Electric vehicle automatic charging mechanical arm and robot

Abstract

The invention relates to the technical field of electric vehicle charging, in particular to an electric vehicle automatic charging mechanical arm and a robot, the electric vehicle automatic charging mechanical arm comprises a pose adjusting mechanism and an automatic charging gun head, and the automatic charging gun head is integrated at the free end of the pose adjusting mechanism and used for being connected with a charging port of an electric vehicle; and the pose adjusting mechanism is used for adjusting the pose according to the position of the electric vehicle, so that the automatic charging gun head and the charging port of the electric vehicle are located in the same plugging direction. According to the purpose, based on the characteristic that an automatic charging automobile and a parking site are relatively fixed, a charging gun is integrated on the mechanical arm, the mechanical arm is optimized, the mechanical arm with six active degrees of freedom is optimized into the mechanical arm with five active degrees of freedom, the size and cost of the mechanical arm can be reduced, and therefore the mechanical arm can better face different environments.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle charging, and in particular to an electric vehicle automatic charging mechanical arm and a robot. Background Art

[0002] With the increase in the number of electric vehicles, the safety and convenience of electric vehicle charging have become issues that must be paid attention to during the use of electric vehicles, especially electric vehicles. At present, electric vehicles are generally charged at large or small charging stations. When charging at charging stations, most of them use 6-axis or above industrial robots as actuators. When 6-axis industrial robots charge electric vehicles, the movement principle is as follows Figure 1 As shown, the common charging robot arm is implemented by a 6-axis serial robot arm, which is equipped with 6 rotation axes and a total of 6 degrees of freedom. Its Ry / Rz / Rx are realized by the active rotation axis of the robot arm, and the X / Y / Z position freedom is realized by the coupling interpolation operation of the 6Ry axis and the 6R2 / 6R3 / 6R4 axis. The 6Ry axis needs to bear the rotational inertia load and gravity load of the robot arm.

[0003] When inserting the gun, the 6Ry axis needs to be coupled with other axes to fit the insertion linear motion of the end of the robot arm in the workspace. The 6Ry axis needs to provide the insertion torque. Therefore, the torque load of the rotation axis of the 6-DOF robot arm is large, and the insertion process requires coupling control, which is difficult to control and requires high precision of the rotation axis. In addition, there are problems such as high cost and large floor space, which is not conducive to promotion in different scenarios.

[0004] Another example is the Chinese patent: CN201811194859.5, which discloses a flexible automatic charging device and automatic charging system with adaptive posture changes, and specifically discloses that the flexible automatic charging device includes a charging gun head, a rod mechanism for fixing the charging gun head, and a flexible module installed between the charging gun head and the rod mechanism, the rod mechanism includes a controlled state and a free state, the controlled state is used to drive the charging gun head to perform plug-in movement, and the free state is used to perform posture adaptive changes, and the flexible module is used to adaptively adjust the posture of the charging gun head according to the posture of the external charging socket, so that the charging port of the charging gun head and the charging interface of the charging socket are located in the same plug-in direction. The flexible automatic charging device and automatic charging system in the present invention ensure the reliability, continuity and stability of charging. The automatic charging device with multiple rods published by it is large in size and high in cost, which is not conducive to promotion for different scenarios.

[0005] Therefore, in the face of charging of electric vehicles in different environments, it is necessary to propose an electric vehicle automatic charging mechanical arm and robot to solve the above problems. Summary of the invention

[0006] In view of this, one of the objects of the present invention is to provide an automatic charging robotic arm for electric vehicles. Based on the relatively fixed characteristics of the automatic charging vehicle and the parking lot, the charging gun is integrated into the robotic arm and the robotic arm is optimized, and the robotic arm with six active degrees of freedom is optimized to a robotic arm with five active degrees of freedom, so that the robotic arm can reduce the size and cost, so as to better cope with different environments; the second object is to provide an automatic charging robot for electric vehicles.

[0007] The present invention solves the above technical problems by the following technical means:

[0008] An automatic charging mechanical arm for an electric vehicle comprises a posture adjustment mechanism and an automatic charging gun head, wherein the automatic charging gun head is integrated at the free end of the posture adjustment mechanism and is used to be connected to a charging port of the electric vehicle; the posture adjustment mechanism is used to perform posture adjustment according to the position of the electric vehicle so that the automatic charging gun head and the charging port of the electric vehicle are located in the same plugging direction.

[0009] According to the above technical means, by integrating the automatic charging gun head into a posture adjustment mechanism with five active degrees of freedom, when the electric vehicle is parked in a relatively fixed place for charging, it can be automatically aligned according to the parking position of the electric vehicle, so as to perform automatic charging. The entire automatic charging robotic arm is optimized from a robotic arm with six active degrees of freedom to a robotic arm with five active degrees of freedom, so that the robotic arm can reduce the size and cost, so as to better cope with different environments.

[0010] Furthermore, the posture adjustment mechanism includes a lifting structure, a linkage component and a passive motion component. The linkage component is assembled on the lifting structure, and the passive motion component is assembled on the linkage component to drive the passive motion component to actively adjust its posture. The automatic charging gun head is integrated on the passive motion component.

[0011] According to the above technical means, a motion structure with five active degrees of freedom can be formed through the lifting structure and linkage components, which can realize the multi-posture movement of the robotic arm and can be suitable for the charging of electric vehicles; and through the passive motion components, the passive and smooth plugging and unplugging of the automatic charging gun head can be realized, so that the automatic charging gun head can better adapt to the insertion and charging in different situations and the unplugging after charging.

