Plug-in device and rail-type charging robot

Abstract

The present invention discloses a plug-in device and a guide rail type charging robot. The plug, a connecting rod mechanism and a push rod in the plug-in device are respectively hinged on a mounting plate, the push rod is hinged to the connecting rod mechanism, the connecting rod mechanism is pushed by the push rod, and the connecting rod mechanism is driven by the push rod to perform an expansion movement, the plug connected to the connecting rod mechanism is rotated along the hinge between the plug and the mounting portion and extends out of the guide rail type charging robot, the plug receives support from the push rod and the expanded connecting rod mechanism in the direction of movement of the guide rail type charging robot, so that when the plug moves on the guide rail and connects with the socket, the resistance brought by the docking socket can be offset, so that the structure of the entire plug-in device is more stable, and no damage is caused to the plug; secondly, the plug can be kept almost consistent with the socket in height by only pushing out the connecting rod through the push rod to support the plug, which is more efficient and more convenient than using a cross slide to adjust the position of the plug.

Description

Technical Field

[0001] The invention relates to the field of charging robots, and in particular to a plug-in device and a guide rail type charging robot. Background Art

[0002] The existing docking device of the rail-chargeable robot is to install the plug on a cross slide, and push out the plug by driving the slider movement through the motor on the cross slide, so that the plug is extended out of the rail-chargeable robot in advance to dock with the power supply socket, thereby completing the charging process of the rail-chargeable robot.

[0003] However, since the rail-charging robot moves on the rail, the vertically extended plug is only supported by the slider and has no fulcrum in the horizontal direction, which causes a certain resistance when the plug and the socket are docked. Over time, it is easy to loosen or even damage the plug, which is not conducive to maintaining the stability of the docking device. Summary of the invention

[0004] The main purpose of the present invention is to provide a docking device and a rail-type charging robot, aiming to solve the technical problem that the docking device of the existing rail-type charging robot lacks stability during docking.

[0005] In order to achieve the above-mentioned object, the first aspect of the present invention provides a plug-in device, which is installed on a rail-type charging robot and includes a connecting rod mechanism, a push rod, a mounting portion and a plug;

[0006] The connecting rod mechanism, the push rod and the plug are installed on the installation part, and the installation part is provided with an avoidance space, and the avoidance space is used to avoid the movement of the connecting rod mechanism;

[0007] The first end of the connecting rod mechanism is hinged to the plug, and the second end of the connecting rod mechanism and the plug are respectively hinged to the mounting portion;

[0008] The first end of the push rod is hinged to the mounting portion, and the second end of the push rod is hinged to the connecting rod mechanism;

[0009] The push rod is a retractable sleeve rod. When the push rod is pushed out, the connecting rod mechanism is driven by the push rod to perform an expansion movement, so as to drive the plug to rotate along the hinge between the plug and the mounting portion and extend out of the rail-type charging robot for docking with the socket; when the push rod is retracted, the connecting rod mechanism is driven by the push rod to perform a contraction movement, so as to drive the plug to reset.

[0010] Furthermore, the connecting rod mechanism, the push rod and the plug are respectively hinged to the mounting portion through a support;

[0011] The mounting portion at least comprises an upper mounting plate and a lower mounting plate which are parallel to each other;

[0012] The connecting rod mechanism at least includes a first connecting rod and a second connecting rod;

[0013] The support comprises a first support, a second support and a third support, the first support and the third support are mounted on the upper mounting plate, and the second support is mounted on the lower mounting plate;

[0014] The first support is hinged to the first end of the first connecting rod, the second end of the first connecting rod is hinged to the first end of the second connecting rod, and the second end of the second connecting rod is hinged to the plug;

[0015] The second support is hinged to the first end of the push rod, and the second end of the push rod is hinged to the hinge point of the first connecting rod and the second connecting rod;

[0016] The third support is hinged to the first end of the plug, and the second end of the plug is used for docking with the socket.

[0017] Furthermore, it also includes a limit plate, which is installed on the side of the first connecting rod or the second connecting rod close to the push rod. The limit plate is flush with the first connecting rod or the second connecting rod and extends out. When the first connecting rod and the second connecting rod are collinear, the limit plate simultaneously abuts against the first connecting rod and the second connecting rod.

[0018] Furthermore, when the push rod is extended to the limit, the first connecting rod and the second connecting rod are on the same straight line.

[0019] Furthermore, it also includes a fine-tuning mechanism, which is connected to the mounting portion and is used to adjust the position of the mounting portion.

