to move toward the charging base 300, thereby engaging the latching body 153 with the charging base 300. One end of the lip-tongue drive member 151 is fixed to the guide block 141, and the other end is fixed to the latching seat 152. The guide block 141 is annular, and the lip-tongue structure 15 can be disposed on the peripheral wall of the guide block 141. The latching body 153 moves toward the annular interior of the guide block 141 and engages with the charging base 300.

[0052] Optionally, the lip and tongue actuator 151 is a actuator that deforms by a fluid, such as a gas or liquid. That is, the lip and tongue actuator 151 can be a structure such as a soft muscle capable of stretching and shortening. The lip and tongue actuator 151 can also be a cylinder, a linear motor, or the like.

[0053] Optionally, the guide block 141 is provided with a clearance hole 1411. When the lip-tongue drive 151 drives the latch seat 152 to move, the latch body 153 will pass through the clearance hole 1411 and enter the annular interior of the guide block 141. The clearance hole 1411 is used for the latch body 153 to pass through. The lip-tongue structure 15 also includes a contact switch 154, which is fixed on the latch seat 152. After the latch body 153 and the charging base 300 are engaged, the contact switch 154 will contact the guide block 141. When the contact switch 154 is triggered, it will feed back a trigger signal to the control system. The control system will perform the next operation based on the feedback information. In order to prevent the contact switch 154 from accidentally triggering and feeding back incorrect information, there can be two contact switches 154, which are respectively arranged on opposite sides of the latch body 153.

[0054] Please see Figures 3 to 5 The present invention also provides a charging gun head 100, which includes the adaptive structure 14 in any of the above embodiments. The charging gun head 100 also includes a gun head body 13 and a gun head drive member 12. The fixed end of the gun head drive member 12 is fixed to the fixed base 11, and the moving end of the gun head drive member 12 is connected to the gun head body 13.

[0055] Specifically, in the initial state, the lip structure 15 is in a retracted state, the gun head drive 12 is in a retracted state, and the adaptive drive 142 is in a natural state (when the adaptive drive 142 is filled with gas, it is connected to the atmosphere). When the charging gun head 100 is inserted into the charging base 300, the robotic arm body 200 moves the charging gun head 100 close to the charging base 300, that is, the guide block 141 contacts the charging base 300, then the lip structure 15 and the charging base 300 engage with each other, multiple adaptive drives 142 work to adjust the placement angle and spatial position of the guide block 141 so that the charging gun head 100 and the charging base 300 are facing each other. Finally, the gun head drive 12 extends to drive the gun head body 13 to move toward the charging base 300 body and insert into the charging base 300. After charging is complete, the gun head drive 12 retracts, causing the gun head body 13 to detach from the charging base 300. Then, the lip structure 15 detaches from the charging base 300, and the robotic arm removes the entire charging gun head 100 from the charging base 300.

[0056] The charging gun head 100 provided by this invention adopts the aforementioned adaptive structure 14. Multiple adaptive drive members 142 drive the guide block 141 to move. Each adaptive drive member 142 is movably connected to the guide block 141. By controlling the extension and retraction of each adaptive drive member 142, the guide block 141 can be adjusted to a position and posture that allows it to directly align with the charging base 300. Thus, when the adaptive structure 14 aligns with the charging base 300, there is a certain degree of alignment redundancy. By controlling each adaptive drive member 142, the placement angle of the guide block 141 can be automatically corrected, preventing misalignment and ensuring automatic charging connection.

[0057] In one embodiment of the present invention, please refer to Figure 3 and Figure 5 The mounting base 11 includes a first mounting plate 111, a second mounting plate 112, and a mounting post 113. The first mounting plate 111 and the second mounting plate 112 are spaced apart and connected by the mounting post 113. The gun head drive component 12 is disposed between the first mounting plate 111 and the second mounting plate 112. The fixed end of the gun head drive component 12 can be fixedly mounted on the first mounting plate 111 or the second mounting plate 112, and the moving end of the gun head drive component 12 is connected to the gun head body 13.

[0058] Optionally, the charging gun head 100 also includes a guide rod 121. One end of the guide rod 121 is fixed to the moving end of the first driving member, and the other end of the guide rod 121 passes through the second fixing plate 112 and is fixedly connected to the gun head body 13. The second fixing plate 112 and the guide rod 121 guide and cooperate with each other, so that the guide rod 121 drives the gun head body 13 to move linearly. There can be multiple guide rods 121, which can be arranged around the central axis of the gun head body 13, so that the linear movement of the gun head body 13 can be more stable.

[0059] In one embodiment of the present invention, the gun head drive member 12 is a fluid-driven deformation member, and the fluid can be gas, liquid, etc. That is, the gun head drive member 12 can be a structure such as a soft muscle capable of stretching and shortening. Multiple gun head drive members 12 can be arranged around the central axis of the gun head body 13, making the movement of the gun head body 13 more stable. Synchronized movement of multiple gun head drive members 12 allows the gun head body 13 to be stably pushed.

[0060] In one embodiment of the present invention, please refer to Figure 6 At least one of the adaptive actuator 142, the lip and tongue actuator 151, and the nozzle actuator 12 includes a fluid actuator 400 capable of stretching and deforming. The fluid actuator 400 may include two end walls 41, flexible side walls 42, and an opening. The flexible side walls 42 and the two end walls 41 can enclose a cylindrical cavity with a central axis. The flexible side walls 42 may be designed as or include multi-layered folded structures 421. Each layer of folded structure 421 may have a folded surface 4211. A crease surface 422 may be formed at the junction of the folded surfaces 4211 of adjacent layers of folded structure 421. The crease surface 422 may include one or more creases, particularly multiple circumferentially continuous creases. The opening may be provided on the flexible side walls 42 or the end walls 41. The opening can be used to allow fluid to enter and exit the cavity to change the pressure difference between the inside and outside of the cavity and to compress or extend the folded structures 421 to drive the movement of the end walls 41 of the soft muscle.

[0061] Please see Figures 7 to 10 The present invention also provides a charging robotic arm, which includes the charging gun head 100 in any of the above embodiments. The charging robotic arm also includes a robotic arm body 200, with the charging gun head 100 connected to one end of the robotic arm body 200. The other end of the robotic arm body 200 can be fixedly mounted or connected to a robot. The robotic arm body 200 is used to control the movement of the charging gun head 100, enabling the charging gun head 100 to move to the vicinity of the charging base 300 and engage with it.