[0012] Furthermore, the linkage assembly includes a first motion assembly, a second motion assembly, a third motion assembly and a fourth motion assembly, one end of the first motion assembly is assembled on the lifting structure, and the first motion assembly, the second motion assembly and the third motion assembly are connected to each other; the fourth motion assembly is connected to the third motion assembly through a passive motion assembly.

[0013] According to the above technical means, a motion structure with five active degrees of freedom is formed by the lifting structure, the first motion component, the second motion component, the third motion component and the fourth motion component, which can realize the adjustment of multiple postures, has a simple structure and strong practicality.

[0014] Furthermore, the passive motion component includes a pitch structure and a floating structure. The pitch structure is connected between the third motion component and the fourth motion component, and is used to adjust the pitch angles of the fourth motion component, the floating structure and the automatic charging gun head to adapt to the pitch angles of the charging ports of different vehicle models. The fourth motion component is assembled on the pitch structure, the floating structure is connected to the fourth motion component, and the automatic charging gun head is integrated on the floating structure, so as to enable the automatic charging gun head to adapt to changes in the pitch angle.

[0015] According to the above technical means, through the mutual cooperation of the pitch structure and the floating structure, the passive and smooth plugging and unplugging of the automatic charging gun head can be achieved, so that the automatic charging gun head can better adapt to the insertion charging and unplugging after charging in different situations.

[0016] Furthermore, the lifting structure includes a first housing, a screw rod and a first power module. The screw rod is rotatably assembled in the first housing, and the first power module is transmission-connected to one end of the screw rod.

[0017] According to the above-mentioned technical means, by adopting the first power module and the screw rod to form a lifting structure, when the first power module is working, it can drive the screw rod to rotate, and then drive the first motion component, the second motion component, the third motion component and the fourth motion component and the passive motion component to rise and fall, adapt to the height changes of different vehicles, and facilitate the use of automatic charging gun heads.

[0018] Furthermore, the first motion component includes a column and a second power module, the column is fixedly connected to the lifting structure, the second power module is assembled in the column, and the second motion component is transmission-connected to the output end of the second power module.

[0019] According to the above technical means, the second motion component can be moved through the mutual cooperation between the column and the second power module, and the structure is simple and practical.

[0020] Furthermore, the second motion component includes a second housing and a third power module, the second housing is fixedly connected to the first motion component, the third power module is assembled in the second housing, and the output end of the third motion component and the third power module are transmission-connected.

[0021] According to the above technical means, the third motion component can be driven to move through the third power module, which has a simple structure and strong practicality.

[0022] Furthermore, the third motion component includes a third housing and a fourth power module, the third housing is fixedly connected to the second motion component, the fourth power module is assembled in the third housing, and the output end of the fourth power module is transmission-connected to the passive motion component.

[0023] According to the above technical means, the fourth power module can drive the passive motion component to perform active motion to increase the motion range of the passive motion component and to better adjust the position of the automatic charging gun head. The structure is simple and practical.

[0024] Furthermore, the pitch structure includes a pitch bracket and a crank assembly, the pitch bracket is assembled on the third motion assembly, and the fourth motion assembly is connected to the crank assembly, so as to adjust the pitch angle of the fourth motion assembly through the crank assembly.

[0025] According to the above technical means, the pitch bracket is used as a connecting structure, and the crank assembly is assembled on the pitch bracket, which can be manually adjusted to facilitate the adjustment and locking of the pitch angle of the automatic charging gun head, so that the pitch angle of the automatic charging gun head is consistent with the pitch angle of the electric vehicle charging port, which facilitates the plugging and unplugging of the automatic charging gun head.

[0026] Further, the crank assembly includes a slider bracket, a slider, an adjusting screw, a connecting rod, a connecting shaft, a multiplexing shaft and a connecting bracket, the slider bracket is assembled on the pitch bracket, the adjusting screw is rotatably assembled on the slider bracket, the slider is threaded on the adjusting screw and moves in the slider bracket, the connecting shaft is slidably arranged in the pitch bracket, the connecting rod is connected between the connecting shaft and the slider, the connecting bracket is assembled in the pitch bracket and connected to the connecting shaft, the multiplexing shaft is assembled on both sides of the pitch bracket and penetrates into the pitch bracket, and the free end of the multiplexing shaft is rotatably connected to the connecting bracket.

[0027] According to the above technical means, a crank slider mechanism is formed by a slider bracket, a slider, an adjusting screw, a connecting rod, a connecting shaft, a multiplex rotating shaft and a connecting bracket. During the movement, not only can the pitch structure be adjusted, but it can also be self-locking and has high reliability.

[0028] Furthermore, the pitch bracket is provided with a mounting groove, the crank assembly is partially assembled in the mounting groove, and decorative covers are provided on both sides of the pitch bracket.

[0029] According to the above technical means, by setting the installation groove, an installation base is provided, and by setting the decorative cover, on the one hand, impurities are prevented from entering the crank assembly, and on the other hand, the aesthetics is improved.

[0030] The present application also discloses an electric vehicle automatic charging robot, comprising a mounting base and the electric vehicle automatic charging robot arm described above.

[0031] The cooperation between the mounting base and the automatic charging mechanical arm of the electric vehicle facilitates the installation, use and storage of the automatic charging mechanical arm of the electric vehicle.

