An arm type charging robot

Abstract

The application relates to the technical field of charging robots, in particular to an arm type charging robot which comprises a base and an arm spreading assembly arranged at the top end of the base, the arm spreading assembly comprises a supporting column, a first stretching arm, a second stretching arm and a charging head; a control assembly for controlling the arm spreading assembly is arranged in the base, the control assembly comprises a first motor, a first rotating shaft, a first driving assembly, a second driving assembly and a third driving assembly; the first motor is arranged on the outer side of the base, and the output shaft of the first motor penetrates into the base; one end of the first rotating shaft is fixedly connected with the output shaft of the first motor, and the other end of the first rotating shaft is rotatably connected with the inner wall of the base; the first driving assembly, the second driving assembly and the third driving assembly are all sleeved on the first rotating shaft. The position adjustment of the charging head can be controlled by only one motor and several electric cylinders, so that the cost of equipment manufacturing is reduced.

Description

Technical Field

[0001] This invention relates to the field of charging robot technology, specifically to an arm-type charging robot. Background Technology

[0002] With the rapid development of new energy sources, the number of vehicles such as electric bicycles and electric cars is gradually increasing. To make electric vehicles more widespread, it is inevitable to install charging stations in public places. Currently, existing automatic charging stations all use robotic arms as carriers, with the charging head held at the end to charge the charging vehicle.

[0003] Chinese patent CN219779808U discloses a charging robotic arm and a charging robot. The charging robotic arm includes a rigid arm segment, a flexible arm segment, and a charging actuator connected in sequence. The rigid and flexible arm segments can adjust the position of the charging actuator under electric and / or fluid drive to bring the charging gun head closer to the charging base. The charging actuator also enables the alignment and insertion / removal of the charging gun head and the charging base. The charging robotic arm and robot provided by this invention, due to the flexible arm segment, reduce the weight of the charging robotic arm and increase its flexibility. The flexible arm segment at the end near the charging actuator allows the charging actuator to move to any position, reducing the risk of injury to objects and people. Simultaneously, the rigid arm segment ensures high load-bearing capacity and high motion accuracy.

[0004] When adjusting the position of the charging head, each joint in the above structure requires electrical equipment for control, which increases the overall manufacturing cost and load of the equipment. In addition, each rotating unit in the above structure uses a rotary motor. To facilitate the angle adjustment of the robotic arm, a bidirectional motor is generally used. Otherwise, the robotic arm would need to make a 360-degree turn every time it rotates. However, using a bidirectional motor will further increase the manufacturing cost of the equipment and requires frequent maintenance of the motor to extend its service life. Summary of the Invention

[0005] To address the aforementioned issues, an arm-type charging robot is provided. By simultaneously mounting a first drive assembly, a second drive assembly, and a third drive assembly on a first rotating shaft, the position adjustment of the arm-type assembly can be controlled by a single motor.

[0006] To address the problems of existing technologies, this invention provides an arm-type charging robot, comprising a base and an arm extension assembly disposed at the top of the base. The arm extension assembly includes, from bottom to top, a support column, a first extension arm, a second extension arm, and a charging head. The support column is disposed at the top of the base, and its top end is rotatably connected to the bottom end of the first extension arm, forming a first rotation point. The top end of the first extension arm is rotatably connected to the bottom end of the second extension arm, forming a second rotation point. The top end of the second extension arm is rotatably connected to the charging head, forming a third rotation point. The base contains a control component for controlling the arm extension assembly, the control component including… The system comprises a first motor, a first rotating shaft, a first drive assembly, a second drive assembly, and a third drive assembly. The first motor is disposed on the outer side of the base, and its output shaft extends into the interior of the base. The first rotating shaft is disposed inside the base, with one end fixedly connected to the output shaft of the first motor and the other end rotatably connected to the inner wall of the base. The first drive assembly, the second drive assembly, and the third drive assembly are all mounted on the first rotating shaft. The first drive assembly drives a first rotating point to rotate, the second drive assembly controls a second rotating point to rotate, and the third drive assembly controls a third rotating point to rotate.

[0007] Preferably, the first drive assembly, the second drive assembly, and the third drive assembly have identical structures and each includes a first pulley, a second pulley, a first auxiliary wheel, and a second auxiliary wheel. The first pulley and the second pulley are located inside the base. The first pulley is sleeved on and fixedly connected to the first rotating shaft. A sleeve is provided between the first pulley and the second pulley. The sleeve is sleeved on and rotatably connected to the first rotating shaft. The second pulley is sleeved on the sleeve and located at one end of the sleeve. The second pulley is fixedly connected to the sleeve, and the other end of the sleeve abuts against the side wall of the first pulley. The first auxiliary wheel and the second auxiliary wheel are coaxially arranged inside the base, and the axial direction of the first auxiliary wheel is perpendicular to the axial direction of the first pulley. A first synchronous belt is rotatably installed between the first pulley, the second pulley, the first auxiliary wheel, and the second auxiliary wheel.