[0020] Furthermore, the fine-tuning mechanism includes a cross slide and a driving device connected to each other, the slider on the transverse slide or the longitudinal slide of the cross slide is connected to the mounting portion, and the driving device is used to drive the slider to move on the transverse slide or the longitudinal slide.

[0021] Furthermore, the mounting portion further comprises a wall plate, and the mounting portion is a box body enclosed by the upper mounting plate, the lower mounting plate and the wall plate, and the wall plate is connected to the fine-tuning mechanism.

[0022] Furthermore, a positioning sensor is included, which is installed at the second end of the plug and is used to sense the distance between the plug and the socket.

[0023] Furthermore, a sensor is provided on the plug for sensing whether the plug is in an upright state and sending a signal to the rail-type charging robot.

[0024] A second aspect of the present invention provides a rail-type charging robot, comprising any one of the above-mentioned plug-in devices.

[0025] Beneficial effects:

[0026] The present invention provides a plug-in device and a guide rail charging robot, wherein a plug, a connecting rod mechanism and a push rod in the plug-in device are respectively hinged on a mounting plate, the push rod is hinged to the connecting rod mechanism, the connecting rod mechanism is pushed by the push rod, and the connecting rod mechanism is driven by the push rod to perform an expansion movement, the plug connected to the connecting rod mechanism is rotated along the hinge between the plug and the mounting portion and extends out of the guide rail charging robot, the plug receives support from the push rod and the expanded connecting rod mechanism in the direction of movement of the guide rail charging robot, so that when the plug moves on the guide rail and connects with the socket, the resistance brought by the docking socket can be offset, making the structure of the entire plug-in device more stable, and will not cause damage to the plug; secondly, the plug can be kept almost consistent in height with the socket by only pushing out the connecting rod through the push rod to support the plug, which is more efficient and more convenient than using a cross slide to adjust the position of the plug. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a cross-sectional structural diagram of a plug in a horizontal state according to an embodiment of the present invention;

[0028] Figure 2 is a side view of a plug in a horizontal state according to an embodiment of the present invention;

[0029] Figure 3 is a cross-sectional structural diagram of a plug in a vertical state according to an embodiment of the present invention;

[0030] Figure 4 It is a side view of a plug in a vertical state according to an embodiment of the present invention.

[0031] in:

[0032] 1. Connecting rod mechanism; 101. First connecting rod; 102. Second connecting rod; 2. Mounting portion; 201. Upper mounting plate; 202. Lower mounting plate; 3. Plug; 4. Push rod; 501. First support; 502. Second support; 503. Third support; 6. Fine-tuning mechanism; 601. Cross slide; 602. Driving device; 7. Positioning sensor.

[0033] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0034] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0038] Reference Figure 1-Figure 4 , a plug-in device according to an embodiment of the present invention is installed on a rail-type charging robot, comprising a connecting rod mechanism 1, a push rod 4, a mounting portion 2 and a plug 3;

[0039] The connecting rod mechanism 1, the push rod 4 and the plug 3 are installed on the installation part 2, and the installation part 2 is provided with an avoidance space, and the avoidance space is used to avoid the movement of the connecting rod mechanism 1;

[0040] The first end of the connecting rod mechanism 1 is hinged to the plug 3, and the second end of the connecting rod mechanism 1 and the plug 3 are respectively hinged to the mounting portion 2;

[0041] The first end of the push rod 4 is hinged to the mounting portion 2, and the second end of the push rod 4 is hinged to the connecting rod mechanism 1;

[0042] The push rod 4 is a retractable sleeve rod. When the push rod 4 is pushed out, the connecting rod mechanism 1 is driven by the push rod 4 to perform an expansion movement, so as to drive the plug 3 to rotate along the hinge between it and the mounting portion 2 and extend out of the rail-type charging robot for docking with the socket; when the push rod 4 is retracted, the connecting rod mechanism 1 is driven by the push rod 4 to perform a contraction movement, so as to drive the plug 3 to reset.

[0043] In the above embodiment, the mounting portion 2 can be a vertical side panel, on which the push rod 4, the connecting rod mechanism 1 and the plug 3 are hinged respectively. The avoidance space provided on the mounting portion 2 is the space on the side of the mounting plate that is not hinged. The mounting portion 2 can also be a parallel flat plate, and the avoidance space can be an opening opened on the flat plate. When it is not necessary to connect with the socket, the connecting rod mechanism 1 is retracted in the mounting portion 2 through the avoidance space. When it is necessary to connect with the socket, the push rod 4 extends out of the avoidance space to push the connecting rod mechanism 1 straight.