[0062] The charging robotic arm provided by the present invention adopts the charging gun head 100 mentioned above. When the charging gun head 100 is docked with the charging base 300, it has a certain docking redundancy. By controlling each adaptive drive component 142, the placement angle of the guide block 141 can be automatically corrected, and there will be no situation where the two are misaligned and cannot be automatically plugged in for charging.

[0063] In one embodiment of the present invention, please refer to Figure 7 The robotic arm body 200 includes at least one of a flexible bending module 22, a flexible telescopic module 21, and a flexible rotating module 25. The flexible bending module 22, flexible telescopic module 21, and flexible rotating module 25 can be rigid modules or deformable flexible modules. The flexible bending module 22 enables the bending function of the robotic arm body 200, the flexible telescopic module 21 enables the telescopic function of the robotic arm body 200, and the flexible rotating module 25 enables the rotation function of the robotic arm body 200. Through the free combination of the flexible bending module 22, flexible telescopic module 21, and flexible rotating module 25, the robotic arm body 200 can become a multi-axis robotic arm, allowing the charging gun head 100 to have a wider range of motion.

[0064] In one embodiment of the present invention, please refer to Figure 7 The robotic arm body 200 includes a flexible arm segment, which comprises a flexible bending module 22 and a flexible telescopic module 21 connected in sequence. The charging gun head 100 is connected to the end of the flexible telescopic module 21 away from the flexible bending module 22, enabling the robotic arm body 200 to have bending and telescopic functions. The number of flexible bending modules 22 and flexible telescopic modules 21 can be multiple. For example, multiple flexible bending modules 22 connected in series can increase the bending angle of the robotic arm body 200, and multiple flexible telescopic modules 21 connected in series can increase the telescopic length of the robotic arm body 200.

[0065] Optionally, the robotic arm body 200 also includes a flexible rotation module, which can be disposed between the flexible bending module 22 and the flexible telescopic module 21, or between the flexible telescopic module 21 and the charging gun head 100, for controlling the rotation of the charging gun head 100.

[0066] Optionally, the robotic arm body 200 further includes a first linear motion mechanism 24 and a second linear motion mechanism 23. The first linear motion mechanism 24 can be fixed to a mounting surface or to the robot. The first linear motion mechanism 24, the second linear motion mechanism 23, the flexible bending module 22, the flexible telescopic module 21, and the charging gun head 100 are connected in sequence. The movement direction of the moving end of the first linear motion mechanism 24 and the movement direction of the moving end of the second linear motion mechanism 23 can be set perpendicular to each other. For example, the movement direction of the moving end of the first linear motion mechanism 24 is horizontal, and the movement direction of the moving end of the second linear motion mechanism 23 is vertical.

[0067] Optionally, the first linear motion mechanism 24 and the second linear motion mechanism 23 are mechanisms capable of outputting linear motion, such as lead screw mechanisms, conveyor belt mechanisms, worm gear mechanisms, and rack and pinion mechanisms.

[0068] Among them, the first linear movement mechanism 24 and the second linear movement mechanism 23 are both rigid modules, while the flexible bending module 22 and the flexible telescopic module 21 are both flexible modules. The setting of flexible modules can make the charging robot arm suitable for harsh working environments and can also make the movement range of the charging gun head 100 wider. Adding rigid modules on the basis of flexible modules can improve the positioning accuracy, load capacity and stability of the charging robot arm.

[0069] In one embodiment of the present invention, please refer to Figure 8 and Figure 11 The flexible telescopic module 21 can extend or shorten. The flexible telescopic module 21 includes a first end plate 211, a second end plate 212, and a third end plate 213 arranged sequentially, as well as a first fluid folding structure 214, a second fluid folding structure 215, and a guide support structure 216. The two ends of the first fluid folding structure 214 are fixed to the first end plate 211 and the second end plate 212, respectively, and the two ends of the second fluid folding structure 215 are fixed to the second end plate 212 and the third end plate 213, respectively. The guide support structure 216 supports and guides the first fluid folding structure 214 and the second fluid folding structure 215, ensuring their stability and preventing collapse or deformation during extension and contraction. Both the first fluid folding structure 214 and the second fluid folding structure 215 are driven to extend and contract by a fluid such as gas or liquid.

[0070] When the first fluid folding structure 214 and the second fluid folding structure 215 extend simultaneously, the flexible telescopic module 21 extends; when the first fluid folding structure 214 and the second fluid folding structure 215 shorten simultaneously, the flexible telescopic module 21 shortens.

[0071] In one embodiment of the present invention, please refer to Figure 8and Figure 11 The guide support structure 216 includes a first guide member 2161 and a second guide member 2162. One end of the first guide member 2161 is fixed to a first end plate 211, and the other end of the first guide member 2161 passes through a second end plate 212 and is slidably connected to the second end plate 212. One end of the second guide member 2162 is fixed to a third end plate 213, and the other end of the second guide member 2162 passes through a second end plate 212 and is slidably connected to the second end plate 212. Thus, when the first fluid folding structure 214 and the second fluid folding structure 215 extend and shorten, the first guide member 2161 and the second guide member 2162 can respectively guide and support the first fluid folding structure 214 and the second fluid folding structure 215.

[0072] Optionally, there may be multiple first guide members 2161, circumferentially distributed on the first end plate 211, so that the first fluid folding structure 214 can be uniformly guided and supported at all positions. For example, there may be two, three, four, etc., of the first guide members 2161. The first guide members 2161 may be rod-shaped structures and slidably connected to the second end plate 212.

[0073] Optionally, there may be multiple second guide members 2162, circumferentially distributed on the second end plate 212, so that the second fluid folding structure 215 can be uniformly guided and supported at all positions. For example, there may be two, three, four, etc., of the second guide members 2162. The second guide members 2162 may be rod-shaped structures and slidably connected to the second end plate 212.

[0074] In one embodiment of the present invention, please refer to Figure 8Both the first fluid folding structure 214 and the second fluid folding structure 215 include multiple fluid driving units 2143, which are arranged side by side. The arrangement of multiple fluid driving units 2143 makes the extension and retraction of the flexible telescopic module 21 more stable, and allows the flexible telescopic module 21 to extend to a longer length. Specifically, each fluid driving unit 2143 of the first fluid folding structure 214 has one end fixed to the first end plate 211 and the other end fixed to the second end plate 212. Each fluid driving unit 2143 of the second fluid folding structure 215 has one end fixed to the second end plate 212 and the other end fixed to the third end plate 213. The multiple fluid driving units 2143 of the first fluid folding structure 214 and the multiple fluid driving units 2143 of the second fluid folding structure 215 can be arranged circumferentially. The fluid driving units 2143 of the first fluid folding structure 214 and the fluid driving units 2143 of the second fluid folding structure 215 can be arranged facing each other. In other embodiments, the first fluid folding structure 214 may also include a fluid driving unit 2143, and the second fluid folding structure 215 may also include a fluid driving unit 2143.