[0008] Preferably, a driven wheel is fitted on the sleeve, and the driven wheel is rotatably connected to the sleeve; the sleeve is also provided with a synchronization component for controlling the driven wheel to rotate synchronously with the first pulley or the second pulley; a first transmission component is provided between the driven wheel of the first drive component and the first rotation point, a second transmission component is provided between the driven wheel of the second drive component and the second rotation point, and a third transmission component is provided between the driven wheel of the third drive component and the third rotation point.

[0009] Preferably, the synchronization assembly includes a first brake ring and a second brake ring; both the first brake ring and the second brake ring are semi-circular ring structures, coaxially mounted on the sleeve, with their outer peripheral walls rotatably connected to the inner peripheral wall of the driven wheel, and fixedly connected; the two ends of the first brake ring are detachably engaged with the end faces of the first pulley and the driven wheel, respectively, with the end faces of the first pulley and the driven wheel facing the same direction; the two ends of the second brake ring are detachably engaged with the end faces of the second pulley and the driven wheel, respectively, with the end faces of the second pulley and the driven wheel facing the same direction; the synchronization assembly also includes a first electric cylinder for driving the first brake ring and the second brake ring to move axially along the sleeve.

[0010] Preferably, the synchronization component further includes a slide rail mounting base, an annular slide rail, and a connecting rod; the slide rail mounting base is disposed on the bottom end of the inner cavity of the base; the annular slide rail is sleeved on the outside of the sleeve, the outer peripheral wall of the annular slide rail is slidably connected to the inner peripheral wall of the slide rail mounting base, the sliding direction of the annular slide rail is parallel to the axial direction of the annular slide rail, and the inner peripheral wall of the annular slide rail is provided with an annular groove; one end of the connecting rod is fixedly connected to the outer peripheral wall of the second brake ring, and the other end of the connecting rod is provided with a slider that is slidably connected to the groove; the tail end of the first electric cylinder is fixedly connected to the slide rail mounting base, and the telescopic end of the first electric cylinder is fixedly connected to the end face of the annular slide rail.

[0011] Preferably, the end faces of the first pulley, the second pulley, and the driven pulley for engaging are all provided with grooves, and the grooves are circumferentially spaced on the end faces of the first pulley, the second pulley, or the driven pulley; the two ends of the first brake ring and the second brake ring are respectively provided with convex corners that cooperate with the corresponding grooves.

[0012] Preferably, a limiting frame is provided on one side of the slide rail mounting base; one end of the limiting frame is connected to the slide rail mounting base, and the other end of the limiting frame is provided with two parallel side plates, the inner sidewalls of the two side plates being connected to the end face of the driven wheel respectively.

[0013] Preferably, the first transmission assembly includes a second rotating shaft and a first rotating wheel; the second rotating shaft is located inside the first extending arm and passes through the first rotation point, the axial direction of the second rotating shaft is parallel to the axial direction of the first rotating shaft, the two ends of the second rotating shaft pass through the support column and the side wall of the first extending arm respectively, the second rotating shaft is rotatably connected to the side wall of the support column, and the second rotating shaft is fixedly connected to the side wall of the first extending arm; the first rotating wheel is sleeved on the second rotating shaft, and a second synchronous belt is rotatably installed between the first rotating wheel and the driven wheel in the first drive assembly.

[0014] Preferably, the second transmission assembly includes a third rotating shaft and a second rotating wheel; the third rotating shaft is located inside the second extension arm and passes through the second rotation point, the axial direction of the third rotating shaft is parallel to the axial direction of the first rotating shaft, the two ends of the third rotating shaft pass through the side walls of the first extension arm and the second extension arm respectively, the third rotating shaft is rotatably connected to the first extension arm, and the third rotating shaft is fixedly connected to the second extension arm; the second rotating wheel is sleeved on the third rotating shaft, and a third synchronous belt is rotatably installed between the second rotating wheel and the driven wheel in the second drive assembly.

[0015] Preferably, the third transmission assembly includes a fourth rotating shaft and a third rotating wheel; the fourth rotating shaft is located inside the second extension arm and passes through the third rotation point, the axial direction of the fourth rotating shaft is parallel to the axial direction of the first rotating shaft, the fourth rotating shaft passes through the charging head and is fixedly connected to the charging head, and both ends of the fourth rotating shaft pass through the side wall of the second extension arm and are rotatably connected to the second extension arm; the third rotating wheel is sleeved on the fourth rotating shaft, and a fourth synchronous belt is rotatably installed between the third rotating wheel and the driven wheel in the third drive assembly.

[0016] The advantages of this invention compared to the prior art are:

[0017] 1. The present invention uses a rotatable connection between the charging head and the extension arm, and controls it through a control component. At the same time, the first drive component, the second drive component and the third drive component in the control component are all set on the first rotating shaft, so that only one motor is needed to control the position adjustment of the arm extension component, thereby reducing the electrical equipment required for the equipment and reducing the equipment cost.