[0044] In the above embodiment, the plug 3, the connecting rod mechanism 1, and the push rod 4 in the plug-in device are respectively hinged on the mounting plate, the push rod 4 is hinged to the connecting rod mechanism 1, the connecting rod mechanism 1 is pushed by the push rod 4, and the connecting rod mechanism 1 is driven by the push rod 4 to perform an expansion movement, and the plug 3 connected to the connecting rod mechanism 1 is driven by the connecting rod mechanism 1 to rotate along the hinge between it and the mounting portion 2 and extend out of the guide rail charging robot, and the plug 3 receives support from the push rod 4 and the expanded connecting rod mechanism 1 in the direction of movement of the guide rail charging robot, so that when the plug 3 moves on the guide rail and connects with the socket, it can offset the resistance brought by the docking socket, making the structure of the entire plug-in device more stable and will not cause damage to the plug 3; secondly, by only pushing out the connecting rod through the push rod to support the plug 3, the plug 3 can be kept almost consistent with the socket in height, which is more efficient and more convenient than using a cross slide to adjust the position of the plug 3.

[0045] In the above embodiment, the plug-in device can be installed inside the rail-type charging robot, with an opening for the plug 3 to extend out of the rail-type charging robot, or it can be installed on the side of the rail-type charging robot close to the socket, which is more convenient for docking with the socket. Preferably, the plug 3 is L-shaped, including a straight rod and a curved rod connected to one end of the straight rod, which is convenient for docking with the socket. The plug 3 can also be any other shape as long as it matches the socket.

[0046] In another embodiment, the push rod 4 is above the connecting rod mechanism 1 and the plug 3. The retraction of the push rod 4 can drive the connecting rod mechanism 1 to expand and also extend the plug 3 out of the rail-type charging robot; the extension of the push rod 4 drives the connecting rod mechanism 1 to retract and also reset the plug 3.

[0047] In one embodiment, the connecting rod mechanism 1, the push rod 4 and the plug 3 are respectively hinged to the mounting portion 2 through a support;

[0048] The mounting portion 2 at least includes an upper mounting plate 201 and a lower mounting plate 202 which are parallel to each other;

[0049] The connecting rod mechanism 1 at least includes a first connecting rod 101 and a second connecting rod 102;

[0050] The support includes a first support 501, a second support 502 and a third support 503, wherein the first support 501 and the third support 503 are mounted on the upper mounting plate 201, and the second support 502 is mounted on the lower mounting plate 202;

[0051] The first support 501 is hinged to the first end of the first connecting rod 101, the second end of the first connecting rod 101 is hinged to the first end of the second connecting rod 102, and the second end of the second connecting rod 102 is hinged to the plug 3;

[0052] The second support 502 is hinged to the first end of the push rod 4, and the second end of the push rod 4 is hinged to the hinge point of the first connecting rod 101 and the second connecting rod 102;

[0053] The third support 503 is hinged to a first end of the plug 3 , and a second end of the plug 3 is used for docking with a socket.

[0054] A plug-in device in the above embodiment is hinged on the third support 503 through the plug 3, the first support 501 and the plug 3 are hinged through the first connecting rod 101 and the second connecting rod 102 that are hinged to each other, the second support 502 is connected to the retractable push rod 4, the push rod 4 is hinged to the hinge point of the first connecting rod 101 and the second connecting rod 102, the hinge point is pushed by the push rod 4 to push up the first connecting rod 101 and the second connecting rod 102, and the plug 3 connected to the second connecting rod 102 is pushed from a horizontal state to a vertical state under the support of the second connecting rod 102, and the plug 3 is supported by the push rod 4 and the first connecting rod 101 and the second connecting rod 102 in the horizontal direction. The support force brought by the expansion of the push rod 4 and the first connecting rod 101 and the second connecting rod 102 can offset the resistance brought by the docking socket when the plug 3 moves on the guide rail and connects with the socket, so that the structure of the entire plug-in device is more stable; secondly, the first connecting rod 101 and the second connecting rod 102 do not need to be on the same straight line when they are pushed up by the electric push rod 4, and the connecting line between the two can also be less than 180°.

[0055] In the above embodiment, the mounting portion 2 at least includes an upper mounting plate 201 and a lower mounting plate 202 which are parallel to each other. The mounting portion 2 can be a bracket which is fixed together by an upper mounting plate 201, a lower mounting plate 202 and a side plate, and the side plate of the bracket is connected to the fine-tuning mechanism 6. It can also be a box body, in which the upper mounting plate 201 is the top plate of the box body, the lower mounting plate 202 is the bottom plate of the box body, and the side plate of the box body is connected to the fine-tuning mechanism 6.