[0032] The present application adopting the above scheme has at least the following beneficial effects:

[0033] 1. In the present application, by integrating the automatic charging gun head into a posture adjustment mechanism with five active degrees of freedom, when an electric vehicle is parked in a relatively fixed place for charging, it can be automatically aligned according to the parking position of the electric vehicle, thereby automatically charging, and the entire automatic charging robotic arm is optimized from a robotic arm with six active degrees of freedom to a robotic arm with five active degrees of freedom, so that the robotic arm can reduce the size and cost, so as to better cope with different environments.

[0034] 2. In the present application, by using the lifting structure as the first active degree of freedom, the first motion component as the second active degree of freedom, the second motion component as the third active degree of freedom, the third motion component as the fourth active degree of freedom, and the fourth motion component as the fifth active degree of freedom, the multi-posture movement of the robot arm can be realized, which can be suitable for the charging of electric vehicles; and by using the pitch structure and the floating structure in the passive motion component as the passive motion degrees of freedom, the passive and smooth plugging and unplugging of the automatic charging gun head can be realized, so that the automatic charging gun head can better adapt to the insertion charging and unplugging after charging in different situations, with a simple structure and strong practicality.

[0035] 3. In the present application, by designing the pitch structure in the passive motion component as a pitch bracket and a crank assembly, manual adjustment can be achieved to facilitate the adjustment and locking of the pitch angle of the automatic charging gun head, so that the pitch angle of the automatic charging gun head is consistent with the pitch angle of the vehicle charging port, and then through the three-degree-of-freedom passive rotation function of the floating structure, the posture changes of the charging port caused by the posture changes of the vehicle can be covered, so that the pitch angle of the automatic charging gun head is consistent with the pitch angle of the electric vehicle charging port, which is convenient for the plugging and unplugging of the automatic charging gun head.

[0036] 4. In the present application, by assembling the robotic arm on the mounting base, the installation, use and storage of the automatic charging robotic arm for electric vehicles are facilitated, so that the robotic arm can adapt to different environments and can be widely used for charging household electric vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention can be further illustrated by the non-limiting examples given in the accompanying drawings;

[0038] Figure 1 It is a schematic diagram of a 6-axis serial robot arm in the background technology;

[0039] Figure 2This is one of the structural schematic diagrams of the automatic charging mechanical arm for electric vehicles in the embodiment of the present application;

[0040] Figure 3 This is the second structural schematic diagram of the automatic charging mechanical arm for electric vehicles in the embodiment of the present application;

[0041] Figure 4 It is a partial cross-sectional structural schematic diagram of an automatic charging mechanical arm for an electric vehicle in an embodiment of the present application;

[0042] Figure 5 is a schematic diagram of the pitch angle θ of the charging port of an electric vehicle in an embodiment of the present application;

[0043] Figure 6 is a schematic diagram of the pitch angle variation β of the charging port of an electric vehicle in an embodiment of the present application;

[0044] Figure 7 is a schematic diagram of the rolling angle change α of the charging port of an electric vehicle in an embodiment of the present application;

[0045] Figure 8 This is a schematic diagram of the angle change of the electric vehicle charging port in the embodiment of the present application;

[0046] Fig. 9 This is a schematic diagram of the structure of the automatic charging mechanical arm for electric vehicles in an embodiment of the present application;

[0047] Fig.10 It is one of the structural schematic diagrams of the pitch structure in the embodiment of the present application;

[0048] Fig.11 This is the second structural diagram of the pitch structure in the embodiment of the present application;

[0049] Fig.12 yes Figure 6 Schematic diagram of the cross-sectional structure along the AA direction;

[0050] Fig.13 It is a schematic diagram of a partial connection structure between a pitch bracket and a crank assembly in an embodiment of the present application;

[0051] Fig.14 A schematic diagram of the structure of the automatic charging gun head in the embodiment of the present application;

[0052] Fig.15 This is one of the structural schematic diagrams of the automatic charging robot for electric vehicles in the embodiment of the present application;

[0053] Fig.16 This is the second structural schematic diagram of the automatic charging robot for electric vehicles in the embodiment of the present application;

[0054] Fig.17This is the third structural diagram of the automatic charging robot for electric vehicles in the embodiment of the present application;

[0055] Description of main symbols and components:

[0056] 100. Robotic arm; 1. Lifting structure; 11. First power module; 12. First housing; 13. Screw rod; 14. Moving block; 15. Connecting seat;

[0057] 2. First motion assembly; 21. Column; 22. Second power module; 3. Second motion assembly; 31. Second housing; 32. Third power module; 4. Third motion assembly; 41. Third housing; 42. Fourth power module;

[0058] 5. Pitch structure; 501. Mounting slot; 502. Slide slot; 51. Pitch bracket; 52. Slider bracket; 53. Adjusting screw; 54. Slider; 55. Connecting rod; 56. Connecting shaft; 57. Connecting bracket; 58. Reusable rotating shaft; 59. Decorative cover;

[0059] 6. Fourth moving component; 7. Floating structure; 8. Automatic charging gun head; 81. Charging cable; 200. Mounting base; 300. Indicator light. DETAILED DESCRIPTION

[0060] The following describes the implementation of the present invention through specific specific embodiments, and those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. It should be noted that the illustrations provided in the following embodiments are only for exemplary descriptions, and only schematic diagrams are shown, not physical diagrams, and cannot be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts in the figures may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the figures.