[0018] 2. Each drive component in this invention has the same structure, and with the cooperation of the first auxiliary wheel, the second auxiliary wheel and the first synchronous belt, the first pulley and the second pulley can rotate at the same speed but in opposite directions. Thus, under the control of the synchronous component, the driven wheel can freely follow the first pulley or the second pulley to rotate synchronously, thereby controlling each rotation point to rotate forward or backward.

[0019] 3. The present invention uses the snap-fit ​​between the protrusion and the groove on the brake ring to make the driven wheel rotate synchronously with the first pulley or the second pulley. At the same time, the protrusion and the brake ring are connected by an elastic plate to ensure that the protrusion can firmly abut in the groove, thereby ensuring that the arm extension assembly can smoothly and easily adjust the position of the charging head. Attached Figure Description

[0020] Figure 1 This is a 3D schematic diagram of an arm-type charging robot.

[0021] Figure 2 This is a structural diagram of an arm-type charging robot.

[0022] Figure 3 This is a schematic diagram of the control components in an arm-type charging robot.

[0023] Figure 4 This is a schematic diagram of the structure of the first drive component in an arm-type charging robot.

[0024] Figure 5 This is a partial structural diagram of an arm-type charging robot.

[0025] Figure 6 This is a front view of the first drive component in an arm-type charging robot.

[0026] Figure 7 This is a three-dimensional schematic diagram of the first and second braking rings in an arm-type charging robot.

[0027] Figure 8 This is a partial cross-sectional view of the first drive component in an arm-type charging robot.

[0028] Figure 9 This is a partial schematic diagram of the first drive component in an arm-type charging robot.

[0029] Figure 10 This is a structural diagram of the arm span component in an arm-type charging robot.

[0030] The diagram is labeled as follows: 1-Base; 2-Arm extension assembly; 21-Support column; 22-First extension arm; 23-Second extension arm; 24-Charging head; 3-Control assembly; 31-First motor; 32-First rotating shaft; 33-First drive assembly; 331-First pulley; 3311-Groove; 332-Second pulley; 333-First auxiliary wheel; 334-Second auxiliary wheel; 335-First synchronous belt; 336-Driven wheel; 337-Synchronization assembly; 3371-First brake ring; 3372-Second brake ring; 3373 - First electric cylinder; 3374 - Slide rail mounting base; 3375 - Circular slide rail; 3376 - Connecting rod; 338 - Limiting frame; 34 - Second drive assembly; 35 - Third drive assembly; 36 - First transmission assembly; 361 - Second rotating shaft; 362 - First rotating wheel; 363 - Second synchronous belt; 37 - Second transmission assembly; 371 - Third rotating shaft; 372 - Second rotating wheel; 373 - Third synchronous belt; 38 - Third transmission assembly; 381 - Fourth rotating shaft; 382 - Third rotating wheel; 383 - Fourth synchronous belt. Detailed Implementation

[0031] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0032] Reference Figure 1 — Figure 3 As shown, the present invention provides: an arm-type charging robot, including a base 1 and an arm extension assembly 2 disposed at the top of the base 1. The arm extension assembly 2 includes, from bottom to top, a support column 21, a first extension arm 22, a second extension arm 23, and a charging head 24. The support column 21 is disposed at the top of the base 1, and the top of the support column 21 is rotatably connected to the bottom end of the first extension arm 22 to form a first rotation point. The top of the first extension arm 22 is rotatably connected to the bottom end of the second extension arm 23 to form a second rotation point. The top of the second extension arm 23 is rotatably connected to the charging head 24 to form a third rotation point. The base 1 is provided with a control assembly 3 for controlling the arm extension assembly 2. The control assembly 3 includes a first motor 31, a second extension arm 22, a third extension arm 23, and a charging head 24. The base 1 includes a rotating shaft 32, a first drive assembly 33, a second drive assembly 34, and a third drive assembly 35. A first motor 31 is disposed on the outer side of the base 1, with its output shaft extending into the interior of the base 1. The first rotating shaft 32 is disposed inside the base 1, with one end fixedly connected to the output shaft of the first motor 31 and the other end rotatably connected to the inner wall of the base 1. The first drive assembly 33, second drive assembly 34, and third drive assembly 35 are all mounted on the first rotating shaft 32. The first drive assembly 33 drives a first rotating point to rotate, the second drive assembly 34 controls a second rotating point to rotate, and the third drive assembly 35 controls a third rotating point to rotate.