[0056] In the above embodiments, the connection method between the support and the push rod 4, the first connecting rod 101 and the second connecting rod 102 can be that a single support is movably connected to the above-mentioned rod through a connecting shaft, or a double support with a connecting shaft hinged in the middle. Obviously, the structure of the double support is more stable. The connecting shaft can be a straight shaft or a special-shaped shaft. For example, the connecting shaft on the first support 501 is straight at both ends and concave in the middle to form a space for accommodating the plug 3.

[0057] In the above embodiment, the distance from the first support 501 to the second support 502 is equal to the distance from the second support 502 to the third support 503. Since the distance from the first support 501 to the second support 502 is equal to the distance from the second support 502 to the third support 503, when the push rod 4 is pushed out, the first connecting rod 101 and the second connecting rod 102 are in the same straight line, and the push rod 4 can also maintain an upright state, thereby increasing the stability of the entire plug-in device; when the push rod 4 is retracted, the entire plug-in device can also maintain a balanced state.

[0058] In one embodiment, the plugging device further includes a stopper, which is installed on the side of the first connecting rod 101 or the second connecting rod 102 close to the push rod 4, and is flush with and extends from the first connecting rod 101 or the second connecting rod 102. When the first connecting rod 101 and the second connecting rod 102 are collinear, the stopper simultaneously abuts against the first connecting rod 101 and the second connecting rod 102. When the push rod 4 pushes the first connecting rod 101 and the second connecting rod 102 from the bent state with the opening upward to the collinear state, the stopper abuts against the hinge point of the first connecting rod 101 and the second connecting rod 102, preventing the push rod 4 from continuing to push so that the connection between the first connecting rod 101 and the second connecting rod 102 becomes open downward, thereby avoiding the situation where the plug 3 is driven down by the second connecting rod 102.

[0059] In one embodiment, when the push rod 4 is extended to the limit, the first connecting rod 101 and the second connecting rod 102 are in the same straight line. The length of the push rod 4 is limited, so that even when it is extended to the limit, it can only be pushed until the first connecting rod 101 and the second connecting rod 102 are in the same straight line, and it cannot be extended further. When the first connecting rod 101 and the first support 501 are in the same straight line, the connecting rod mechanism 1, the upper mounting plate 201 and the plug 3 form a right triangle, which is the most stable shape and has the best supporting effect.

[0060] In one embodiment, the plug-in device further includes a fine-tuning mechanism 6, which is connected to the mounting portion 2 and is used to adjust the position of the mounting portion 2. The fine-tuning mechanism 6 can be a cross slide 601 and a motor in the prior art, the motor drives the slider on the cross slide 601 to move, and the slider is connected to the mounting portion 2; the fine-tuning mechanism 6 can also be a sliding guide rail with a ball or a slider, which can adjust the position of the mounting portion 2 on the rail-type charging robot, that is, the position of the push rod 4, the connecting rod mechanism 1 and the plug 3 installed on the mounting portion 2 can also be adjusted. First, the push rod 4 is used to push the connecting rod mechanism 1 to drive the plug 3 to rise, so that the plug 3 can be kept almost the same height as the socket, and then the fine-tuning mechanism 6 is used to slightly adjust the position of the plug 3, so that it can be accurately and quickly docked with the socket, which is more efficient and more convenient than using only the cross slide 601 to adjust the position of the plug 3.

[0061] In the above embodiment, the fine adjustment mechanism 6 includes a cross slide 601 and a driving device 602 connected to each other, the slider on the transverse slide or the longitudinal slide of the cross slide 601 is connected to the mounting portion 2, and the driving device 602 is used to drive the slider to move on the transverse slide or the longitudinal slide. The driving device 602 can be two motors, which respectively drive the sliders on the cross slide 601 to move transversely or longitudinally.

[0062] In the above embodiment, the mounting portion 2 further includes a wall plate, and the mounting portion is a box body enclosed by the upper mounting plate, the lower mounting plate and the wall plate, and the wall plate is connected to the fine-tuning mechanism 6. The top plate of the box body is the upper mounting plate 201, and the bottom plate of the box body is the lower mounting plate 202. The first support 501 and the third support 503 are placed on the top of the box body, and the top of the box body is provided with an opening. The second support 502 and the push rod 4 are installed inside the box body, and the structure of the box body makes the entire plug-in device more stable.

