Connecting structure and charging robot

Abstract

The invention relates to the technical field of automobile charging robots, and discloses a connecting structure and a charging robot. The connecting structure comprises a first matching part used for being matched with a charging gun and a second matching part used for being matched with a mechanical arm, the first matching part and the second matching part are matched to achieve detachable connection between the charging gun and the mechanical arm, and the first matching part is used for being electromagnetically matched with the second matching part. A charging robot comprises a robot assembly and a charging gun, and further comprises a connecting structure. According to the charging robot, detachable connection between the mechanical arm and the charging gun is achieved through the connecting structure, and then the charging robot can supply power to multiple electric automobiles.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile charging robots, and in particular to a connection structure and a charging robot. Background Art

[0002] In recent years, the use of electric vehicles has increased year by year. Compared with traditional cars that need to go to gas stations to refuel to replenish energy, electric vehicles can be instantly recharged at any time through charging piles located in public parking lots, community parking garages and other places; the diverse settings of charging locations in life further provide convenience for the use of electric vehicles. Due to the popularity of electric vehicles, electric vehicle charging technology has developed rapidly, making electric vehicle automated charging technology gradually mature and gradually replacing the existing manual charging gun charging operation of electric vehicles, thereby achieving the purpose of facilitating electric vehicle charging at any time and saving labor costs.

[0003] The Chinese patent with application number 202120836080.X disclosed a smart car charging robot on December 21, 2021, which can realize the automatic charging operation of electric vehicles. The smart car charging robot includes a multi-axis rotating arm assembly, a fuselage upper cover assembly, a fuselage main body assembly, a sensing assembly, an anti-collision assembly, an auxiliary universal wheel assembly, a drive unit assembly and an automatic charging socket assembly; the smart car charging robot performs obstacle avoidance planning and emergency stop protection through the sensing assembly and anti-collision assembly installed around the sides of the fuselage main body assembly; the auxiliary universal wheel assembly and the drive unit assembly installed at the bottom of the fuselage main body assembly provide power and achieve stable operation; the smart car charging robot is connected to an external power supply through the automatic charging socket assembly to charge the smart car charging robot; the fuselage main body assembly is connected to the multi-axis rotating arm assembly through the fuselage upper cover assembly, and the car is charged through the electric vehicle charging gun on the multi-axis rotating arm assembly.

[0004] The electric vehicle charging gun and the multi-axis rotating arm assembly of the intelligent car charging robot are integrated, so that when the intelligent car charging robot uses the electric vehicle charging gun to charge the electric vehicle, the intelligent car charging robot is continuously in an occupied state, that is, the intelligent car charging robot and the charging electric vehicle are in a one-to-one correspondence, thereby improving the automated charging cost of the electric vehicle. Summary of the invention

[0005] In view of the defect that the intelligent car charging robot in the prior art can only charge one electric car at a time, which causes the high cost of automatic charging of electric vehicles, the present invention provides a connection structure and a charging robot. The charging robot in the present invention realizes a detachable connection between the mechanical arm and the charging gun through the connection structure, so that the charging robot can power multiple electric vehicles.

[0006] In order to solve the above technical problems, the present invention is solved by the following technical solutions: A connection structure includes a first matching part for matching with a charging gun, and a second matching part for matching with a robotic arm. The first matching part and the second matching part match to realize a detachable connection between the charging gun and the robotic arm. The first matching part is used for electromagnetic matching with the second matching part.

[0007] As a preferred solution of the present invention, the first matching part includes a first mounting seat and a magnetic part arranged at the end surface of the first mounting seat; the second matching part includes a second mounting seat and an electromagnetic part arranged at the second mounting seat, the electromagnetic part is used to magnetically match with the magnetic part when power is turned on, and the electromagnetic part is used to disengage from the magnetic part when power is turned off.

[0008] As a preferred solution of the present invention, the outer end surface of the magnetic component is recessed inwardly to form a clamping interface, and the outer end surface of the electromagnetic component is recessed outwardly to form a clamping block for plugging and matching with the clamping interface.

[0009] A charging robot comprises a robot component and a charging gun, and also comprises a connecting structure.

[0010] As a preferred solution of the present invention, the robot assembly includes a shell, a wire-controlled chassis for driving the robot assembly to move is provided at the lower end of the shell, a collaborative robot is provided at the upper end of the shell, the collaborative robot includes a robotic arm, and the second mating part is provided at the end of the robotic arm.

[0011] As a preferred solution of the present invention, the robot component also includes a power battery compartment arranged in the shell, and a charging interface is provided at the power battery compartment. The power battery compartment is used to power the robot component, and the power battery compartment is used to detachably cooperate with the shell.