[0075] In one embodiment of the present invention, please refer to Figure 11 Both the first fluid folding structure 214 and the second fluid folding structure 215 include multiple fluid driving layers 2141, which are arranged sequentially along their extension and contraction directions. The arrangement of multiple fluid driving layers 2141 allows the flexible telescopic module 21 to have a longer stroke. Support plates 2142 are provided between adjacent fluid driving layers 2141, making the structures of adjacent fluid driving layers 2141 more stable and increasing stability during the extension and contraction process. Each fluid driving layer 2141 includes multiple fluid driving units 2143 arranged in parallel, which can be circumferentially distributed. In one of the fluid driving layers 2141 of the first fluid folding structure 214, one end of each fluid driving unit 2143 is fixedly connected to a support plate 2142, and the other end is fixedly connected to another support plate 2142, a first end plate 211, or a second end plate 212. In other embodiments, the fluid driving layer 2141 may also include a single fluid driving unit 2143.

[0076] Optionally, the fluid drive unit 2143 is a fluid-driven structure capable of folding and deforming, making it easier to extend and shorten.

[0077] In one embodiment of the present invention, please refer to Figure 9The flexible bending module 22 includes a fourth end plate 221, a fifth end plate 222, a third fluid folding structure 224, and a rotational support structure 223. The two ends of the third fluid folding structure 224 are connected to the fourth end plate 221 and the fifth end plate 222, respectively. The rotational support structure 223 supports the third fluid folding structure 224 and prevents it from collapsing. The flexible bending module 22 is capable of bending and deformation; that is, the fourth end plate 221 and the fifth end plate 222 can rotate relative to each other. The rotational support structure 223 maintains the relative rotation of the fourth end plate 221 and the fifth end plate 222 and ensures that the third fluid folding structure 224 does not collapse.

[0078] Optionally, the rotating support structure 223 includes a first connecting rod 2231 and a second connecting rod 2232. One end of the first connecting rod 2231 is fixedly connected to the fourth end plate 221, and the other end of the first connecting rod 2231 is rotatably connected to the second connecting rod 2232. The end of the second connecting rod 2232 away from the first connecting rod 2231 is fixedly connected to the fifth end plate 222. Thus, the first connecting rod 2231 and the second connecting rod 2232 enable the rotatable connection between the fourth end plate 221 and the fifth end plate 222. The rotation of the fourth end plate 221 and the fifth end plate 222 is driven by the folding deformation of the third fluid folding structure 224. In this embodiment, the flexible bending module 22 can be directionally bent. Optionally, rotating support structures 223 are provided on both sides of the third fluid folding structure 224 to make the bending deformation of the flexible bending module 22 more stable, or the rotating support structure 223 is located at the center of the third fluid folding structure 224.

[0079] Optionally, the rotating support structure 223 is a ball joint structure or a cross joint structure. One end of the ball joint structure is fixedly connected to the fourth end plate 221, and the other end is fixedly connected to the fifth end plate 222, so that the fourth end plate 221 and the fifth end plate 222 are universally connected, allowing the flexible bending module 22 to bend in any direction.

[0080] In one embodiment provided by the present invention, please refer to Figure 7 The charging robotic arm also includes a vision module, which is used to take pictures of the connection point between the charging gun head 100 and the charging base 300, obtain the relative position of the charging gun head 100 and the charging base 300, so that the robotic arm body 200 and the charging gun head 100 can automatically move to the charging base 300 and dock with the charging gun head 100 and the charging base 300. The vision module can be a camera, etc.

[0081] Optionally, the radial distance between the vision module and the robotic arm body 200 is greater than 1 / 3 of the radius of the outer cylinder of the robotic arm body 200, so that the vision module has a better field of view and can take pictures of the connection between the charging gun head 100 and the charging base 300.

[0082] In one embodiment provided by the present invention, please refer to Figure 10 The robotic arm body 200 includes a flexible telescopic module 21, a flexible rotation module 25, a flexible bending module 22, and a flexible telescopic module 21 connected in sequence. The first flexible telescopic module 21 is connected to the charging gun head 100. The flexible telescopic module 21 can be any of the flexible telescopic modules 21 described in the above embodiments, and the flexible bending module 22 can be any of the flexible bending modules 22 described in the above embodiments.

[0083] In one embodiment provided by the present invention, please refer to Figure 12 and Figure 13 The robotic arm body 200 includes a charging cable 201, which passes through the robotic arm body 200 and is electrically connected to the charging gun head 100. One end of the charging cable 201 facing away from the charging gun head 100 is fixedly set. The robotic arm body 200 can adjust the position and attitude of the charging gun head 100 under fluid drive to realize the movable insertion and removal of the charging gun head 100 and the charging base 300.

[0084] The end of the charging cable 201 facing away from the charging gun head 100 is electrically connected to the power box of the charging pile, thereby realizing the electrical connection between the charging gun head and the power box. When the charging gun head is plugged into the charging socket 300 on the car, the car can be charged through the power box.

[0085] The end of the charging cable 201 facing away from the charging gun head 100 is fixed to the power box of the charging pile. During the process of the robotic arm body 200 driving the charging gun head 100 to adjust its position and attitude, the trajectory movement of the charging cable 201 is consistent with the trajectory movement of the robotic arm body 200, so as to ensure that the charging cable 201 can be electrically connected to the power box and the charging gun head 100 in real time.

[0086] By setting the charging gun head 100 at the end of the robotic arm body 200, and the robotic arm body 200 can adjust the position and attitude of the charging gun head 100 under fluid drive to realize the movable insertion and removal of the charging gun head 100 and the charging base 300. The position and attitude adjustment of the charging gun head 100 can be carried out under fluid drive, which has a small impact force and is less harmful to the vehicle body or people. At the same time, fluid drive generally only requires an air pump equipped with some valves. The material cost of air pump and valves is greatly reduced compared with the motor of rigid robotic arm in the prior art, thereby reducing the material cost of charging robotic arm and even charging pile. Furthermore, by using a heavy charging cable 201 that runs through the robotic arm body 200, this application achieves two advantages: firstly, the charging cable 201 is not exposed outside the robotic arm body 200, thus not affecting the appearance; secondly, because the charging cable 201 runs through the robotic arm body 200, it makes it easier and less strenuous for the robotic arm body 200 to drive the charging cable 201, thereby reducing the load on the robotic arm body 200 and making the movement of the robotic arm body 200 more flexible.