[0061] The same or similar numbers in the figures of the embodiments of the present invention correspond to the same or similar parts. In the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "back", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the figure. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the figures are only used for illustrative purposes and cannot be understood as limitations on the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. In the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0062] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0063] like Figure 2-14 As shown, the embodiment of the present application discloses an automatic charging mechanical arm for electric vehicles, including a posture adjustment mechanism and an automatic charging gun head 8. The automatic charging gun head 8 is integrated at the free end of the posture adjustment mechanism, and is used to connect with the charging port of the electric vehicle to avoid the repeated positioning error caused by the separation of the mechanical arm 100 and the charging gun head, which is beneficial to improve the use accuracy of the charging gun head. The posture adjustment mechanism is a linkage structure with five active degrees of freedom, which is used to adjust the posture according to the position of the electric vehicle so that the automatic charging gun head 8 and the charging port of the electric vehicle are located in the same plug-in direction.

[0064] In this embodiment, by integrating the automatic charging gun head 8 into a posture adjustment mechanism with five active degrees of freedom, when the electric vehicle is parked in a relatively fixed place for charging, it can be automatically aligned according to the parking position of the electric vehicle, so that the automatic charging gun head 8 and the charging port of the electric vehicle are located in the same plug-in direction, thereby automatically charging. The entire automatic charging robot arm 100 is optimized from a robot arm 100 with six active degrees of freedom to a robot arm 100 with five active degrees of freedom, so that the robot arm 100 can reduce the size and cost, so as to better face different environments, facilitate installation and use in different environments, and can be widely used for charging household electric vehicles.

[0065] In some embodiments, Figure 2-4 As shown, the posture adjustment mechanism includes a lifting structure 1, a linkage component and a passive motion component. The linkage component is assembled on the lifting structure 1. The lifting structure 1 and the linkage component can form a motion structure with five active degrees of freedom, which can realize the multi-posture motion of the robot arm 100, so as to be suitable for the complex situation of electric vehicle charging, and the robot arm 100 with six active degrees of freedom is optimized to five active degrees of freedom, which can reduce the volume and cost of the robot arm 100. The passive motion component is assembled on the linkage component, which is used to drive the posture of the passive motion component to be actively adjusted to adapt to different parking conditions of the electric vehicle, so as to better enable the automatic charging gun head 8 to be inserted into the charging port of the electric vehicle for charging and unplugged after charging, so as to realize the passive and smooth plugging and unplugging of the automatic charging gun head 8. The automatic charging gun head 8 is integrated on the passive motion component to facilitate the plugging and unplugging of the automatic charging gun head 8.

[0066] In this embodiment, if Figure 2-4As shown, the linkage assembly includes a first motion assembly 2, a second motion assembly 3, a third motion assembly 4 and a fourth motion assembly 6. By using the lifting structure 1 as the first active degree of freedom, the first motion assembly 2 as the second active degree of freedom, the second motion assembly 3 as the third active degree of freedom, the third motion assembly 4 as the fourth active degree of freedom, and the fourth motion assembly 6 as the fifth active degree of freedom, it is possible to adjust multiple positions of the automatic charging gun head 8, and realize that the charging robot arm with five active degrees of freedom replaces the charging robot arm with six active degrees of freedom, which has a simple structure and strong practicality.

[0067] One end of the first motion component 2 is assembled on the lifting structure 1, and the lifting structure 1 drives the first motion component 2, the second motion component 3, the third motion component 4, the fourth motion component 6 and the passive motion component to be lifted and lowered to adapt to the height changes of different vehicles, thereby adjusting the height position of the automatic charging gun head 8, and through the gravity of the lifting structure 1 load mechanical arm 100, the torque requirement of the linkage component can be reduced, thereby reducing the volume and cost of the linkage component.

[0068] The output end of the first motion component 2 is connected to the second motion component 3, and is used to adjust the posture of the second motion component 3. The output end of the second motion component 3 is connected to the third motion component 4, and is used to adjust the posture of the third motion component 4. The fourth motion component 6 is connected to the third motion component 4 through a passive motion component, and is used to make the automatic charging gun head 8 have a larger movement range, so as to better adapt to different charging environments.

[0069] In this embodiment, if Figure 4 As shown, the lifting structure 1 includes a first housing 12, a screw 13 and a first power module 11. The screw 13 is rotatably assembled in the first housing 12 through a bearing, so that the screw 13 can be rotatably assembled in the first housing 12. A moving block 14 is threadedly connected to the threaded section of the screw 13, and the moving block 14 has symmetrical ears, which are in sliding contact with the inner wall of the first housing 12, so that the moving block 14 can move up and down along the screw 13. A connecting seat 15 is connected to the moving block 14 by bolts, and the connecting seat 15 is fixedly connected to the first motion component 2 by bolts, so that when the screw 13 rotates, it can drive the first motion component 2 to be lifted and lowered through the moving block 14 and the connecting seat 15.

[0070] In this embodiment, the first power module 11 is fixedly installed on the lower part of the first shell 12 by bolts, and the output end of the first power module 11 is connected to the light rod part at the lower end of the screw rod 13 by a coupling, so that when the first power module 11 is working, it can drive the screw rod 13 to rotate, and then drive the first motion component 2 to rise and fall, thereby driving the second motion component 3, the third motion component 4 and the fourth motion component 6 and the passive motion component to rise and fall, which is beneficial to the use of the automatic charging gun head 8.

[0071] In some other embodiments, the lifting structure 1 can also be set as an electric telescopic rod, a cylinder, a hydraulic cylinder, etc., and other equipment that can achieve lifting can be selected according to actual conditions, such as a gear and rack matching method, a lifting platform, etc.