[0033] Since the first drive assembly 33, the second drive assembly 34, and the third drive assembly 35 are all mounted on the first rotating shaft 32, only one motor is needed to drive the charging head 24 when its position needs to be adjusted. This reduces the electrical equipment required and lowers the cost of the device. Simultaneously, the charging head 24 is rotatably connected to the top of the second extension arm 23, forming a third rotation point. Under the control of the third drive assembly 35, the angle of the charging head 24 can be further adjusted, enabling the charging robot to handle different working conditions. The charging head 24 is equipped with a camera for position recognition, and the bottom of the base 1 is equipped with a roller assembly for movement, thus facilitating the charging robot's movement. Upon receiving a charging request, the charging robot first locates the target vehicle using a camera and identifies its model using built-in data, thus determining the location of the charging port. It then moves using a roller assembly to the charging port. Next, the first motor 31 starts operating, driving the first rotating shaft 32 to rotate. Subsequently, the first drive assembly 33, second drive assembly 34, and third drive assembly 35 on the first rotating shaft 32 control the rotation of the first, second, and third rotation points, respectively, adjusting the charging head 24 to a suitable angle and inserting it into the target vehicle's charging port for charging.

[0034] Reference Figure 3 and Figure 4 As shown: the first drive assembly 33, the second drive assembly 34, and the third drive assembly 35 have the same structure and each includes a first pulley 331, a second pulley 332, a first auxiliary wheel 333, and a second auxiliary wheel 334; the first pulley 331 and the second pulley 332 are located inside the base 1, the first pulley 331 is sleeved on the first rotating shaft 32 and fixedly connected to the first rotating shaft 32, and a sleeve is provided between the first pulley 331 and the second pulley 332; the sleeve is sleeved on the first rotating shaft 32 and connected to the first rotating shaft 32. The shaft 32 is rotatably connected, the second pulley 332 is sleeved on the sleeve and located at one end of the sleeve, the second pulley 332 is fixedly connected to the sleeve, and the other end of the sleeve abuts against the side wall of the first pulley 331; the first auxiliary wheel 333 and the second auxiliary wheel 334 are coaxially arranged inside the base 1, and the axial direction of the first auxiliary wheel 333 is perpendicular to the axial direction of the first pulley 331; a first synchronous belt 335 is rotatably installed between the first pulley 331, the second pulley 332, the first auxiliary wheel 333 and the second auxiliary wheel 334.

[0035] The first pulley 331 and the second pulley 332 are coaxially arranged, while the first auxiliary pulley 333 and the second auxiliary pulley 334 are coaxially arranged and installed inside the base 1 via a rotating shaft. The axes of the first pulley 331 and the first auxiliary pulley 333 are perpendicular to each other. Thus, with the cooperation of the first auxiliary pulley 333, the second auxiliary pulley 334, and the first synchronous belt 335, the first pulley 331 and the second pulley 332 can rotate synchronously in opposite directions. Therefore, the corresponding rotation point can be controlled to rotate forward or backward using either the first pulley 331 or the second pulley 332. Furthermore, the first drive assembly 33, the second drive assembly 34, and the third drive assembly 35 are all mounted on the first rotating shaft 32, and all three have the same structure. This allows the first motor 31 to only need to continuously control the first rotating shaft 32 to rotate in one direction, eliminating the need for frequent forward and reverse rotation of the motor to control the forward and reverse rotation of each rotation point. This extends the motor's service life and reduces the frequency of motor maintenance.

[0036] Reference Figure 5 As shown: A driven wheel 336 is fitted on the sleeve, and the driven wheel 336 is rotatably connected to the sleeve; the sleeve is also provided with a synchronization component 337 for controlling the driven wheel 336 to rotate synchronously with the first pulley 331 or the second pulley 332; a first transmission component 36 is provided between the driven wheel 336 of the first drive component 33 and the first rotation point, a second transmission component 37 is provided between the driven wheel 336 of the second drive component 34 and the second rotation point, and a third transmission component 38 is provided between the driven wheel 336 of the third drive component 35 and the third rotation point.

[0037] When the first motor 31 drives the first rotating shaft 32 to rotate, the first pulley 331 and the second pulley 332 in the first drive assembly 33, the second drive assembly 34 and the third drive assembly 35 rotate in opposite directions at the same speed. Then, when it is necessary to drive the first rotation point, the second rotation point or the third rotation point to rotate, the corresponding synchronization assembly 337 starts to drive the corresponding driven wheel 336 to connect with the first pulley 331 or the second pulley 332, thereby causing the driven wheel 336 to rotate forward or backward. Then, the corresponding rotation point is driven to rotate through the corresponding transmission assembly, so that the arm extension assembly 2 can rotate the charging head 24 to a suitable angle to complete the required charging work.