[0087] In one embodiment, see Figure 14 and Figure 15 The robotic arm body 200 includes an adjustment section (not shown) and a plug-in section (not shown) connected to each other; the adjustment section is used to adjust the position of the charging gun head 100; the plug-in section is connected between the adjustment section and the charging gun head 100, and is used to adjust the posture of the charging gun head 100 and realize the plugging and unplugging of the charging gun head 100 and the charging base 300.

[0088] During charging, the position of the charging gun head 100 is first adjusted to align with the charging base 300 via the adjustment section. Then, the posture of the charging gun head 100 is adjusted via the plug-in section so that the plug-in direction of the charging gun head 100 and the charging base 300 are consistent. Finally, the plug-in section enables the charging gun head 100 and the charging base 300 to be plugged and unplugged.

[0089] In one embodiment, see Figure 14 and Figure 15The robotic arm body 200 includes two flexible rotating modules 25, two flexible telescopic modules 21, and one flexible bending module 22. The two flexible rotating modules 25 are respectively the first flexible rotating module 251 and the second flexible rotating module 252, and the two flexible telescopic modules 21 are respectively the first flexible telescopic module 217 and the second flexible telescopic module 218. The adjustment section includes the first flexible rotating module 251, the first flexible telescopic module 217, and the flexible bending module 22 arranged in series. The insertion section includes the second flexible rotating module 252 and the second flexible telescopic module 218 arranged in series. The second flexible telescopic module 218 is connected between the second flexible rotating module 252 and the charging gun head 100, and is used to realize the movable insertion and removal of the charging gun head 100 and the charging base 300.

[0090] The telescopic direction of the first flexible telescopic module 217 and the telescopic direction of the second flexible telescopic module 218 can be perpendicular to each other; the rotation axis of the first flexible rotating module 251, the bending axis of the flexible bending module 22 and the rotation axis of the second flexible rotating module 252 can be perpendicular to each other.

[0091] Furthermore, in this embodiment, the first flexible rotating module 251, the first flexible telescopic module 217, and the flexible bending module 22 are arranged in series. It can be understood that in other embodiments of this application, the order of the first flexible rotating module 251 and the first flexible telescopic module 217 can be changed, and no special limitation is made here.

[0092] On the one hand, the first flexible rotation module 251, the first flexible telescopic module 217, and the flexible bending module 22 are used to adjust the posture of the charging gun head 100. For example, the first flexible rotation module 251 is used to rotate the charging gun head 100 to face the charging base 300, the flexible bending module 22 is used to further bend the charging gun head 100 to face the charging base 300, and the first flexible telescopic module 217 is used to adjust the height of the charging gun head 100 to correspond to the height of the charging base 300, so that the charging gun head 100 and the charging base 300 are set facing each other.

[0093] On the other hand, the second flexible rotating module 252 is used to adjust the posture of the charging gun head 100, specifically by rotating the charging gun head 100 so that the insertion direction of the charging gun head 100 and the charging base 300 are consistent; the second flexible telescopic module 218 is connected between the second flexible rotating module 252 and the charging gun head 100, and the second flexible telescopic module 218 is used to extend and retract along the insertion and removal direction of the charging base 300 to realize the active insertion and removal of the charging gun head 100 and the charging base 300.

[0094] In one embodiment, the first flexible telescopic module 217 and the second flexible telescopic module 218 can be the flexible telescopic module 21 in any of the above embodiments. The structures of the first flexible telescopic module 217 and the second flexible telescopic module 218 can be the same. The following description takes the first flexible telescopic module 217 as an example.

[0095] Please see Figure 16 and Figure 17 The first flexible telescopic module 217 includes a sixth end plate 2171, a seventh end plate 2172, a first folding unit group 2173, and a sliding guide assembly 2174. The sixth end plate 2171 and the seventh end plate 2172 are spaced apart. The first folding unit group 2173 is located between the sixth end plate 2171 and the seventh end plate 2172, and includes at least one first folding unit 21731. One end of the first folding unit 21731 is fixed to the sixth end plate 2171, and the other end is fixed to the seventh end plate 2172. When there is only one first folding unit 21731, the first folding unit 21731 can be fluid-driven to linearly extend and retract to move the sixth end plate 2171 and the seventh end plate 2172. 72. When there are at least two first folding units 21731, at least two first folding units 21731 can be fluid-driven to synchronously extend and retract linearly, so as to drive the sixth end plate 2171 and the seventh end plate 2172 to move closer or further apart, thereby realizing the extension and retraction adjustment of the first flexible telescopic module 217; the sliding guide component 2174 connects the sixth end plate 2171 and the seventh end plate 2172, and the sliding guide component 2174 is used to provide mechanical support between the sixth end plate 2171 and the seventh end plate 2172 during the extension and retraction of multiple first folding units 21731. It is understood that in other embodiments of this application, the first flexible telescopic module 217 and the second flexible telescopic module 218 can also be linearly extended and retracted by pull rope or rigid drive, which is not limited here.

[0096] Please see Figure 17 The sliding guide assembly 2174 includes a first sleeve 21741 and a second sleeve 21742. One end of the first sleeve 21741 is fixedly connected to the sixth end plate 2171, and one end of the second sleeve 21742 is fixedly connected to the seventh end plate 2172. The other end of the first sleeve 21741 is slidably inserted into the other end of the second sleeve 21742. When the sixth end plate 2171 and the seventh end plate 2172 approach or move away from each other, the other end of the first sleeve 21741 slides in the other end of the second sleeve 21742. Thus, the sliding guide and rigid support between the sixth end plate 2171 and the seventh end plate 2172 can be achieved through the first sleeve 21741 and the second sleeve 21742.

[0097] In this application, to enable the charging cable 201 to pass through the robotic arm body 200, that is, to enable the charging cable 201 to sequentially pass through the first flexible rotating module 251, the first flexible telescopic module 217, the flexible bending module 22, the second flexible rotating module 252, and the second flexible telescopic module 218, this application connects the center of the first sleeve 21741 to the center of the sixth end plate 2171, and sets the first sleeve 21741 to be hollow, so that the charging cable 201 can pass through the first sleeve 21741.