[0072] In this embodiment, if Figure 4 As shown, the first motion component 2 includes a column 21 and a second power module 22. The column 21 is hollow, and the bottom of the column 21 is fixedly connected to the connection seat 15 by bolts. The second power module 22 is fixedly assembled in the column 21 by bolts, and the second motion component 3 is transmission-connected with the output end of the second power module 22, so that when the second power module 22 is working, it can drive the second motion component 3 to rotate relative to the column 21 to adjust the posture of the second motion component 3, and the structure is simple and practical.

[0073] In this embodiment, if Figure 4 As shown, the second motion component 3 includes a second housing 31 and a third power module 32. The bottom of one end of the second housing 31 is fixedly connected to the output end of the second power module 22 in the first motion component 2, so that when the second power module 22 is working, it can drive the second housing 31 to rotate. The third power module 32 is fixedly assembled in the second housing 31 by bolts, and the third motion component 4 is transmission-connected to the output end of the third power module 32, so that when the third power module 32 is working, it can drive the third motion component 4 to rotate relative to the second housing 31 to adjust the posture of the third motion component 4. The structure is simple and practical.

[0074] In this embodiment, if Figure 4 As shown, the third motion component 4 includes a third housing 41 and a fourth power module 42. The third housing 41 is fixedly connected to the output end of the third power module 32 in the second motion component 3, so that when the third power module 32 is working, it can drive the third housing 41 to rotate. The fourth power module 42 is fixedly assembled in the third housing 41 by bolts, and the output end of the fourth power module 42 is transmission-connected to the passive motion component, so that when the fourth power module 42 is working, it can drive the passive motion component to actively move, so as to adjust the posture of the passive motion component, so as to increase the motion range of the passive motion component, so as to better adjust the position of the automatic charging gun head 8, and the structure is simple and practical.

[0075] In this embodiment, the middle portion of the third shell 41 is concave, which is beneficial to reducing the volume of the third shell 41, and the third shell 41 extends forward relative to the second shell 31, so that the movement range of the robot arm 100 is larger.

[0076] In some embodiments, Figure 2-4As shown, the passive motion component includes a pitch structure 5 and a floating structure 7. The pitch structure 5 is connected between the third motion component 4 and the fourth motion component 6, and is used to adjust the pitch angles of the fourth motion component 6, the floating structure 7 and the automatic charging gun head 8 to adapt to the pitch angles of the charging ports of different models. The fourth motion component 6 is assembled on the pitch structure 5, the floating structure 7 is connected to the fourth motion component 6, and the automatic charging gun head 8 is integrated on the floating structure 7 to enable the automatic charging gun head to adapt to changes in the pitch angle. By changing the posture of the fourth motion component 6, the position of the floating structure 7 is changed, and then the movement amplitude of the floating structure 7 is increased through the fourth motion component 6, the passive and smooth plugging and unplugging of the automatic charging gun head 8 can be achieved, so that the automatic charging gun head 8 can better adapt to the insertion charging and unplugging after charging in different situations.

[0077] In this embodiment, the fourth motion component 6 is configured as a structure that can perform linear motion, such as a screw rod 13 structure, an electric telescopic rod, a cylinder, etc., and other devices that can perform linear motion can be selected according to actual conditions to realize the automatic insertion and removal of the charging gun head in the electric vehicle charging port, thereby replacing the movement of the dual-motor coupled plug-in and unplugging charging gun of the six-active degree-of-freedom robotic arm with a single-power linear motion, thereby reducing costs and volume, and can further reduce the torque requirements of the robotic arm 100.

[0078] In this embodiment, the first power module 11, the second power module 22, the third power module 32 and the fourth power module 42 can be configured as servo motor modules or reduction motors, and suitable motors can be selected according to actual conditions.

[0079] Affected by vehicle design factors, the charging port has a pitch angle θ, which is the design angle between the vehicle charging seat and the horizontal plane (parking space floor). The θ angle value of different models is determined by ergonomic factors, such as Figure 5 As shown, in the present embodiment, the pitch structure 5 is set to passive adjustment, and the passive adjustment can be manual adjustment. The manually adjusted pitch structure 5 can adapt to the pitch angle θ of the charging port of different vehicle models. The pitch structure can lock the pitch angle of the fourth motion component 6, the floating structure 7 and the automatic charging gun head 8 during operation, so that the automatic charging gun head 8 can be plugged in and out of the charging port of different vehicle models.

[0080] The pitch structure 5 is described in detail below, as follows:

[0081] In some embodiments, Figure 10-13As shown, the pitch structure 5 includes a pitch bracket 51 and a crank assembly. The pitch bracket 51 is assembled on the third motion assembly 4. Through the operation of the fourth power module 42 in the third motion assembly 4, the pitch bracket 51 can be driven to rotate to adjust the rotation angle of the entire pitch structure 5. The fourth motion assembly 6 is connected to the crank assembly. Through the operation of the crank assembly, the posture of the fourth motion assembly 6 and the floating structure 7 can be adjusted to improve the motion accuracy of the automatic charging gun head 8.

[0082] In this embodiment, the pitch bracket 51 is fixedly mounted on the output end of the fourth power module 42 by bolts, so that when the fourth power output module is working, it can drive the pitch bracket 51 to rotate, thereby improving the adaptability of the automatic charging gun head 8.