[0038] Reference Figure 6 and Figure 7As shown: The synchronization component 337 includes a first brake ring 3371 and a second brake ring 3372; both the first brake ring 3371 and the second brake ring 3372 are semi-circular ring structures, coaxially mounted on a sleeve, with the outer peripheral walls of the first brake ring 3371 and the second brake ring 3372 rotatably connected to the inner peripheral wall of the driven wheel 336, and the first brake ring 3371 and the second brake ring 3372 fixedly connected; the two ends of the first brake ring 3371 are respectively connected to the first pulley 331 and the driven wheel 336. The end face of the driving wheel 336 is detachably engaged with the end face of the first pulley 331 and the driven wheel 336, which abut against the first brake ring 3371. The two ends of the second brake ring 3372 are detachably engaged with the end faces of the second pulley 332 and the driven wheel 336, respectively, and the end faces of the second pulley 332 and the driven wheel 336 abut against the second brake ring 3372, which abut against the second brake ring 3372, which are oriented in the same direction. The synchronization assembly 337 also includes a first electric cylinder 3373 for driving the first brake ring 3371 and the second brake ring 3372 to move axially along the sleeve.

[0039] When the charging robot needs to adjust the position and angle of the charging head 24, the first motor 31 on the base 1 starts working first, thereby driving the first rotating shaft 32 to rotate. This causes the first pulley 331 and the second pulley 332 in each drive assembly to rotate at the same speed but in opposite directions. Subsequently, the first electric cylinder 3373 drives the first brake ring 3371 and the second brake ring 3372 to move along the axial direction of the sleeve. When the driven wheel 336 needs to rotate in the same direction as the first pulley 331, the first electric cylinder 3373 drives the two ends of the first brake ring 3371 to approach the end face of the first pulley 331 and the end face of the driven wheel 336 that is in the same direction as the first pulley 331, respectively, until the two ends of the first brake ring 3371 are engaged with the end faces of the first pulley 331 and the driven wheel 336, respectively, so that the driven wheel 336 can follow the first pulley 331 in the same direction. The second electric cylinder rotates in the opposite direction, thereby driving the corresponding rotation point to rotate. When the driven wheel 336 needs to rotate in the same direction as the second pulley 332, the second electric cylinder drives the first brake ring 3371 and the second brake ring 3372 to move in the opposite direction. This causes the two ends of the first brake ring 3371 to move away from the end faces of the first pulley 331 and the driven wheel 336, while the two ends of the second brake ring 3372 begin to approach the end face of the second pulley 332 and the end face of the driven wheel 336 that is in the same direction as the second pulley 332, until the two ends of the second brake ring 3372 respectively engage with the end faces of the second pulley 332 and the driven wheel 336. This allows the driven wheel 336 to rotate in the same direction as the second pulley 332, thereby driving the corresponding rotation point to rotate in the opposite direction. This gradually adjusts the charging head 24 to a suitable angle and position, and then completes the corresponding charging work.

[0040] Reference Figure 8 As shown: The synchronization component 337 further includes a slide rail mounting base 3374, an annular slide rail 3375, and a connecting rod 3376; the slide rail mounting base 3374 is disposed on the bottom end of the inner cavity of the base 1; the annular slide rail 3375 is sleeved on the outside of the sleeve, and the outer peripheral wall of the annular slide rail 3375 is slidably connected to the inner peripheral wall of the slide rail mounting base 3374, the sliding direction of the annular slide rail 3375 is parallel to the axial direction of the annular slide rail 3375, and the inner peripheral wall of the annular slide rail 3375 is provided with an annular groove; one end of the connecting rod 3376 is fixedly connected to the outer peripheral wall of the second brake ring 3372, and the other end of the connecting rod 3376 is provided with a slider that is slidably connected to the groove; the tail end of the first electric cylinder 3373 is fixedly connected to the slide rail mounting base 3374, and the telescopic end of the first electric cylinder 3373 is fixedly connected to the end face of the annular slide rail 3375.

[0041] When the first brake ring 3371 or the second brake ring 3372 needs to drive the driven wheel 336 to rotate forward or backward, the first electric cylinder 3373 drives the annular slide rail 3375 to move along its axial direction, thereby driving the second brake ring 3372 to move through the connecting rod 3376. At the same time, since the first brake ring 3371 and the second brake ring 3372 are fixedly connected, the first brake ring 3371 and the second brake ring 3372 can move synchronously, so that the driven ring can rotate in the same direction as the first pulley 331 or the second pulley 332. When the driven wheel 336 rotates with the first pulley 331 or the second pulley 332, the connecting rod 3376 on the second brake ring 3372 is slidably connected to the inner circumferential wall of the annular slide rail 3375, thereby ensuring that the driven wheel 336 stably rotates with the first pulley 331 or the second pulley 332.

[0042] Reference Figure 9 As shown: The end faces of the first pulley 331, the second pulley 332 and the driven pulley 336 for engaging are all provided with grooves 3311, and the grooves 3311 are circumferentially spaced on the end faces of the first pulley 331, the second pulley 332 or the driven pulley 336; the two ends of the first brake ring 3371 and the second brake ring 3372 are respectively provided with convex corners that cooperate with the corresponding grooves 3311.