[0098] In addition, please see Figure 17 In this embodiment, each first folding unit 21731 is arranged in a ring and encircled by the first sleeve 21741. Specifically, the first folding unit 21731 is a first folding airbag. Along the radial direction of the first sleeve 21741, there is one first folding airbag. Along the axial direction of the first sleeve 21741, multiple first folding airbags arranged in series can be arranged, depending on the extendable length of each first folding airbag and design requirements. For example, the first flexible telescopic module 217 has three first folding airbags arranged in series along the axial direction of the first sleeve 21741, and the second flexible telescopic module 218 has two first folding airbags arranged in series along the axial direction of the first sleeve 21741. It is understood that in other embodiments of this application, two or more first folding airbags may be distributed radially along the first sleeve 21741; or, one, four, or more first folding airbags arranged in series may be distributed along the axial direction of the first sleeve 21741. This is not a unique limitation.

[0099] In one embodiment, the first flexible rotating module 251 and the second flexible rotating module 252 may have the same structure. The following description uses the first flexible rotating module 251 as an example.

[0100] Please see Figure 18 and Figure 19The first flexible rotating module 251 includes an eighth end plate 2511, a ninth end plate 2512, a second folding unit group 2513, and a rotating support assembly 2514. The eighth end plate 2511 and the ninth end plate 2512 are opposite to and spaced apart. The second folding unit group 2513 is located between the eighth end plate 2511 and the ninth end plate 2512. The second folding unit group 2513 includes at least one circumferentially spaced second folding units 25131. The second folding units 25131 extend circumferentially, with one end of each circumferentially fastened to the eighth end plate 2511, and the other end fastened to the ninth end plate. 2512, the second folding unit 25131 can extend and retract circumferentially under fluid drive, thereby driving the eighth end plate 2511 and the ninth end plate 2512 to rotate relative to each other; the rotation support assembly 2514 is connected between the eighth end plate 2511 and the ninth end plate 2512, and the rotation support assembly 2514 is used to realize the rotational guidance and mechanical support of the eighth end plate 2511, the ninth end plate 2512 and the second folding unit 25131 during the relative rotation of the eighth end plate 2511 and the ninth end plate 2512.

[0101] Specifically, the rotary support assembly 2514 includes a first sleeve portion 25141 extending from the center of the eighth end plate 2511 toward the ninth end plate 2512, a second sleeve portion 25142 extending from the center of the ninth end plate 2512 toward the eighth end plate 2511, and a third sleeve 25143 connecting the first sleeve portion 25141 and the second sleeve portion 25142. One end of the third sleeve 25143 is inserted and rotatably engaged with the first sleeve portion 25141, and the other end of the third sleeve 25143 is inserted and rotatably engaged with the second sleeve portion 25142. The opposite ends of the third sleeve 25143 axially abut against the first sleeve portion 25141 and the second sleeve portion 25142, thereby achieving rotary guidance and mechanical support for the eighth end plate 2511 and the ninth end plate 2512. In addition, the first socket 25141, the third sleeve 25143 and the second socket 25142 are connected sequentially along the axial direction, thereby providing support and guidance for the conductive wire to pass through the first flexible rotating module 251 and the second flexible rotating module 252.

[0102] Optionally, the second folding unit group 2513 includes two second folding units 25131 arranged circumferentially. Each second folding unit 25131 is a second folding airbag extending circumferentially. The two second folding airbags can synchronously expand and contract circumferentially under fluid drive, thereby causing the ninth end plate 2512 to rotate relative to the eighth end plate 2511. It is understood that in other embodiments of this application, the above-mentioned second folding unit group 2513 may also include one, three, or more second folding airbags; this is not a unique limitation.

[0103] In one embodiment, see Figure 12 and Figure 13 The charging robotic arm also includes a base 282 and a movable seat 283. The end of the robotic arm body 200 facing away from the charging gun head 100 is mounted on the movable seat 283. The movable seat 283 can be driven by a drive unit 284 to slide on the base 282. The sliding direction of the movable seat 283, the extension direction of the first flexible telescopic module 217, and the extension direction of the second flexible telescopic module 218 can be mutually perpendicular. That is, by driving the movable seat 283 on the base 282 through the drive unit 284, the robotic arm body 200 can slide along the Y-direction, thereby adjusting the position of the charging gun head 100 along the Y-direction. Thus, when parking a car, the car can be parked at a distance from the charging gun head 100 along the Y-direction. Then, by sliding the movable seat 283, the charging gun head 100 can be moved along the Y-direction and aligned with the car's charging dock 300 along the Y-direction. This arrangement facilitates parking and prevents damage to the charging robotic arm caused by improper parking.

[0104] Optionally, the drive unit 284 is a fluid-driven structure. Specifically, the drive unit 284 includes two fluid-driven, extendable fourth folding units 2841. One of the two fourth folding units 2841 is fixedly disposed, and the other ends of the two fourth folding units 2841 are connected to each other. Movable seats 283 are respectively connected to the ends of the two fourth folding units 2841. When the two fourth folding units 2841 are fluid-driven to extend or retract, they can drive the movable seats 283 to slide on the base 282. It can be understood that in other embodiments of this application, the drive unit 284 may also include a fluid-driven, extendable fourth folding unit 2841. One end of the fourth folding unit 2841 is connected to the movable seat 283, and the other end of the fourth folding unit 2841 is fixedly disposed. When the fourth folding unit 2841 is fluid-driven to extend or retract, it can drive the movable seat 283 to slide on the base 282. Furthermore, in other embodiments, the drive unit 284 may also be a rigid drive structure, such as a linear cylinder drive, a linear motor drive, or a ball screw drive.

[0105] The fourth folding unit 2841 is a fourth folding airbag that can be expanded and contracted by fluid.

[0106] In addition, please see Figure 12A guide assembly 285 is also provided between the base 282 and the movable seat 283. The guide assembly 285 includes a slider 2852 and a guide rail 2851. The guide rail 2851 is located on the base 282 and extends along the Y direction. The slider 2852 is located on the end of the robotic arm body 200 away from the charging gun head 100. When the two fourth folding units 2841 extend or retract, the slider 2852 slides along the guide rail 2851, thereby guiding the sliding of the robotic arm body 200.