[0083] In this embodiment, if Fig.10 and Figure 11-12 As shown, the crank assembly includes a slider bracket 52, a slider 54, an adjusting screw 53, a connecting rod 55, a connecting shaft 56, a multiplexed rotating shaft 58 and a connecting bracket 57. The slider bracket 52 is fixedly assembled on the lower part of the pitch bracket 51 by bolts to provide a mounting base. The adjusting screw 53 is rotatably assembled on the slider bracket 52 through a bearing, and partially passes through the slider bracket 52 for easy installation. The slider 54 is screwed on the adjusting screw 53 and moves in the slider bracket 52. In this embodiment, the slider 54 is provided with an extension block, which is slidably assembled on the inner wall of the sliding bracket so that when the adjusting screw 53 rotates, the slider 54 can move along the adjusting screw 53.

[0084] In this embodiment, if Fig.10 and Fig.13 As shown, the pitch bracket 51 has a mounting groove 501, and the pitch bracket 51 is provided with sliding grooves 502 on both sides of the mounting groove 501. The connecting shaft 56 is slidably arranged in the two sliding grooves 502, and one end of the connecting shaft 56 passes through one of the sliding grooves 502, and the other end has a stopper for preventing the connecting shaft 56 from being separated from the sliding groove 502. The connecting rod 55 is obliquely connected between the connecting shaft 56 and the slider 54, so that when the slider 54 moves along the adjusting screw 53, it can drive the connecting rod 55 to move, thereby driving the connecting shaft 56 to move in the sliding groove 502. The connecting bracket 57 is assembled in the mounting groove 501 of the pitch bracket 51 and is connected to the connecting shaft 56. The reused rotating shaft 58 is fixedly assembled on both sides of the pitch bracket 51 by bolts and penetrates into the pitch bracket 51. The free end of the reused rotating shaft 58 is rotatably connected to the connecting bracket 57. When the connecting shaft 56 moves along the slide groove 502, it can drive the connecting bracket 57 to rotate along the reused rotating shaft 58, thereby realizing the adjustment of the pitch mechanism.

[0085] In this embodiment, the connecting rod 55 has a weight-reducing groove for reducing the weight of the connecting rod 55. When the connecting rod 55 is connected to the connecting shaft 56 and the slider 54, the relative position can be limited by a shaft retaining ring, or fixed by bolts, and a suitable connection method can be selected according to actual conditions.

[0086] In this embodiment, the slider bracket 52, the slider 54, the adjusting screw 53, the connecting rod 55, the connecting shaft 56, the multiplexed rotating shaft 58 and the connecting bracket 57 constitute a crank slider mechanism, which can passively adjust the position of the connecting bracket 57, thereby passively adjusting the position of the fourth motion component 6, the floating structure 7 and the automatic charging gun head 8 to adapt to the pitch angle of the charging port of different models. And through the mutual cooperation of the adjusting screw 53 and the slider 54, the self-locking of the pitch structure 5 can be achieved, so that the reliability of the entire pitch structure 5 is high.

[0087] In this embodiment, the connecting bracket 57 is fixedly connected to the fourth motion component 6 by bolts, and the floating structure 7 is fixedly connected to the fourth motion component 6 by bolts, threads, etc., so that the pitch structure 5 can adjust the position of the fourth motion component 6, the floating structure 7 and the automatic charging gun head 8 when manually adjusted to adapt to the pitch angle of the charging port of different electric vehicles.

[0088] In this embodiment, if Fig.13 As shown, decorative covers 59 are fixedly installed on both sides of the pitch bracket 51 by bolts. The decorative covers 59 shield the slider 54 and the adjusting screw 53 to prevent impurities from entering the crank drive assembly and affecting the use of the crank assembly. At the same time, the aesthetics of the pitch structure 5 is improved.

[0089] In some embodiments, the floating structure 7 can be configured as a device with three-degree-of-freedom passive rotation capability, such as a three-degree-of-freedom manipulator, a DC permanent magnet spherical motor, etc., and a device that is not driven by a motor can also be selected according to actual conditions.

[0090] In actual usage scenarios, there is an error in the charging port angle θ, which is defined as β here, where β is the change in the charging port pitch angle caused by the vehicle roll change, such as Figure 6 As shown in the figure, the error sources include manufacturing error, installation process error, error caused by vehicle roll, etc. Statistical analysis shows that the error β has a small variation range, and in actual situations, the charging port is affected by factors such as manufacturing, installation, vehicle parking ground levelness, vehicle load distribution, and actual suspension conditions. The vehicle has a pitch angle error, defined as α, where α is the roll angle change of the charging port caused by the vehicle pitch, as shown in Figure 7 As shown, statistical analysis shows that the range of α variation is small.

[0091] like Figure 8As shown, the three-degree-of-freedom passive rotation function of the floating structure 7 can passively compensate for the charging port pitch angle change β caused by the vehicle roll change and the charging port roll angle change α caused by the vehicle pitch. In this way, the floating structure 7 can adapt to the fine pitch angle adaptation requirements left over from the larger pitch angle adjustment of the matching pitch structure 5, and at the same time, passively adapt to the rotation error of the vehicle charging port caused by assembly and parking.

[0092] That is, under the drive of the fourth motion component 6, the floating structure 7 drives the automatic charging gun head 8 to passively rotate, so that the pitch angle of the automatic charging gun head 8 is consistent with the pitch angle of the vehicle charging seat in the actual charging state, and finally the smooth insertion and removal of the gun is achieved. By setting the floating structure 7 as a device with three-degree-of-freedom passive rotation capability, the posture change of the charging port caused by the posture change of the vehicle can be covered, thereby adapting to different parking situations of electric vehicles, especially charging of household electric vehicles.