[0043] Since the driven wheel 336 is located between the first pulley 331 and the second pulley 332, the opposite end faces of the first pulley 331 and the second pulley 332 are respectively provided with grooves 3311, and both end faces of the driven wheel 336 are provided with grooves 3311. At the same time, the grooves 3311 are circumferentially distributed on each end face. The two ends of the first brake ring 3371 and the second brake ring 3372 are respectively provided with protruding corners. The protruding corners are connected to the outer peripheral wall of the first brake ring 3371 or the second brake ring 3372 through elastic plates, which can ensure that the protruding corners can be stably inserted into the corresponding grooves 3311, so that the driven wheel 336 can rotate with the first pulley 331 or the second pulley 332.

[0044] Reference Figure 9 As shown: A limiting frame 338 is provided on one side of the slide rail mounting base 3374; one end of the limiting frame 338 is connected to the slide rail mounting base 3374, and the other end of the limiting frame 338 is provided with two parallel side plates, the inner side walls of the two side plates are respectively connected to the end face of the driven wheel 336.

[0045] The driven wheel 336 is located between two side plates, and the inner sidewall of the side plates is provided with protrusions. The two end faces of the driven wheel 336 are provided with annular grooves for accommodating the protrusions. This can limit the relative distance between the driven wheel 336 and the first pulley 331 and the second pulley 332. Furthermore, through the cooperation of the protrusions and the annular grooves, it can be ensured that the limiting frame 338 will not interfere with the rotation of the driven wheel 336, thereby ensuring the normal operation of each drive component.

[0046] Reference Figure 10 As shown: The first transmission assembly 36 includes a second rotating shaft 361 and a first rotating wheel 362; the second rotating shaft 361 is located inside the first extension arm 22 and passes through the first rotation point, the axial direction of the second rotating shaft 361 is parallel to the axial direction of the first rotating shaft 32, the two ends of the second rotating shaft 361 respectively pass through the support column 21 and the side wall of the first extension arm 22, the second rotating shaft 361 is rotatably connected to the side wall of the support column 21, and the second rotating shaft 361 is fixedly connected to the side wall of the first extension arm 22; the first rotating wheel 362 is sleeved on the second rotating shaft 361, and a second synchronous belt 363 is rotatably installed between the first rotating wheel 362 and the driven wheel 336 in the first drive assembly 33.

[0047] When the first extension arm 22 needs to adjust its relative angle with the support column 21, the first motor 31 starts to work. Then, the synchronization component 337 in the first drive assembly 33 starts to drive the driven wheel 336 to rotate in the same direction as the first pulley 331 or the second pulley 332. Then, the driven wheel 336 drives the first rotating wheel 362 to rotate synchronously through the second synchronous belt 363. The first rotating wheel 362 can drive the second rotating shaft 361 to rotate, so that the second rotating shaft 361 can drive the first extension arm 22 to rotate around the first rotation point, thereby adjusting the relative angle of the first extension arm 22 with respect to the support column 21 until the first extension arm 22 is adjusted to the appropriate position.

[0048] Reference Figure 10 As shown: The second transmission assembly 37 includes a third rotating shaft 371 and a second rotating wheel 372; the third rotating shaft 371 is located inside the second extension arm 23 and passes through the second rotation point, the axial direction of the third rotating shaft 371 is parallel to the axial direction of the first rotating shaft 32, the two ends of the third rotating shaft 371 pass through the side walls of the first extension arm 22 and the second extension arm 23 respectively, the third rotating shaft 371 is rotatably connected to the first extension arm 22, and the third rotating shaft 371 is fixedly connected to the second extension arm 23; the second rotating wheel 372 is sleeved on the third rotating shaft 371, and a third synchronous belt 373 is rotatably installed between the second rotating wheel 372 and the driven wheel 336 in the second drive assembly 34.

[0049] When it is necessary to adjust the angle between the second extension arm 23 and the first extension arm 22, the driven wheel 336 in the second drive assembly 34, driven by the corresponding synchronization assembly 337, begins to rotate synchronously with the first pulley 331 or the second pulley 332. This allows the driven wheel 336 to drive the second rotating wheel 372 to rotate synchronously via the third synchronization belt 373. Subsequently, the second rotating wheel 372 drives the third rotating shaft 371 to rotate, thereby causing the second extension arm 23 to rotate around the second rotation point, thus adjusting the relative angle between the second extension arm 23 and the first extension arm 22. When the third synchronization belt 373 passes the first rotation point, the inner side of the first extension arm 22 is provided with an auxiliary wheel that cooperates with the third synchronization belt 373. This prevents the third synchronization belt 373 from interfering with other objects when adjusting the arm extension assembly 2, thereby ensuring the overall stability of the equipment operation.