[0012] As a preferred solution of the present invention, the collaborative robot is provided with a 3D vision camera for identifying and measuring the relative position between the charging gun and the car, and the 3D vision camera is arranged at the end of the robotic arm.

[0013] As a preferred solution of the present invention, an integrated sensor is provided on the outer side wall of the shell, and the integrated sensor is used to realize the automated movement of the robot assembly by assisting the wire-controlled chassis; the integrated sensor includes a 16-line laser radar, a depth camera, an ultrasonic radar and an IMU.

[0014] As a preferred solution of the present invention, a signal light is provided on the outer side wall of the shell, and the signal light is provided at the front end of the shell.

[0015] As a preferred solution of the present invention, the second matching portion is fixedly arranged at the charging gun, and a handle is also arranged at the charging gun.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, by setting the connection structure: when the charging robot connects the charging gun to the mechanical arm through the connected first matching part and the second matching part, the purpose of the charging robot carrying the charging gun to move and the charging robot driving the charging gun to insert into the charging socket of the electric vehicle can be achieved. When the charging robot drives the first matching part and the second matching part to separate to realize the charging gun detaching from the mechanical arm, the charging robot can preferably leave the electric vehicle when the electric vehicle is charging, so that the charging robot can automatically charge multiple electric vehicles at the same time, thereby improving the efficiency of automatic charging and reducing the cost of automatic charging.

[0017] 2. In the present invention, by setting up a 3D visual camera, it is possible to recognize the charging socket and the charging gun at the electric vehicle, and to calculate the relative position between the charging gun and the charging socket at the electric vehicle.

[0018] 3. In the present invention, through the coordinated setting of the collaborative robot and the 3D vision camera, the collaborative robot can have a more sensitive collision perception system, so that it can greatly ensure the safety during the operation of the collaborative robot; and then it can realize the automatic grasping and placement of the charging gun, as well as the insertion and extraction of the gun, thereby realizing the automated charging operation of the electric vehicle.

[0019] 4. In the present invention, the setting of the by-wire control chassis can better realize the movement and turning of the charging robot, and make the charging robot have higher flexibility when moving and turning.

[0020] 5. In the present invention, by setting up a power battery compartment, it is possible to supply power to the robot components, thereby satisfying the continuous operation of the charging robot.

[0021] 6. In the present invention, through the setting of integrated sensors, 16-line laser radar, depth camera, ultrasonic radar and IMU cooperate with each other to explore and calculate the location information of the charging robot's peripheral environment, electric vehicles, charging piles, etc., thereby realizing the unmanned driving and automatic scheduling of the charging robot, and enabling it to automatically stop or avoid obstacles in the first time when facing vehicles, pedestrians or other emergencies. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of a robot in Example 1; Figure 2 for Figure 1 A magnified schematic diagram of part A; Figure 3 This is a schematic diagram of the structure of the charging gun and the first matching part in Example 1; Figure 4is a schematic structural diagram of a robot in Example 1; Figure 5 is a schematic structural diagram of a robot in Example 1; Figure 6 is a schematic structural diagram of a robot in Example 1; Figure 7 This is a front view of a robot in Example 1; Figure 8 A bottom view of a robot in Example 1; Fig. 9 is a top view of a robot in Example 1; Fig.10 It is a left view of a robot in Example 1; Fig.11 It is a right side view of a robot in Example 1; The parts indicated by the numbers in the accompanying drawings are as follows: 100, charging gun; 110, first mounting seat; 111, magnetic part; 112, clamping interface; 200, collaborative robot; 210, robotic arm; 211, second mounting seat; 300, housing; 310, integrated sensor; 320, signal light; 400, wire-controlled chassis; 500, power battery compartment; 600, 3D vision camera. Implementation

[0023] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments are only for explaining the present invention and are not intended to limit it. Example

[0024] like Figure 1-11 As shown, this embodiment provides a charging robot, which includes a robot component and a charging gun 100, and also includes a connection structure.

[0025] In this embodiment, a connection structure includes a first mating portion for mating with a charging gun 100, and a second mating portion for mating with a robotic arm 210. The first mating portion and the second mating portion cooperate to achieve a detachable connection between the charging gun 100 and the robotic arm 210. The first mating portion is used for electromagnetic mating with the second mating portion.

[0026] When the connection structure in this embodiment is in use, the first mating portion is installed at the charging gun 100, and the second mating portion is installed at the mechanical arm 210 of the charging robot. The charging robot connects the charging gun 100 to the mechanical arm 210 through the connected first mating portion and the second mating portion, thereby achieving the purpose of the charging robot carrying the charging gun 100 to move, and the charging robot driving the charging gun 100 to insert the charging socket of the electric vehicle. The charging robot drives the first mating portion and the second mating portion to separate to achieve the separation of the charging gun 100 from the mechanical arm 210, thereby enabling the charging robot to better leave the electric vehicle when the electric vehicle is charging, so that the charging robot can automatically charge multiple electric vehicles at the same time, thereby improving the efficiency of automatic charging and reducing the cost of automatic charging.

