A shipboard wireless charging dual-arm robotic arm

Abstract

This invention provides a dual-arm robotic arm for wireless charging on ships, comprising robotic arms located on either side of a wireless charging transmitter, connected to the transmitter via a connecting device. Each robotic arm includes a base plate, a turntable, a large arm, and a small arm. One end of a first hydraulic rod is hinged to the base plate, and the other end is hinged to the outer edge of the turntable. The bottom of the large arm is hinged to the turntable. One end of a second hydraulic rod is hinged to the outer edge of the turntable, and the other end is hinged to the lower part of the large arm. One end of the small arm is hinged to the top of the large arm, and one end of a third hydraulic rod is hinged to the middle of the small arm, and the other end is hinged to the hinge joint between the large arm and the turntable. This invention enables six degrees of freedom motion of the wireless charging transmitter by moving it with the dual-arm robotic arm, satisfying the diversity of ship movements and facilitating docking between the transmitter and receiver. After docking, the robotic arm is released; it does not affect the tight connection between the transmitter and receiver, serving only a connecting function.

Description

Technical Field

[0001] This invention relates to the field of ship wireless charging technology, and more specifically to a ship wireless charging dual-arm robotic arm. Background Technology

[0002] Shipboard electricity primarily originates from onboard auxiliary engines or is generated by shaft generators driven by the ship's main engine. This method of generating electricity produces significant amounts of greenhouse gases, polluting the environment. With improved energy utilization, most ships now choose to charge their equipment using electricity generated from renewable land-based sources. Furthermore, with the increasing adoption of electricity, the development of pure electric ships and new energy sources, the demand for shipboard electricity is rising, making shore power an increasingly important source. Using traditional plug-in charging methods is not only labor-intensive but also poses serious safety hazards. Wireless charging is gradually emerging as a new method of electrical interaction, offering significant advantages in terms of safety, automation, and environmental friendliness in addressing the problems of traditional power supply methods.

[0003] Wireless charging primarily utilizes the interaction between electricity and magnetism to transmit electrical energy. Due to the low magnetic permeability of air, the larger the air gap between the power transmitter and receiver, the lower the efficiency and the more energy is wasted. Therefore, wireless charging devices should be as close as possible. With the increasing demand for electrical power on ships, higher requirements are placed on the efficiency of wireless power transmission. The distance between the power transmitter and receiver is gradually shortening, while higher demands are placed on the accuracy and relative positioning of their alignment. During ship charging, the receiver is located on the ship, and the ship's irregular movement on the ocean makes it impossible to maintain a continuous alignment after the transmitter and receiver are initially aligned. Specifically, this patent aims to solve four problems. First, because the ship's docking position is some distance from the shore, there is a certain distance between the wireless charging power transmitter and receiver. Manually completing this process would not only increase costs but also pose a series of safety hazards. Second, the high degrees of freedom of ship wireless charging robotic arms often result in complex structures and controls. Third, after the robotic arm adjusts the wireless charging receiver and transmitter to achieve complete docking and secures them using vacuum adsorption, external fixing, or magnetic attachment, the robotic arm is forced to counteract the ship's movement caused by wind and waves, leading to excessive strain on the arm. Fourth, to improve wireless charging efficiency, the wireless charging device increases the mutual coupling coefficient, primarily by increasing the area of ​​the magnetic core. This increases the weight of the wireless charging device, further burdening the robotic arm. Therefore, the load on the robotic arm limits the improvement of wireless charging efficiency. Summary of the Invention

[0004] To address the aforementioned technical issues, a dual-arm robotic arm for wireless charging on ships is provided.

[0005] The technical means employed in this invention are as follows:

[0006] A dual-arm robotic arm for wireless charging on a ship includes robotic arms located on both sides of a wireless charging transmitter, and the robotic arms are connected to the wireless charging transmitter via a connecting device.

[0007] The robotic arm includes a base, a large arm, and a small arm;

[0008] The base includes a base plate fixed to the shore end and a turntable located on the base plate and rotatably connected to the base plate; one end of the first hydraulic rod is hinged to the base plate and the other end is hinged to the outer edge of the turntable;

[0009] The bottom of the boom is hinged to the turntable, one end of the second hydraulic rod is hinged to the outer edge of the turntable, and the other end is hinged to the lower part of the boom.

[0010] One end of the forearm is hinged to the top of the upper arm, one end of the third hydraulic rod is hinged to the middle of the forearm, and the other end is hinged to the hinge joint of the upper arm and the turntable.

[0011] The connecting device includes a connector, the top end of which is rotatably connected to the end of the forearm away from the upper arm, and the bottom end of which is connected to a universal joint fixed to the wireless charging transmitter.

[0012] Preferably, the top end of the connector is rotatably connected to the forearm via a thrust bearing.