[0093] The working principle of the five active degrees of freedom charging manipulator in this application is as follows Fig.10 As shown, the pitch axis motor in the six-active-degree-of-freedom serial manipulator is replaced by the pitch structure 5 and the floating structure 7 in the present application as the passive motion degree of freedom, and the lifting structure 1 is used as the first active degree of freedom, the first motion component 2 is used as the second active degree of freedom, the second motion component 3 is used as the third active degree of freedom, the third motion component 4 is used as the fourth active degree of freedom, and the fourth motion component 6 is used as the fifth active degree of freedom, so that the vehicle is displaced forward and backward, that is, the movement in the X direction will cause the vehicle roll angle to change, which is expressed as Rx; the vehicle is displaced left and right, that is, the movement in the Z direction will cause the vehicle pitch angle to change, which is expressed as Rz; the vehicle is displaced up and down, that is, the Y direction will cause The vehicle heading angle changes, expressed as Ry. The above angle changes will cause the angle of the charging port to change. In this application, the pitch angle θ of the automatic charging gun head 8 is adjusted by the pitch structure 5 to adapt to the design angle of the charging port of different vehicles; the pitch angle β of the automatic charging gun head 8 is adjusted by the floating structure 7 to adapt to the change of the vehicle charging port in the Rx direction; the roll angle α of the automatic charging gun head 8 is adjusted by the floating structure 7 to adapt to the change of the vehicle charging port in the Rz direction; the change of the automatic charging gun head 8 in the Ry direction is adjusted by the third motion component 4, thereby realizing the multi-posture adjustment of the automatic charging gun to adapt to different situations of the vehicle charging port, such as Figure 8 As shown. The five active degrees of freedom charging robot arm replaces the six active degrees of freedom charging robot arm, and reduces the cost and volume.

[0094] In this embodiment, if Fig.14 As shown, the automatic charging gun head 8 has a charging line 81, and the charging line 81 is connected to an external power source, so that the automatic charging gun head 8 can charge the electric vehicle when it is inserted into the charging port of the electric vehicle.

[0095] In this embodiment, based on the analysis of the insertion process of the automatic charging gun head 8 and combined with the motion decoupling algorithm, the insertion process is executed by the fourth motion component 6, and five active degrees of freedom and multiple passive degrees of freedom are adopted. This can reduce the torque and precision requirements of the rotating shaft, and can also reduce the volume and cost of the entire robotic arm 100 and improve reliability.

[0096] In the embodiment of the present application, when the electric vehicle automatic charging mechanical arm 100 is charging the electric vehicle, the charging port posture changes according to the parking position of the electric vehicle, and the first power module 11 starts to work, driving the screw rod 13 to rotate, the screw rod 13 rotates to drive the moving block 14 to move, the moving block 14 moves to drive the connecting seat 15 to move, and the connecting seat 15 moves to drive the first motion component 2, the second motion component 3, the third motion component 4, the pitch structure 5, the fourth motion component 6, the floating structure 7 and the automatic charging gun head 8 to rise;

[0097] Then, the second power module 22 works to control the rotation angle of the second motion component 3 relative to the first motion component 2; then, the third power module 32 works to control the rotation angle of the third motion component 4 relative to the second motion component 3; then, the fourth power module 42 works to control the rotation angle of the pitch structure 5, the fourth motion component 6, the floating structure 7 and the automatic charging gun head 8 relative to the third motion component 4, so that the robot arm 100 is aligned with the charging port of the electric vehicle in general.

[0098] Then, by manually controlling the pitch angle change of the pitch structure 5, the pitch angle of the vehicle charging port can be adapted; and by controlling the movement of the floating structure 7 and the automatic charging gun head 8 through the fourth motion component 6, the automatic charging gun head 8 can be inserted into the charging port of the electric vehicle for charging.

[0099] After charging is completed, the fourth motion component 6 moves in the opposite direction, so that the automatic charging gun head 8 can be pulled out, and then the fourth power module 42, the third power module 32, and the second power module 22 work simultaneously or in a distributed manner to reset the second motion component 3, the third motion component 4 and the pitch structure 5, and then the first power module 11 works to reset the entire robotic arm 100, thereby completing the reset after charging.

[0100] like Figure 15-17 As shown, the present application also discloses an electric vehicle automatic charging robot, including a mounting seat 200 and the electric vehicle automatic charging robot arm 100 in the above embodiment.

[0101] The cooperation between the mounting base 200 and the electric vehicle automatic charging robot arm 100 facilitates the installation, use and storage of the electric vehicle automatic charging robot arm 100 .

[0102] In this embodiment, the mounting seat 200 has an installation space, which enables the automatic charging robot arm 100 to be extended during the charging process and can be retracted into the installation space when not in use. By using the mounting seat 200, the constructed robot can be easily installed according to different environments, such as floor-standing installation or wall-mounted installation. According to different installation forms, the structural design of the mounting seat 200 can be adaptively adjusted.

[0103] In this embodiment, the mounting base 200 is also provided with an indicator light 300, which can be used to display the use status of the robot arm 100. An emergency stop switch can also be provided on the mounting base 200 to avoid unexpected situations.