[0050] Reference Figure 10As shown: The third transmission assembly 38 includes a fourth rotating shaft 381 and a third rotating wheel 382; the fourth rotating shaft 381 is located inside the second extension arm 23 and passes through the third rotation point, the axial direction of the fourth rotating shaft 381 is parallel to the axial direction of the first rotating shaft 32, the fourth rotating shaft 381 passes through the charging head 24 and is fixedly connected to the charging head 24, and both ends of the fourth rotating shaft 381 pass through the side wall of the second extension arm 23 and are rotatably connected to the second extension arm 23; the third rotating wheel 382 is sleeved on the fourth rotating shaft 381, and a fourth synchronous belt 383 is rotatably installed between the third rotating wheel 382 and the driven wheel 336 in the third drive assembly 35.

[0051] When it is necessary to adjust the angle between the charging head 24 and the second extension arm 23, the driven wheel 336 in the third drive assembly 35, driven by the corresponding synchronization assembly 337, begins to rotate synchronously with the first pulley 331 or the second pulley 332. This allows the driven wheel 336 to drive the third rotating wheel 382 to rotate synchronously via the fourth synchronization belt 383. Subsequently, the third rotating wheel 382 drives the fourth rotating shaft 381 to rotate synchronously, thereby enabling the charging head 24 to adjust its angle with the second extension arm 23 and thus adjust the charging head 24 to a suitable position. When the fourth synchronization belt 383 passes through the first rotation point and the second rotation point, auxiliary wheels are provided on the inner sides of both the first extension arm 22 and the second extension arm 23. This prevents the fourth synchronization belt 383 from interfering with other objects when adjusting the arm extension assembly 2, thereby ensuring the normal operation of the equipment.

[0052] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. An arm-type charging robot, comprising a base (1) and an arm extension assembly (2) disposed at the top of the base (1), the arm extension assembly (2) comprising a support column (21) from bottom to top, a first extension arm (22), a second extension arm (23) and a charging head (24), wherein the support column (21) is disposed at the top of the base (1), the top of the support column (21) is rotatably connected to the bottom of the first extension arm (22) and forms a first rotation point, the top of the first extension arm (22) is rotatably connected to the bottom of the second extension arm (23) and forms a second rotation point, and the top of the second extension arm (23) is rotatably connected to the charging head (24) and forms a third rotation point; characterized in that The base (1) is provided with a control component (3) for controlling the arm extension assembly (2). The control component (3) includes a first motor (31), a first rotating shaft (32), a first drive assembly (33), a second drive assembly (34), and a third drive assembly (35). The first motor (31) is located on the outside of the base (1), and the output shaft of the first motor (31) extends through the interior of the base (1); The first rotating shaft (32) is located inside the base (1). One end of the first rotating shaft (32) is fixedly connected to the output shaft of the first motor (31), and the other end of the first rotating shaft (32) is rotatably connected to the inner wall of the base (1). The first drive assembly (33), the second drive assembly (34) and the third drive assembly (35) are all mounted on the first rotating shaft (32). The first drive assembly (33) is used to drive the first rotating point to rotate, the second drive assembly (34) is used to control the second rotating point to rotate, and the third drive assembly (35) is used to control the third rotating point to rotate. The first drive assembly (33), the second drive assembly (34), and the third drive assembly (35) have the same structure and each includes a first pulley (331), a second pulley (332), a first auxiliary wheel (333), and a second auxiliary wheel (334). The first pulley (331) and the second pulley (332) are located inside the base (1). The first pulley (331) is sleeved on the first rotating shaft (32) and fixedly connected to the first rotating shaft (32). A sleeve is provided between the first pulley (331) and the second pulley (332). The sleeve is fitted on the first rotating shaft (32) and rotatably connected to the first rotating shaft (32). The second pulley (332) is fitted on the sleeve and located at one end of the sleeve. The second pulley (332) is fixedly connected to the sleeve. The other end of the sleeve abuts against the side wall of the first pulley (331). The first auxiliary wheel (333) and the second auxiliary wheel (334) are coaxially arranged inside the base (1), and the axial direction of the first auxiliary wheel (333) is perpendicular to the axial direction of the first pulley (331); A first synchronous belt (335) is rotatably installed between the first pulley (331), the second pulley (332), the first auxiliary pulley (333), and the second auxiliary pulley (334). A driven wheel (336) is fitted on the sleeve, and the driven wheel (336) is rotatably connected to the sleeve; The sleeve is also provided with a synchronization component (337) for controlling the driven wheel (336) to rotate synchronously with the first pulley (331) or with the second pulley (332). A first transmission component (36) is provided between the driven wheel (336) of the first drive component (33) and the first rotation point; a second transmission component (37) is provided between the driven wheel (336) of the second drive component (34) and the second rotation point; and a third transmission component (38) is provided between the driven wheel (336) of the third drive component (35) and the third rotation point. The synchronization component (337) includes a first brake ring (3371) and a second brake ring (3372). Both the first brake ring (3371) and the second brake ring (3372) are semi-circular ring structures. The first brake ring (3371) and the second brake ring (3372) are coaxially mounted on the sleeve. The outer peripheral walls of the first brake ring (3371) and the second brake ring (3372) are rotatably connected to the inner peripheral wall of the driven wheel (336). The first brake ring (3371) and the second brake ring (3372) are fixedly connected. The two ends of the first brake ring (3371) are respectively engaged with the end faces of the first pulley (331) and the driven pulley (336), and the end faces of the first pulley (331) and the driven pulley (336) that abut against the first brake ring (3371) have the same orientation. The two ends of the second brake ring (3372) are respectively engaged with the end faces of the second pulley (332) and the driven pulley (336), and the end faces of the second pulley (332) and the driven pulley (336) that abut against the second brake ring (3372) face the same direction; The synchronization assembly (337) also includes a first electric cylinder (3373) for driving the first brake ring (3371) and the second brake ring (3372) to move axially along the sleeve.