[0013] Preferably, the bottom of the upper arm is hinged to the center of the turntable.

[0014] Preferably, it also includes an electric spring push rod, which includes a sleeve, a spring, and an electric push rod;

[0015] One end of the electric push rod is hinged to the wireless charging transmitter, and the hinge is located at the fixed point of the universal joint and the wireless charging transmitter. The other end is connected to one end of the spring, which is located inside the sleeve, and the other end of the spring is connected to the sleeve. The sleeve is hinged to the middle of the forearm through a connecting rod.

[0016] This invention enables a robotic arm to move in six degrees of freedom by using a first hydraulic rod, a second hydraulic rod, a third hydraulic rod, and a turntable. It also enables a perfect connection between the wireless charging transmitter and the receiver on the ship. After connection, the hydraulic valves of the hydraulic pumps used to control the hydraulic rods are opened, so that the hydraulic oil in the three hydraulic rods no longer holds pressure. Thus, the robotic arm only serves as a connector and can move with the receiver.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. Existing technologies address the issue of long distances between the wireless charging transmitter and receiver using two methods. The first is manual docking, which is not only unsafe but also extremely labor-intensive. The second method is automated docking via robotic arm vision control; however, existing robotic arms have limited degrees of freedom and neglect the diverse motions of the ship during docking. This invention utilizes a dual-arm robotic arm to move the wireless charging transmitter, enabling six degrees of freedom motion to accommodate the diverse motions of the ship and achieve perfect docking between the transmitter and receiver.

[0019] 2. The high degrees of freedom of shipborne wireless charging robotic arms often present complex structural and control challenges. This invention addresses these issues by using two robotic arms, each with three degrees of freedom, to simplify the structure of a single arm. It utilizes a high-strength, one-piece molded rod for convenient control, and the coordination between the two arms is automatically adjusted by the connecting device. The superposition of the two robotic arms ensures that the wireless charging robotic arm still possesses a high degree of freedom (seven degrees of freedom).

[0020] 3. After a fixed connection is established between the wireless charging transmitter and receiver, the robotic arm is forced to compensate for the excessive load caused by ship movement due to wind and waves. This patented robotic arm drive device employs a hydraulic rod and a spring-loaded electric actuator. After the fixed connection, the hydraulic valve driving the hydraulic rod automatically opens, while the spring-loaded electric actuator allows for a certain degree of extension and retraction. This achieves the robotic arm's connection state after alignment and attraction between the transmitter and receiver, resulting in a stress-free connection.

[0021] 4. To address the issue of increased weight in wireless charging devices leading to a greater burden on robotic arms in pursuit of improved wireless charging efficiency, this invention utilizes two robotic arms to distribute the load across the wireless charging pad. Simultaneously, it simplifies the mechanical structure of a single arm while increasing its mechanical strength, thereby enhancing the load capacity of the robotic arm. Consequently, the wireless charging pad can be fully optimized, allowing for a significant increase in the magnetic core area, which in turn improves the energy transfer efficiency of wireless charging.

[0022] Based on the above reasons, this invention can be widely promoted in fields such as wireless charging for ships. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1This is a schematic diagram of a ship wireless charging dual-arm robotic arm structure according to a specific embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram showing the connection between a robotic arm and a wireless charging transmitter in a specific embodiment of the present invention. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0030] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0031] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0032] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0033] like Figures 1-2 As shown, a ship wireless charging dual-arm robotic arm includes robotic arms 1 located on both sides of the wireless charging transmitter 3, and the robotic arms 1 are connected to the wireless charging transmitter 3 through a connecting device 2 and an electric spring push rod 4.

[0034] The robotic arm 1 includes a base, a large arm 11, and a small arm 12;

[0035] The base includes a base plate 13 fixed to the shore end and a turntable 14 located on the base plate 13 and rotatably connected to the base plate 13 via a bearing, wherein the bearing can be a thrust bearing; one end of the first hydraulic rod 15 is hinged to the base plate 13 and the other end is hinged to the outer edge of the turntable 14.

[0036] The bottom of the boom 11 is hinged to the center of the turntable 14, one end of the second hydraulic rod 16 is hinged to the outer edge of the turntable 14, and the other end is hinged to the lower part of the boom 11.

[0037] One end of the forearm 12 is hinged to the top of the upper arm 11, one end of the third hydraulic rod 17 is hinged to the middle of the forearm 12, and the other end is hinged to the hinge joint of the upper arm 11 and the turntable 14.

[0038] The connecting device 2 includes a connector 21. The top end of the connector 21 is rotatably connected to the end of the forearm 12 away from the upper arm 11 via a thrust bearing 22. The bottom end of the connector 21 is connected to a universal joint 23 fixed on the wireless charging transmitter 3.