[0027] The charging gun 100 in this embodiment is connected to a charging device via a wire, and the charging device is a charging pile.

[0028] In this embodiment, the first matching part includes a first mounting seat 110, and a magnetic member 111 disposed at the end surface of the first mounting seat 110; the second matching part includes a second mounting seat 211, and an electromagnetic member disposed at the second mounting seat 211, the electromagnetic member is used to magnetically match with the magnetic member 111 when power is on, and the electromagnetic member is used to detach from the magnetic member 111 when power is off. Among them, the electromagnetic member can be selected from existing common electromagnets; the magnetic member 111 can be selected from existing common metal members such as iron, cobalt, nickel, etc. that can be attracted by electromagnets in the power-on state.

[0029] In this embodiment, the electromagnetic member attracts the magnetic member 111 when it is powered on to achieve the connection between the first matching part and the second matching part; the electromagnetic member is detached from the magnetic member 111 when it is powered off to achieve the separation between the first matching part and the second matching part. This better improves the electromagnetic matching between the first matching part and the second matching part, that is, the detachable connection between the charging gun 100 and the robot arm 210.

[0030] In this embodiment, the outer end surface of the magnetic member 111 is recessed inward to form a clamping interface 112, and the outer end surface of the electromagnetic member is recessed outward to form a clamping block for plugging and matching with the clamping interface 112. The clamping interface 112 cooperates with the clamping block to better improve the matching efficiency and matching accuracy when the first matching part and the second matching part are connected, thereby improving the stability and firmness of the first matching part and the second matching part after connection.

[0031] In this embodiment, the robot assembly includes a shell 300, and a wire-controlled chassis 400 for driving the robot assembly to move is provided at the lower end of the shell 300. A collaborative robot 200 is provided at the upper end of the shell 300. The collaborative robot 200 includes a robotic arm 210, and the second mating part is provided at the end of the robotic arm 210.

[0032] The collaborative robot 200 in this embodiment can be a small collaborative robot with a load of 12KG. It has a relatively sensitive collision sensing system, which can greatly ensure the safety of the collaborative robot during operation. The collaborative robot has an accuracy of 0.5mm and is equipped with a 3D vision camera to realize automatic grasping and placement of the charging gun, as well as the insertion and extraction of the gun, thereby realizing the automated charging operation of the electric vehicle.

[0033] The controlled-by-wire chassis 400 in this embodiment may be an AGV differential-drive controlled-by-wire chassis. The controlled-by-wire chassis 400 adopts dual-drive wheel differential steering technology, which can better realize the movement and steering of the charging robot, and make the charging robot have higher flexibility when moving and turning, thereby being able to adapt to the automated charging operations of electric vehicles at different locations.

[0034] In this embodiment, the robot assembly further includes a power battery compartment 500 disposed in the housing 300. The power battery compartment 500 is provided with a charging interface. The power battery compartment 500 is used to power the robot assembly. The power battery compartment 500 is used to detachably cooperate with the housing 300. The power battery compartment 500 can be detachably connected to the housing 300 through existing structures such as buckles and bolts.

[0035] In this embodiment, the power battery compartment 500 can supply power to the robot components, thereby satisfying the continuous operation of the charging robot. The power battery compartment 500 can be detachably connected to the housing 300, which can facilitate the maintenance and replacement of the power battery compartment 500. The charging interface can better realize repeated charging of the power battery compartment 500.

[0036] In this embodiment, the collaborative robot 200 is provided with a 3D vision camera 600 for identifying and measuring the relative position between the charging gun 100 and the car. The 3D vision camera 600 is provided at the end of the robotic arm 210 .

[0037] In this embodiment, the 3D vision camera 600 can use an industrial camera with structured light, so that its accuracy can reach 0.1mm and the visual recognition depth can reach 400mm-800mm, so as to realize the recognition of the charging socket and the charging gun at the electric vehicle, and the measurement of the relative position between the charging gun and the charging socket at the electric vehicle.

[0038] In this embodiment, an integrated sensor 310 is provided on the outer wall of the shell 300, and the integrated sensor 310 is used to realize the automated movement of the robot assembly by assisting the wire-controlled chassis 310; the integrated sensor 310 includes a 16-line laser radar, a depth camera, an ultrasonic radar and an IMU.

[0039] In this embodiment, the 16-line laser radar, depth camera, ultrasonic radar and IMU cooperate with each other to explore and measure the location information of the charging robot's surrounding environment, electric vehicles, charging piles, etc., thereby realizing the unmanned driving of the charging robot.