[0063] In one embodiment, the plug-in device further includes a positioning sensor, which is installed at the second end of the plug 3 and is used to sense the distance between the plug 3 and the socket. The positioning sensor follows the rise or fall of the second end of the plug 3, monitors the distance between the plug 3 and the socket at all times when the plug 3 rises, and uploads the position information to the rail-type charging robot. The rail-type charging robot drives the fine-tuning mechanism 6 according to the reflected position information, so that the fine-tuning mechanism 6 adjusts the installation part 2 to move up and down or left and right, so that the plug 3 connected to the installation part 2 and the socket can be docked more accurately.

[0064] In one embodiment, the plug 3 is further provided with a sensor for sensing whether the plug 3 is in an upright state and sending a signal to the rail-type charging robot. The sensor may be an inclination sensor, which can measure the inclination angle of an object relative to a horizontal plane or a vertical plane. The inclination sensor is fixed on the plug 3 to sense the angle of the plug 3 relative to the upper mounting plate 201. When the plug 3 is sensed to be in a vertical state, it means that the plug 3 is ready to dock with the socket. The rail-type charging robot can also fine-tune the position of the plug 3 through the fine-tuning mechanism 6 to align the plug 3 with the socket accurately.

[0065] A second aspect of the present invention provides a rail-type charging robot, comprising any one of the above-mentioned plug-in devices.

[0066] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A plug-in device, installed on a rail-type charging robot, characterized in that: It includes a connecting rod mechanism, a push rod, a mounting portion and a plug; The connecting rod mechanism, the push rod and the plug are installed on the installation part, and the installation part is provided with an avoidance space, and the avoidance space is used to avoid the movement of the connecting rod mechanism; The first end of the connecting rod mechanism is hinged to the plug, and the second end of the connecting rod mechanism and the plug are respectively hinged to the mounting portion; The first end of the push rod is hinged to the mounting portion, and the second end of the push rod is hinged to the connecting rod mechanism; The push rod is a retractable sleeve rod. When the push rod is pushed out, the connecting rod mechanism is driven by the push rod to expand, so as to drive the plug to rotate along the hinge between the plug and the mounting portion and extend out of the rail-type charging robot for docking with the socket; when the push rod is retracted, the connecting rod mechanism is driven by the push rod to retract, so as to drive the plug to reset; The connecting rod mechanism, the push rod and the plug are respectively hinged to the mounting portion through a support; The mounting portion at least comprises an upper mounting plate and a lower mounting plate which are parallel to each other; The connecting rod mechanism at least includes a first connecting rod and a second connecting rod; The support comprises a first support, a second support and a third support, the first support and the third support are mounted on the upper mounting plate, and the second support is mounted on the lower mounting plate; The first support is hinged to the first end of the first connecting rod, the second end of the first connecting rod is hinged to the first end of the second connecting rod, and the second end of the second connecting rod is hinged to the plug; The second support is hinged to the first end of the push rod, and the second end of the push rod is hinged to the hinge point of the first connecting rod and the second connecting rod; The third support is hinged to the first end of the plug, and the second end of the plug is used to connect with the socket; It also includes a limit plate, which is installed on the side of the first connecting rod or the second connecting rod close to the push rod. The limit plate is flush with the first connecting rod or the second connecting rod and extends out. When the first connecting rod and the second connecting rod are collinear, the limit plate simultaneously abuts against the first connecting rod and the second connecting rod.

2. The plug-in device according to claim 1, characterized in that: When the push rod is extended to the limit, the first connecting rod and the second connecting rod are in the same straight line.

3. The plug-in device according to claim 1, characterized in that: It also includes a fine-tuning mechanism, which is connected to the mounting portion and is used to adjust the position of the mounting portion.

4. The plug-in device according to claim 3, characterized in that: The fine-tuning mechanism includes a cross slide and a driving device that are connected to each other. The slider on the transverse slide or the longitudinal slide of the cross slide is connected to the mounting portion. The driving device is used to drive the slider to move on the transverse slide or the longitudinal slide.

5. The plug-in device according to claim 3, characterized in that: The mounting portion further comprises a wall plate. The mounting portion is a box body enclosed by the upper mounting plate, the lower mounting plate and the wall plate. The wall plate is connected to the fine-tuning mechanism.

6. The plug-in device according to claim 1, characterized in that: It also includes a positioning sensor, which is installed at the second end of the plug and is used to sense the distance between the plug and the socket.

7. The plug-in device according to claim 1, characterized in that: The plug is also provided with a sensor for sensing whether the plug is in an upright state and sending a signal to the rail-type charging robot.

8. A rail-type charging robot, characterized in that: It comprises the plug-in device as described in any one of claims 1 to 7.

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