[0039] The electric spring push rod 4 includes a sleeve 41, a spring 42 and an electric push rod 43;

[0040] One end of the electric push rod 43 is hinged to the wireless charging transmitter 3, and the hinge is located at the fixed point of the universal joint 23 and the wireless charging transmitter 3. The other end is connected to one end of the spring 42. The spring 42 is located inside the sleeve 41, and the other end of the spring 42 is connected to the sleeve 41. The sleeve 41 is hinged to the middle of the forearm 12 through a connecting rod.

[0041] This invention enables the upper arm 11 to rotate around the Z-axis through the action of the first hydraulic rod 15 and the turntable 14; the upper arm 11 can be tilted through the action of the second hydraulic rod 16; and the forearm 12 can be tilted through the action of the third hydraulic rod 17. Simultaneously, the forearm 12 is connected to the wireless charging transmitter 3 via the connecting device 2 and the electric spring push rod 4, enabling the wireless charging transmitter 3 to achieve six degrees of freedom adjustment, allowing it to perfectly interface with the receiver.

[0042] The dual-arm robotic arm for wireless charging mentioned in this specific embodiment achieves docking between the wireless charging transmitter 3 and the wireless charging receiver in the following manner: when the wireless power receiver shifts due to the ship's irregular movement, the wireless power transmitter 3 can generate six degrees of freedom of motion:

[0043] 1. When the wireless charging receiver moves along the positive x-axis, both robotic arms 1 rotate in the same direction by the same angle via the first hydraulic rod 15, and the wireless charging transmitter 3 moves along the positive x-axis using the thrust bearing 22. If the robotic arms 1 do not perform any other actions in this situation, the wireless charging transmitter 3 will move backward along the negative y-axis, thus requiring adjustment of the robotic arms 1. Therefore, during rotation, the angle between the two large arms 11 and the turntable 14 is simultaneously reduced via the two second hydraulic rods 16, and the angle between the large arm 11 and the small arm 12 is increased via the third hydraulic rod 17. Simultaneously, the adjustment action of the universal joint 23 ensures that the wireless charging transmitter 3 moves horizontally relative to its initial state. The same applies when the wireless charging receiver moves along the negative x-axis.

[0044] 2. When the wireless charging receiver moves along the positive y-axis, the angle between the two large arms 11 and the turntable 14 is simultaneously reduced by the two second hydraulic rods 16, and the angle between the large arm 11 and the small arm 12 is increased by the two third hydraulic rods 17. The adjustment of the universal joint 23 achieves horizontal movement of the wireless charging transmitter 3 relative to the initial state. When the ship moves along the negative y-axis, the angle between the two large arms 11 and the turntable 14 is simultaneously increased by the two second hydraulic rods 16, and the angle between the large arm 11 and the small arm 12 is decreased by the two third hydraulic rods 17. The adjustment of the universal joint 23 achieves horizontal movement of the wireless charging transmitter 3 relative to the initial state.

[0045] 3. When the wireless charging receiver moves along the positive z-axis, the angle between the two large arms 11 and the turntable 14 is simultaneously reduced by the two second hydraulic rods 16, and the angle between the large arm 11 and the small arm 12 is increased by the two third hydraulic rods 17. The universal joint 23 is used to adjust the wireless charging transmitter 3 so that it moves vertically upward relative to its initial state. When the ship moves along the negative z-axis, the angle between the two large arms 11 and the turntable 14 is simultaneously reduced by the two second hydraulic rods 16, and the angle between the large arm 11 and the small arm 12 is reduced by the third hydraulic rod 17. The universal joint 23 is used to adjust the wireless charging transmitter 3 so that it moves vertically downward relative to its initial state.

[0046] 4. When the wireless charging receiver rotates along the y-axis, one of the second hydraulic rods 16 reduces the angle between the upper arm 11 and the turntable 14, and the third hydraulic rod 17 reduces the angle between the upper arm 11 and the lower arm 12. The other hydraulic rod uses the second hydraulic rod 16 to reduce the angle between the upper arm 11 and the turntable 14, and the third hydraulic rod 17 to increase the angle between the upper arm 11 and the lower arm 12. The universal joint 23 is used to adjust the wireless charging transmitter 5 so that it rotates along the y-axis. In this case, if the turntable 14 does not move, the center of the wireless charging transmitter 3 will move along the x-axis. Therefore, the first hydraulic rod 15 is needed to adjust the turntable 14. Therefore, by using the rotation of the thrust bearing 22, the first hydraulic rod 15 is used to rotate the turntable 14 during adjustment. This adjustment prevents the center of the wireless charging transmitter 3 from moving, thus allowing the ship's power transmitter to rotate along the y-axis.