[0104] The above is a detailed introduction to an electric vehicle automatic charging mechanical arm and robot provided by the present application. The description of the specific embodiment is only used to help understand the method and its core idea of ​​the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0105] It should be noted that the phrases "one embodiment", "embodiment", "some optional embodiments", "exemplary embodiments", "some embodiments", etc. mentioned in the specification indicate that the described embodiment may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing specific features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0106] It should be easily understood that “on,” “above,” and “over” in the present disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0107] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0108] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention. The techniques, shapes, and structural parts not described in detail in the present invention are all known technologies.

Claims

1. An electric vehicle automatic charging robot arm, characterized in that: It comprises a posture adjustment mechanism and an automatic charging gun head (8), wherein the automatic charging gun head (8) is integrated at the free end of the posture adjustment mechanism and is used to connect to the charging port of an electric vehicle; the posture adjustment mechanism is used to adjust the posture according to the position of the electric vehicle so that the automatic charging gun head (8) and the charging port of the electric vehicle are located in the same plugging direction.

2. The electric vehicle automatic charging robot arm according to claim 1, characterized in that: The posture adjustment mechanism comprises a lifting structure (1), a linkage component and a passive motion component, wherein the linkage component is mounted on the lifting structure (1), and the passive motion component is mounted on the linkage component to drive the passive motion component to actively adjust its posture, and the automatic charging gun head (8) is integrated on the passive motion component.

3. The electric vehicle automatic charging robot arm according to claim 2, characterized in that: The linkage assembly comprises a first motion assembly (2), a second motion assembly (3), a third motion assembly (4) and a fourth motion assembly (6); one end of the first motion assembly (2) is mounted on the lifting structure (1); the first motion assembly (2), the second motion assembly (3) and the third motion assembly (4) are connected to each other; and the fourth motion assembly (6) is connected to the third motion assembly (4) via a passive motion assembly.

4. The electric vehicle automatic charging robot arm according to claim 3, characterized in that: The passive motion component comprises a pitch structure (5) and a floating structure (7); the pitch structure (5) is connected between the third motion component (4) and the fourth motion component (6) and is used to adjust the pitch angles of the fourth motion component (6), the floating structure (7) and the automatic charging gun head (8) to adapt to the pitch angles of charging ports of different vehicle models; the fourth motion component (6) is mounted on the pitch structure (5), the floating structure (7) is connected to the fourth motion component (6), and the automatic charging gun head (8) is integrated on the floating structure (7) to enable the automatic charging gun head (8) to adapt to changes in the pitch angle.

5. The electric vehicle automatic charging robot arm according to claim 2, characterized in that: The lifting structure (1) comprises a first housing (12), a screw rod (13) and a first power module (11); the screw rod (13) is rotatably assembled in the first housing (12); and the first power module (11) is transmission-connected to one end of the screw rod (13).

6. The electric vehicle automatic charging robot arm according to claim 3, characterized in that: The first motion component (2) comprises a column (21) and a second power module (22); the column (21) is fixedly connected to the lifting structure (1); the second power module (22) is assembled in the column (21); and the second motion component (3) is transmission-connected to the output end of the second power module (22).

7. The electric vehicle automatic charging robot arm according to claim 3, characterized in that: The second motion component (3) comprises a second housing (31) and a third power module (32); the second housing (31) is fixedly connected to the first motion component (2); the third power module (32) is assembled in the second housing (31); and the output end of the third motion component (4) and the third power module (32) are transmission-connected.

8. The electric vehicle automatic charging robot arm according to claim 3, characterized in that: The third motion component (4) comprises a third housing (41) and a fourth power module (42); the third housing (41) is fixedly connected to the second motion component (3); the fourth power module (42) is assembled in the third housing (41); and the output end of the fourth power module (42) is transmission-connected to the passive motion component.

9. The electric vehicle automatic charging robot arm according to claim 4, characterized in that: The pitch structure (5) comprises a pitch bracket (51) and a crank assembly, wherein the pitch bracket (51) is mounted on the third motion assembly (4), and the fourth motion assembly (6) is connected to the crank assembly for adjusting the pitch angle of the fourth motion assembly (6) via the crank assembly.

10. The electric vehicle automatic charging robot arm according to claim 9, characterized in that: The crank assembly comprises a slider bracket (52), a slider (54), an adjusting screw (53), a connecting rod (55), a connecting shaft (56), a multiplexing rotating shaft (58) and a connecting bracket (57); the slider bracket (52) is mounted on the pitch bracket (51); the adjusting screw (53) is rotatably mounted on the slider bracket (52); the slider (54) is screwed on the adjusting screw (53) and moves in the slider bracket (52); the connecting shaft (56) is slidably arranged in the pitch bracket (51); the connecting rod (55) is connected between the connecting shaft (56) and the slider (54); the connecting bracket (57) is mounted in the pitch bracket (51) and connected to the connecting shaft (56); the multiplexing rotating shaft (58) is mounted on both sides of the pitch bracket (51) and penetrates into the pitch bracket (51); and the free end of the multiplexing rotating shaft (58) is rotatably connected to the connecting bracket (57).

11. The electric vehicle automatic charging robot arm according to claim 9, characterized in that: The pitch bracket (51) is provided with a mounting groove (501), the crank assembly is partially assembled in the mounting groove (501), and decorative covers (59) are provided on both sides of the pitch bracket (51).

12. An automatic charging robot for electric vehicles, characterized in that: It comprises a mounting seat (200) and an electric vehicle automatic charging mechanical arm (100) as claimed in any one of claims 1 to 11.

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