[0040] In this embodiment, a signal light 320 is disposed on the outer wall of the housing 300 , and the signal light 320 is disposed at the front end of the housing 300 .

[0041] In this embodiment, the signal light 320 uses a two-color signal light such as a red and blue two-color light strip to achieve real-time feedback on the status of the charging robot.

[0042] In this embodiment, the second matching portion is fixedly arranged at the charging gun 100, and the charging gun 100 is also provided with a handle 120. The charging gun 100 can realize manual alignment through the handle 120. In this embodiment, a person can hold the charging gun 100 by the handle 120 and insert the charging gun 100 into the charging socket of the electric vehicle, so that the charging gun 100 can adapt to automatic charging and manual charging at the same time.

[0043] In this embodiment, the charging robot can be connected to the Internet of Things so that users can control the charging robot through terminal devices such as mobile phones to automatically charge electric vehicles, thereby improving the flexibility of the charging robot.

[0044] A charging robot according to this embodiment has the following steps when in use: Step 1: The robot assembly moves to the charging station via the wire-controlled chassis 400.

[0045] Step 2: Drive the second matching portion to be electromagnetically connected with the first matching portion to fix the charging gun 100 on the robot arm 210 of the collaborative robot 200, and remove the charging gun 100 from the charging pile through the collaborative robot 200.

[0046] Step 3: The robot assembly carrying the charging gun 100 is moved to the electric vehicle through the wire-controlled chassis 400, and the charging gun 100 is inserted into the charging socket of the electric vehicle through the collaborative robot 200.

[0047] Step 4: drive the second mating portion and the first mating portion to disengage from each other, so that the charging gun 100 is separated from the collaborative robot 200.

[0048] Step 5: The charging robot repeats steps 1, 2, 3 and 4 to charge other electric vehicles.

[0049] Step 6: The robot assembly pulls out the charging gun 100 from the charging socket of the electric vehicle and puts the charging gun 100 back to the charging pile.

[0050] In conclusion, the above is only a preferred embodiment of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the patent of the present invention.

Claims

1. A connection structure, characterized in that: It comprises a first matching portion for matching with a charging gun (100), and a second matching portion for matching with a mechanical arm (210); the first matching portion and the second matching portion match to achieve a detachable connection between the charging gun (100) and the mechanical arm (210); the first matching portion is used for electromagnetic matching with the second matching portion.

2. A connection structure according to claim 1, characterized in that: The first matching portion comprises a first mounting seat (110) and a magnetic member (111) disposed at an end surface of the first mounting seat (110); the second matching portion comprises a second mounting seat (211) and an electromagnetic member disposed at the second mounting seat (211), the electromagnetic member being used to magnetically match with the magnetic member (111) when power is supplied, and being used to detach from the magnetic member (111) when power is disconnected.

3. A connection structure according to claim 2, characterized in that: The outer end surface of the magnetic component (111) is recessed inwards to form a clamping interface (112), and the outer end surface of the electromagnetic component is recessed outwards to form a clamping block for plugging and matching with the clamping interface (112).

4. A charging robot, characterized in that: It comprises a robot component and a charging gun (100), and also comprises a connection structure as described in any one of claims 1 to 3.

5. A charging robot according to claim 4, characterized in that: The robot component comprises a shell (300), the lower end of the shell (300) is provided with a wire-controlled chassis (400) for driving the robot component to move, the upper end of the shell (300) is provided with a collaborative robot (200), the collaborative robot (200) comprises a mechanical arm (210), and the second matching portion is provided at the end of the mechanical arm (210).

6. A charging robot according to claim 5, characterized in that: The robot component also includes a power battery compartment (500) disposed in the housing (300), wherein a charging interface is provided at the power battery compartment (500), the power battery compartment (500) is used to supply power to the robot component, and the power battery compartment (500) is used to detachably cooperate with the housing (300).

7. A charging robot according to claim 5, characterized in that: The collaborative robot (200) is provided with a 3D vision camera (600) for identifying and measuring the relative position between the charging gun (100) and the car. The 3D vision camera (600) is arranged at the end of the mechanical arm (210).

8. The charging robot according to claim 5, characterized in that: An integrated sensor (310) is provided on the outer side wall of the shell (300), and the integrated sensor (310) is used to realize the automated movement of the robot component by assisting the wire-controlled chassis (310); the integrated sensor (310) includes a 16-line laser radar, a depth camera, an ultrasonic radar, and an IMU.

9. The charging robot according to claim 5, characterized in that: A signal light (320) is provided on the outer side wall of the housing (300), and the signal light (320) is provided at the front end of the housing (300).

10. The charging robot according to claim 4, characterized in that: The second matching portion is fixedly arranged at the charging gun (100), and a handle (120) is also arranged at the charging gun (100).

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