[0047] 5. When the wireless charging receiver rotates along the z-axis, the angle between the upper arm 11 and the lower arm 12 is increased and the angle between the upper arm 11 and the turntable 14 is decreased by the second hydraulic rod 16 and the third hydraulic rod 17 of one of the robotic arms. The angle between the upper arm 11 and the lower arm 12 is decreased and the angle between the upper arm 11 and the turntable 14 is increased by the second hydraulic rod 16 and the third hydraulic rod 17 of the other robotic arm. The rotation of the two turntables 14 and the thrust bearings 22 are used to make the wireless charging transmitter 3 rotate along the z-axis. At the same time, the two thrust bearings 22 are located on the same horizontal plane, and the angle at the end of the lower arm 12 is eliminated by the universal joint 23.

[0048] 6. When the wireless charging receiver rotates along the x-axis, the wireless charging transmitter 3 can be rotated along the x-axis by controlling the electric push rod 43 and using the universal joint 23.

[0049] After the wireless charging transmitter 3 and receiver align and approach each other, generating suction, the hydraulic valve of the hydraulic pump used to control the hydraulic rods is activated. Subsequently, the robotic arm 1 only serves a connecting function and does not generate force. In the connected state, regardless of the receiver's movement, the robotic arm 1 simply follows along; each hydraulic rod does not generate resistance.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A shipboard wireless charging dual-arm robotic arm, characterized in that, It includes robotic arms located on both sides of the wireless charging transmitter, and the robotic arms are connected to the wireless charging transmitter via a connecting device; The robotic arm includes a base, a large arm, and a small arm; The base includes a base plate fixed to the shore end and a turntable located on the base plate and rotatably connected to the base plate; one end of the first hydraulic rod is hinged to the base plate and the other end is hinged to the outer edge of the turntable; The bottom of the boom is hinged to the turntable, one end of the second hydraulic rod is hinged to the outer edge of the turntable, and the other end is hinged to the lower part of the boom. One end of the forearm is hinged to the top of the upper arm, one end of the third hydraulic rod is hinged to the middle of the forearm, and the other end is hinged to the bottom of the upper arm. The connecting device includes a connector, the top end of which is rotatably connected to the end of the forearm away from the upper arm, and the bottom end of which is connected to a universal joint fixed to the wireless charging transmitter. The top end of the connector is rotatably connected to the forearm via a thrust bearing; It also includes an electric spring push rod, which comprises a sleeve, a spring, and an electric push rod; one end of the electric push rod is hinged to the wireless charging transmitter, and the hinge point is located at the fixed point of the universal joint and the wireless charging transmitter; the other end is connected to one end of the spring, the spring is located inside the sleeve, and the other end of the spring is connected to the sleeve; the sleeve is hinged to the middle of the forearm via a connecting rod. The two robotic arms rotate in the same direction by the same angle via the first hydraulic rod, and the wireless charging transmitter moves along the positive x-axis using the thrust bearing. By simultaneously reducing the angle between the two upper arms and the turntable through two second hydraulic rods, and increasing the angle between the upper arm and the lower arm through two third hydraulic rods, the wireless charging transmitter can move horizontally along the y-axis or vertically upward along the z-axis relative to the initial state by utilizing the adjustment effect of the universal joint. The angle between the upper arm and the turntable is reduced by one of the second hydraulic rods, and the angle between the upper arm and the lower arm is reduced by the third hydraulic rod. The angle between the upper arm and the turntable is reduced by the second hydraulic rod, and the angle between the upper arm and the lower arm is increased by the third hydraulic rod. The wireless charging transmitter rotates along the y-axis by using the adjustment of the universal joint. By using the second and third hydraulic rods of one of the robotic arms, the angle between the upper arm and the lower arm is increased, and the angle between the upper arm and the turntable is decreased. By using the second and third hydraulic rods of the other robotic arm, the angle between the other upper arm and the lower arm is decreased, and the angle between the upper arm and the turntable is increased. The rotation of the two turntables and the thrust bearing are used to make the wireless charging transmitter rotate along the z-axis. The wireless charging transmitter rotates along the x-axis by controlling the electric push rod and using a universal joint.

2. The shipborne wireless charging dual-arm robotic arm according to claim 1, characterized in that, The bottom of the upper arm is hinged to the center of the turntable.

3. The shipborne wireless charging dual-arm robotic arm according to claim 1, characterized in that, The turntable is circular.

4. The shipborne wireless charging dual-arm robotic arm according to claim 1, characterized in that, The wireless charging transmitter has horizontally fixed rods on both sides, and the fixed end of the universal joint is fixed on the fixed rods.

5. A shipboard wireless charging dual-arm robotic arm according to claim 4, characterized in that, The fixed end of the universal joint is vertically mounted on the fixed rod.

6. A shipboard wireless charging dual-arm robotic arm according to claim 1, characterized in that, The bottom of the third hydraulic rod is hinged to the hinge joint of the boom and the turntable.

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