Charging robot

Abstract

The invention relates to a charging robot. A first executing mechanism is movably connected with a mounting frame, and the moving direction is parallel to the first direction; the first executing mechanism and the second executing mechanism are rotatably connected through the first connecting rod, and a rotating shaft, rotating relatively, of the first executing mechanism and the second executing mechanism is parallel to the second direction; the second execution mechanism is movably connected with the charging execution mechanism, and the second execution mechanism can drive the charging execution mechanism to rotate and move in the second direction. The moving mechanism of the charging robot only comprises the first executing mechanism and the second executing mechanism, the charging robot has the advantages of being simple in structure and small in occupied space while achieving automatic charging, and the charging robot can adapt to many application scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of charging, in particular to a charging robot. BACKGROUND

[0002] With the development of automobile technology, the number of electric vehicles is increasing, in order to improve the charging efficiency and save labor cost, a charging robot is usually used to automatically charge the electric vehicles. However, in the related art, the charging robot occupies a large space, which is not conducive to various scene applications. SUMMARY

[0003] One of the purposes of the present application is to provide a charging robot to solve the problem that the charging robot in the prior art occupies a large space and is not conducive to various scene applications.

[0004] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0005] A charging robot, comprising a mounting frame, a first actuating mechanism, a first connecting rod, a second actuating mechanism and a charging actuating mechanism; the first actuating mechanism is movably connected with the mounting frame, and the moving direction is parallel to the first direction; the first actuating mechanism and the second actuating mechanism are rotatably connected through the first connecting rod, and the rotation axis of the relative rotation of the first actuating mechanism and the second actuating mechanism is parallel to the second direction; the second actuating mechanism is movably connected with the charging actuating mechanism, and the second actuating mechanism can drive the charging actuating mechanism to rotate and move along the second direction.

[0006] According to the above technical means, the charging robot can drive the electric actuating mechanism to move in three-dimensional direction through the first actuating mechanism and the second actuating mechanism, so as to realize automatic charging of the electric vehicle through the electric actuating mechanism, which has the advantages of high charging efficiency and saving labor cost. Moreover, the movement mechanism of the charging robot only includes the first actuating mechanism and the second actuating mechanism, and the charging robot has the advantages of simple structure and small occupied space while realizing automatic charging, which can adapt to more application scenarios.

[0007] Further, the mounting frame is provided with a first strip-shaped opening arranged along the first direction; the first actuating mechanism comprises a first linear module and a first mounting plate, the first linear module is arranged on the first side of the mounting frame and fixedly connected with the mounting frame, the first mounting plate is arranged on the second side of the mounting frame, the output end of the first linear module passes through the first strip-shaped opening and is fixedly connected with the first mounting plate, and the first linear module can drive the first mounting plate to move along the first direction.

[0008] According to the above technical means, the first linear module and the first mounting plate are arranged on both sides of the mounting frame, the space of the mounting frame in the third direction can be fully utilized, the size of the first mounting plate is prevented from being too large due to the first linear module and the first mounting plate being arranged on the same side of the first mounting plate, and the overall size and compactness of the first execution mechanism are affected. At the same time, the first mounting plate is driven to move in the first direction by the first linear module, so that the first execution mechanism also has the advantage of simple structure.

[0009] Further, the first linear module comprises a first driving motor, a first screw rod and a first sliding block; the first driving motor is fixedly connected with the mounting frame, the first screw rod is rotatably connected with the mounting frame, and the first driving motor and the first screw rod are in transmission connection; the first sliding block is arranged on the first screw rod, and part of the first sliding block passes through the first slot and is fixedly connected with the first mounting plate.

[0010] According to the above technical means, the first linear module drives the first mounting plate and the first screw rod to be arranged at intervals in the second direction through the first driving motor, the first screw rod and the first sliding block; the first linear module further comprises a first pulley and a first conveying belt, the first pulley is fixedly connected with the first screw rod, and the first conveying belt is arranged around the output shaft of the first driving motor and the outer periphery of the first pulley.

[0011] According to the above technical means, the first pulley and the first conveying belt are used to realize power transmission, which has the advantages of simple structure and small motion envelope, can reduce the volume of the first execution mechanism, and further reduce the volume of the charging robot.

[0012] Further, the second side of the mounting frame is further provided with two first sliding rails, one of the first sliding rails is arranged on one side of the first slot in the second direction, and the other of the first sliding rails is arranged on the other side of the first slot in the second direction, and the two first sliding rails are respectively in sliding connection with the first mounting plate.