2. The arm-type charging robot according to claim 1, characterized by, The synchronization component (337) also includes a slide rail mounting base (3374), an annular slide rail (3375), and a connecting rod (3376). The slide rail mounting base (3374) is located at the bottom end of the inner cavity of the base (1); The annular slide rail (3375) is sleeved on the outside of the sleeve. The outer peripheral wall of the annular slide rail (3375) is slidably connected to the inner peripheral wall of the slide rail mounting base (3374). The sliding direction of the annular slide rail (3375) is parallel to the axial direction of the annular slide rail (3375). The inner peripheral wall of the annular slide rail (3375) is provided with an annular groove. One end of the connecting rod (3376) is fixedly connected to the outer peripheral wall of the second brake ring (3372), and the other end of the connecting rod (3376) is provided with a slider that is slidably connected to the slide groove; The tail end of the first electric cylinder (3373) is fixedly connected to the slide rail mounting base (3374), and the telescopic end of the first electric cylinder (3373) is fixedly connected to the end face of the annular slide rail (3375).

3. The arm-type charging robot according to claim 1, characterized by, The end faces of the first pulley (331), the second pulley (332), and the driven pulley (336) for engaging are all provided with grooves (3311), and the grooves (3311) are circumferentially distributed on the end faces of the first pulley (331), the second pulley (332), or the driven pulley (336). The first brake ring (3371) and the second brake ring (3372) are respectively provided with convex corners at both ends that cooperate with the corresponding grooves (3311).

4. The arm-type charging robot according to claim 2, characterized by, A limiting frame (338) is provided on one side of the slide rail mounting base (3374); One end of the limiting frame (338) is connected to the slide rail mounting base (3374), and the other end of the limiting frame (338) is provided with two parallel side plates. The inner side walls of the two side plates are respectively connected to the end face of the driven wheel (336).

5. The arm-type charging robot according to claim 1, characterized by, The first transmission assembly (36) includes a second rotating shaft (361) and a first rotating wheel (362). The second rotating shaft (361) is located inside the first extending arm (22) and passes through the first rotation point. The axial direction of the second rotating shaft (361) is parallel to the axial direction of the first rotating shaft (32). The two ends of the second rotating shaft (361) pass through the support column (21) and the side wall of the first extending arm (22) respectively. The second rotating shaft (361) is rotatably connected to the side wall of the support column (21) and fixedly connected to the side wall of the first extending arm (22). The first rotating wheel (362) is sleeved on the second rotating shaft (361), and a second synchronous belt (363) is rotatably installed between the first rotating wheel (362) and the driven wheel (336) in the first drive assembly (33).

6. The arm-type charging robot according to claim 1, characterized by, The second transmission assembly (37) includes a third rotating shaft (371) and a second rotating wheel (372). The third rotating shaft (371) is located inside the second extension arm (23) and passes through the second rotation point. The axial direction of the third rotating shaft (371) is parallel to the axial direction of the first rotating shaft (32). The two ends of the third rotating shaft (371) pass through the side walls of the first extension arm (22) and the second extension arm (23) respectively. The third rotating shaft (371) is rotatably connected to the first extension arm (22) and fixedly connected to the second extension arm (23). The second rotating wheel (372) is sleeved on the third rotating shaft (371), and a third synchronous belt (373) is rotatably installed between the second rotating wheel (372) and the driven wheel (336) in the second drive assembly (34).

7. The arm-type charging robot according to claim 1, characterized by, The third transmission assembly (38) includes a fourth rotating shaft (381) and a third rotating wheel (382). The fourth rotating shaft (381) is located inside the second extension arm (23) and passes through the third rotation point. The axial direction of the fourth rotating shaft (381) is parallel to the axial direction of the first rotating shaft (32). The fourth rotating shaft (381) passes through the charging head (24) and is fixedly connected to the charging head (24). The two ends of the fourth rotating shaft (381) pass through the side wall of the second extension arm (23) and are rotatably connected to the second extension arm (23). The third rotating wheel (382) is sleeved on the fourth rotating shaft (381), and a fourth synchronous belt (383) is rotatably installed between the third rotating wheel (382) and the driven wheel (336) in the third drive assembly (35).

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