[0107] In this application, the robotic arm body 200 achieves the adjustment of five degrees of freedom of the charging gun head 100 through five joints, namely the first flexible telescopic module 217, the second flexible telescopic module 218, the first flexible rotation module 251, the flexible bending module 22 and the second flexible rotation module 252, thereby achieving precise docking between the charging gun head 100 and the charging base 300. Specifically, the first flexible telescopic module 217 extends along the Z direction, the first flexible rotating module 251 rotates around the Z axis, the flexible bending module 22 rotates around the Y axis, the second flexible telescopic module 218 extends along the X direction, and the second flexible rotating module 252 rotates around the X axis. This allows the charging gun head 100 to achieve five degrees of freedom: extending along the X direction, extending along the Z direction, rotating around the X axis, rotating around the Y axis, and rotating around the Z axis. In addition, the drive unit 284 drives the movable seat 283 to slide along the Y direction on the base 282, thereby enabling the robotic arm body 200 and the charging gun head 100 to slide along the Y direction, thus achieving six degrees of freedom for the charging gun head 100. Understandably, in other embodiments of this application, depending on the actual application scenario of the robotic arm body 200, the robotic arm body 200 may include only the second flexible rotation module 252 and the second flexible telescopic module 218 to realize the attitude adjustment and active insertion and removal of the charging gun head 100. Alternatively, at least one of the first flexible rotation module 251, the first flexible telescopic module 217 and the flexible bending module 22 may be added to the second flexible rotation module 252 and the second flexible telescopic module 218 to realize the precise insertion and removal of the charging gun head 100. This is not a unique limitation.

[0108] In one embodiment, see Figure 14 and Figure 20The second flexible telescopic module 218 includes an electrical connection component 286, which connects the charging gun head 100 to the charging cable 201. In practical applications, the charging cable 201 may be used to transmit AC or DC power. When the charging cable 201 is used to transmit DC power, it is relatively thick, which can cause inconvenience when the cable retracts or extends along with the second flexible telescopic module 218 at the insertion section. Therefore, the electrical connection component 286 can be provided within the second flexible telescopic module 218 to connect the charging gun head 100 and the charging cable 201, extending the charging gun head 100 into the second flexible telescopic module 218. This allows the charging gun head 100 to move flexibly, facilitating precise docking between the charging gun head 100 and the charging base 300.

[0109] Please see Figure 20 The electrical connection assembly 286 includes a conductive sleeve 2861 and a conductive post 2862. One end of the conductive sleeve 2861 is fixedly connected to one end of the second flexible telescopic module 218 and electrically connected to the charging cable 201. Specifically, one end of the conductive sleeve 2861 is fixedly connected to the sixth end plate 2171, and one end of the conductive post 2862 is fixedly connected to the other end of the second flexible telescopic module 218 and electrically connected to the charging gun head 100. Specifically, one end of the conductive post 2862 is fixedly connected to the seventh end plate 2172, and the other end of the conductive sleeve 2861 is slidably inserted into the other end of the conductive post 2862. In this embodiment, the electrical connection between the conductive sleeve 2861 and the conductive post 2862 is achieved through the electrical connection between the charging cable 201 and the charging gun head 100. The sliding connection between the conductive sleeve 2861 and the conductive post 2862 allows the electrical connection component 286 to extend and retract along with the extension and retraction of the second flexible telescopic module 218, ensuring a good electrical connection between the charging cable 201 and the charging gun head 100. Furthermore, since the second flexible telescopic module 218 has a guiding telescopic support for the electrical connection component 286, the sliding guide component 2174 can be omitted from the second flexible telescopic module 218.

[0110] Understandably, in other embodiments of this application, when the charging cable 201 is used to transmit AC power, the charging cable 201 is relatively light and the charging gun head 100 is sufficient to support the charging cable 201. There is no need to set the electrical connection component 286 in the second flexible telescopic module 218. Instead, the charging cable 201 is directly extended to be electrically connected to the charging gun head 100. This is not the only possible embodiment.

[0111] In one embodiment provided by the present invention, please refer to Figure 8At least one of the flexible bending module 22 and the flexible telescopic module 21 includes a wiring constraint component 26. The wiring constraint component 26 is used to constrain the charging cable 201, and the wiring constraint component 26 is disposed inside the corresponding module. The wiring constraint components 26 in different modules are respectively used to slide and engage with the charging cable 201 at different positions along its extension direction to guide and support the wiring of the charging cable 201.

[0112] Optionally, a set of wiring constraint components 26 is provided on each of the two end plates of each module, so that the charging cable 201 can be guided and supported when passing through each joint, thereby making the wiring of the charging cable 201 stable within the flexible arm segment.

[0113] For details, please refer to Figures 3 to 5 The wiring constraint component 26 includes multiple rollers 261, each roller 261 being able to roll within its corresponding module. Each roller 261 is used to slide and engage with different circumferential positions of the charging cable 201 to limit the radial movement of the charging cable 201, thereby guiding the wiring of the charging cable 201.

[0114] Among them, the inner sides of two, three, four or more rollers 261 can be enclosed to form an accommodating space, thereby achieving radial positioning of the charging cable 201.

[0115] Optionally, the rollers 261 are rotatably mounted on corresponding shafts. When the charging cable 201 passes through each roller 261, it drives the rollers 261 to rotate on the shafts, thereby guiding the charging cable 201 through the rollers 261. It is understood that in other embodiments of this application, the above-mentioned wiring constraint component 26 may also be a slip ring mounted on the end plate of each module and sleeved on the charging cable 201, which is not the only limitation here.

[0116] In one embodiment of the present invention, please refer to Figure 21 A cable retraction structure 27 is provided at the end of the flexible arm away from the charging actuator. The cable retraction structure 27 is used to retract and extend the charging cable 201 so that the charging cable 201 and the flexible arm extend and retract synchronously. In this embodiment, the cable retraction structure 27 enables the charging cable 201 and the flexible arm to retract synchronously, preventing the charging cable 201 from being pulled apart because it does not extend when the flexible arm extends, or preventing the charging cable 201 from being bent within the flexible arm and affecting the retraction flexibility of the flexible arm because it does not shorten when the flexible arm shortens.

[0117] For details, please refer to Figure 21The cable winding and unwinding structure 27 includes a cable winding and unwinding drive member 271 and at least two clamping members 272. The multiple clamping members 272 are used to clamp the charging cable 201 and can rotate synchronously under the drive of the cable winding and unwinding drive member 271 to wind and unwind the charging cable 201. That is, the rotation of the two clamping members 272 drives the charging cable 201 to move, thereby realizing the winding and unwinding of the charging cable 201.

[0118] In one embodiment, the cable take-up and release structure 27 includes a cable take-up and release drive 271 and two clamping members 272. The cable take-up and release drive 271 is connected to one of the clamping members 272, and a synchronizing member 273 is connected between the two clamping members 272. When the cable take-up and release drive 271 drives one of the clamping members 272 to rotate, the synchronizing member 273 drives the other clamping member 272 to rotate, thereby achieving synchronous rotation of the two clamping members 272 and take-up and release of the charging cable 201. The cable take-up and release drive 271 can be a rotary motor or a rotary cylinder, and the synchronizing member 273 can be a cylindrical spring connected between the rotation axes of the two clamping members 272, so that the two clamping members 272 can maintain synchronous rotation while also providing a certain elastic clamping force on the charging cable 201. Of course, when the distance between the two clamping members 272 is stable and the outer diameter of the charging cable 201 is stable, the synchronizing member 273 can also be a synchronous belt, synchronous rope, or synchronous chain, etc. In addition, in other embodiments of this application, the above-mentioned take-up and release structure 27 may also include two take-up and release drive members 271 and two clamping members 272. The two take-up and release drive members 271 are respectively connected to the two clamping members 272. The two take-up and release drive members 271 drive the two clamping members 272 to rotate synchronously to drive the charging cable 201 to run.

[0119] Please see Figure 14 , Figure 15 and Figure 21 The top of the robotic arm body 200 is also provided with a connecting seat 281, and a cable take-up and release structure 27 is provided on the connecting seat 281. The connecting seat 281 is connected to the top of the first flexible rotating module 251, that is, the cable take-up and release structure 27 is provided on the top of the robotic arm body 200. It can be understood that in other embodiments of this application, the above-mentioned cable take-up and release structure 27 may also be provided on the base 282, and this is not a unique limitation.

[0120] In one embodiment of the present invention, at least one of the flexible bending module 22, the flexible telescopic module 21, and the flexible rotating module 25 includes a fluid drive element 400 capable of telescopic deformation. The fluid drive element 400 may include two end walls 41, a flexible side wall 42, and an opening. The flexible side wall 42 and the two end walls 41 can enclose a cylindrical cavity with a central axis. The flexible side wall 42 may be designed as or include a multi-layered folded structure 421. Each folded structure 421 may have a folded surface 4211. A crease surface 422 may be formed at the junction of the folded surfaces 4211 of adjacent folded structures 421. The crease surface 422 may include one or more creases, particularly multiple circumferentially continuous creases. The opening may be provided on the flexible side wall 42 or the end wall 41. The opening can be used to allow fluid to enter and exit the cavity to change the pressure difference between the inside and outside of the cavity and to compress or extend the folded structure 421 to drive the movement of the end wall 41 of the soft muscle.

[0121] On the other hand, please see Figure 12 and Figure 13 The charging robotic arm also includes a column 287, one end of a base 282 is fixed to the top of the column 287, and a power box 288 is also fixed to the top of the column 287. Figure 11 A schematic diagram of the structure of the hoisting and charging robotic arm; Figure 13 This is a schematic diagram of the inverted charging robotic arm.

[0122] The application scenario of the charging robotic arm in this embodiment is as follows: the car charging base 300 is located at the left rear of the vehicle body, and the charging robotic arm is located at the left rear of the rear of the vehicle. Here, the X direction is the front-to-back direction, the Y direction is the left-to-right direction, and the Z direction is the up-to-down direction. Taking hoisting as an example, the adjustment of the six degrees of freedom of the charging gun head 100 from top to bottom will be explained in detail:

[0123] The first degree of freedom corresponds to the slide above. When the car is parked in the parking space, the movable seat 283 with the first degree of freedom slides along the Y direction on the base 282 under the drive of the drive unit 284, thereby driving the flexible base 282 arm to move from left to right from the rear of the car to the charging seat 300.

[0124] Degree 2 is rotation around the Z-axis to make the charging gun head 100 face the charging base 300. For example, when the car is parked in a deviated position, it can be finely adjusted by rotating through degree 2.

[0125] The third degree of freedom is the telescopic length along the Z-axis, which is used to adjust the height difference between the car and the charging base 300, or to shorten the robotic arm body 200 to avoid taking up too much space.

[0126] The fourth degree of freedom is bending around the Y-axis, so that the charging gun head 100 can be aligned with the charging base 300;

[0127] The fifth degree of freedom is rotation around the X-axis to adjust the insertion direction of the charging gun head 100, so as to facilitate the corresponding insertion of the charging gun head 100 and the charging base 300.

[0128] The sixth degree of freedom is the extension and retraction along the X direction, which allows the charging gun head 100 and the charging base 300 to be movably connected along the X direction.

[0129] In summary, by adjusting the six degrees of freedom of the charging gun head 100, the precise connection between the charging gun head 100 and the charging base 300 can be achieved.

[0130] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive structure, characterized by: It includes a fixed base, a guide block for docking and guiding with a charging dock, a lip structure disposed on the guide block and for engaging with the charging dock, and a plurality of adaptive driving members. The guide block has an inclined guide surface for contacting the charging dock. The moving end of each of the adaptive driving members is movably connected to the guide block, and the fixed end of the adaptive driving member is fixed to the fixed base. The adaptive structure also includes multiple connecting rods. One end of each connecting rod is fixedly connected to the moving end of the adaptive drive component, and the other end is universally connected to the guide block. The connecting rod passes through the fixed base and is universally connected to the fixed base. A space for accommodating the gun head body is formed between the guide block and the fixed base. The gun head body is driven by the gun head drive component to move toward or away from the charging base. The fixed end of the gun head drive component is fixed to the fixed base. When the charging gun head is inserted into the charging base, the guide block contacts the charging base, and then the lip structure engages with the charging base. Multiple adaptive drive components work to adjust the placement angle and spatial position of the guide block so that the charging gun head and the charging base are directly opposite each other. Finally, the gun head drive component drives the gun head body to move toward the charging base and insert into it.

2. The self-adapting structure of claim 1, wherein: An elastic element is sleeved on the connecting rod. One end of the elastic element abuts against the connection between the connecting rod and the fixed seat, and the other end of the elastic element abuts against the connection between the connecting rod and the guide block.

3. The self-adapting structure of claim 2, wherein: The guide block is ring-shaped, and multiple connecting rods are arranged circumferentially around the center line of the guide block.

4. The self-adapting structure of claim 1, wherein: The fixed base includes a first fixed plate and a second fixed plate spaced apart, and a fixed column that fixes the first fixed plate and the second fixed plate together. The adaptive drive component is disposed between the first fixed plate and the second fixed plate, and the fixed end of the adaptive drive component is fixed to the first fixed plate or the second fixed plate. The connecting rod passes through the second fixed plate and is universally connected to the second fixed plate.

5. The self-adapting structure of claim 1, wherein: The lip and tongue structure includes a lip and tongue drive and a latching seat driven by the lip and tongue drive, the latching seat having a latching body for engaging with the charging base.

6. The self-adapting structure of claim 5, wherein: The lip structure also includes a contact switch fixed on the buckle seat. The guide block has a clearance hole for the buckle body to pass through. The contact switch is used to contact the guide block to detect whether the buckle body is engaged with the charging dock.

7. The self-adapting structure of any of claims 1-6, wherein: The adaptive actuator includes two end walls and deformable flexible sidewalls. The flexible sidewalls and the two end walls enclose a cylindrical cavity with a central axis. The flexible sidewalls are designed to include a multi-layered folded structure, each layer having a folded surface. The connection between the folded surfaces of adjacent layers forms a crease surface, which includes one or more creases. It also includes an opening disposed on the flexible sidewall or the endwall, the opening being used to allow fluid to enter and exit the cavity to change the pressure difference between the inside and outside of the cavity and to compress or extend the folded structure to drive the endwall to move.

8. A charging gun for plugging with a charging base, characterized in that: The device includes the adaptive structure according to any one of claims 1-7, and further includes a gun head body for plugging into the charging dock, and a gun head drive member for driving the gun head body to move toward or away from the charging dock, wherein the fixed end of the gun head drive member is fixed to the fixed base.

9. The charging gun head of claim 8, wherein: The charging gun head also includes multiple guide rods. One end of each guide rod is fixedly connected to the moving end of the gun head drive component, and the other end of each guide rod passes through the fixed base and is fixedly connected to the gun head body.

10. A charging robot arm characterized by: The device includes the charging gun head as described in claim 8 or 9, and also includes a robotic arm body, wherein the charging gun head is connected to one end of the robotic arm body.

11. The charging robot of claim 10, wherein: The robotic arm body includes a flexible arm segment, which includes at least one of a flexible bending module, a flexible telescopic module, and a flexible rotation module.

12. The charging robot of claim 11, wherein: The robotic arm body includes a flexible bending module and a flexible telescopic module connected in sequence, and the charging gun head is connected to the end of the flexible telescopic module away from the flexible bending module.

13. The charging robot of claim 12, wherein: The robotic arm body also includes a flexible rotating module, which is disposed between the flexible bending module and the flexible telescopic module, or between the flexible telescopic module and the charging gun head.

14. The charging robotic arm as described in claim 13, characterized in that: The robotic arm body also includes a first linear motion mechanism mounted on the mounting surface and a second linear motion mechanism connected to the first linear motion mechanism. The second linear motion mechanism is connected to the flexible bending module, and the motion direction of the moving end of the first linear motion mechanism is perpendicular to the motion direction of the moving end of the second linear motion mechanism.

15. The charging robotic arm as described in claim 11, characterized in that: The flexible telescopic module includes a first end plate, a second end plate, and a third end plate arranged in sequence, and also includes a first fluid folding structure, a second fluid folding structure, and a guide support structure for supporting and guiding the first fluid folding structure and the second fluid folding structure. The two ends of the first fluid folding structure are respectively fixed to the first end plate and the second end plate, and the two ends of the second fluid folding structure are respectively fixed to the second end plate and the third end plate.

16. The charging robotic arm as described in claim 15, characterized in that: The guide support structure includes a first guide member and a second guide member. One end of the first guide member is fixed to the first end plate, and the other end of the first guide member passes through the second end plate and is slidably connected to the second end plate. One end of the second guide member is fixed to the third end plate, and the other end of the second guide member passes through the second end plate and is slidably connected to the second end plate.

17. The charging robotic arm as described in claim 11, characterized in that: The flexible bending module includes a fourth end plate, a fifth end plate, a third fluid folding structure, and a rotational support structure for supporting the third fluid folding structure. The rotational support structure enables the fourth end plate and the fifth end plate to rotate relative to each other. The two ends of the third fluid folding structure are respectively fixed to the fourth end plate and the fifth end plate.

18. The charging robotic arm as described in claim 17, characterized in that: The rotating support structure includes a first link and a second link that are rotatably connected to each other. The end of the first link away from the second link is fixedly connected to the fourth end plate, and the end of the second link away from the first link is fixedly connected to the fifth end plate.

19. The charging robotic arm as described in claim 10, characterized in that: The charging robotic arm also includes a vision module fixed to the charging gun head, and the radial distance between the vision module and the robotic arm body is greater than 1 / 3 of the radius of the circumscribed cylinder of the robotic arm body.

20. The charging robotic arm as described in claim 11, characterized in that: The flexible telescopic module and / or the flexible bending module are provided with a wiring constraint component for constraining the charging cable. The wiring constraint component includes multiple rollers that can roll and slide with the charging cable.

21. The charging robotic arm as described in claim 11, characterized in that: The charging robotic arm also includes a cable retraction and extension structure for retracting and extending the charging cable so that the charging cable extends and retracts synchronously with the flexible arm segment. The cable retraction and extension structure includes a cable retraction and extension drive for outputting rotational motion and at least two clamping members for holding the charging cable and being able to rotate synchronously under the drive of the cable retraction and extension drive to retract and extend the charging cable.

22. The charging robotic arm as described in any one of claims 11-21, characterized in that: At least one of the flexible bending module, the flexible telescopic module, and the flexible rotating module includes two end walls and deformable flexible sidewalls. The flexible sidewalls and the two end walls enclose a cylindrical cavity with a central axis. The flexible sidewalls are designed to include a multi-layered folded structure, each layer having a folded surface. The connection between the folded surfaces of adjacent layers forms a crease surface, which includes one or more creases. It also includes an opening disposed on the flexible sidewall or the endwall, the opening being used to allow fluid to enter and exit the cavity to change the pressure difference between the inside and outside of the cavity and to compress or extend the folded structure to drive the endwall to move.

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