[0013] According to the above technical means, the connection strength of the first mounting plate and the mounting frame can be increased, the relative movement between the first mounting plate and the mounting frame is more stable, and the first mounting plate can support the first connecting rod, the second execution mechanism and the charging execution mechanism.

[0014] Further, the first execution mechanism further comprises a second driving motor, the second driving motor is fixedly connected with the surface of the first mounting plate away from the mounting frame, the output end of the second driving motor is fixedly connected with one end of the first connecting rod, and the second driving motor drives the first connecting rod to rotate, so that the first execution mechanism and the second execution mechanism rotate relatively.

[0015] According to the technical scheme, the second driving motor is arranged to drive the first connecting rod to drive the second actuating mechanism to rotate, so that the first actuating mechanism and the second actuating mechanism are relatively rotated, and the structure is simple and the movement is stable.

[0016] Further, the charging robot further comprises a second connecting rod and a third connecting rod, the first connecting rod, the second connecting rod and the third connecting rod are arranged in the second direction, the second connecting rod and the third connecting rod are respectively rotatably connected with the first mounting plate and rotatably connected with the second actuating mechanism.

[0017] According to the technical scheme, the first actuating mechanism and the second actuating mechanism have good movement stability and connection strength.

[0018] Further, the second actuating mechanism comprises a second mounting plate, a second linear module and a fourth driving motor, the second mounting plate is rotatably connected with the first connecting rod and fixedly connected with the second linear module, an output end of the second linear module is connected with the fourth driving motor to drive the fourth driving motor to move in the second direction, and an output end of the fourth driving motor is connected with the charging actuating mechanism to drive the charging actuating mechanism to rotate.

[0019] According to the technical scheme, the second linear module drives the fourth driving motor to move in the second direction, the fourth driving motor carries the charging actuating mechanism to move in the second direction, and the fourth driving motor drives the charging actuating mechanism to rotate, so that the second actuating mechanism can drive the charging actuating mechanism to move in the second direction and rotate, and the structure is simple and the movement is stable.

[0020] Further, the second linear module comprises a third driving motor, a second screw rod and a sliding block frame, the third driving motor is fixedly connected with the second mounting plate, the second screw rod is rotatably connected with the second mounting plate, and the third driving motor and the second screw rod are in transmission connection, and the second screw rod is provided with the sliding block frame, and the sliding block frame is fixedly connected with the fourth driving motor.

[0021] According to the technical scheme, the second linear module drives the fourth driving motor to move through the third driving motor, the second screw rod and the sliding block frame, and the structure is simple and the movement is stable.

[0022] Further, the third driving motor is arranged on a first side of the second mounting plate, the second screw rod is arranged on a second side of the second mounting plate, and the second mounting plate and the second screw rod are arranged along the second direction respectively; the second linear module further comprises a second belt pulley and a second conveying belt, the second belt pulley is fixedly connected with the second screw rod, and the second conveying belt is arranged around an output shaft of the third driving motor and an outer periphery of the second belt pulley.

[0023] According to the above technical means, the second linear module drives the fourth driving motor to move through the third driving motor, the second screw rod and the sliding block frame, and has the advantages of simple structure and stable movement.

[0024] Further, the charging robot further comprises a first cover body connected with the first mounting plate of the first execution mechanism to form a first accommodating cavity, and part of components of the first execution mechanism are arranged in the first accommodating cavity; and / or the charging robot further comprises a second cover body connected with the second mounting plate of the second execution mechanism to form a second accommodating cavity, and part of components of the second execution mechanism are arranged in the second accommodating cavity.

[0025] According to the above technical means, the appearance of the charging robot can be more beautiful, and the components in the first accommodating cavity and the components in the second accommodating cavity can be protected.

[0026] Further, the charging execution mechanism comprises a rotating support, a flexible mechanism and a charging gun head, a side wall of the rotating support is movably connected with the second execution mechanism, and one end of the rotating support, the flexible mechanism and the charging gun head are sequentially connected.

[0027] According to the above technical means, the flexible mechanism can provide a certain range of error compensation, reduce the precision requirement of the charging robot, and realize passive flexible insertion and extraction of the charging gun head during insertion of the charging gun head into the charging port and extraction after charging, while ensuring safe insertion and extraction. In addition, the side wall of the rotating support is movably connected with the second execution mechanism, and when the charging robot is in an inoperative state, the charging execution mechanism can be vertically arranged to reduce the occupied space of the charging robot, so that the charging robot has more application scenarios.

[0028] The beneficial effects of the present application are as follows:

[0029] (1) the charging robot of the present application can drive the electric actuator to move in three-dimensional direction through the first and second actuators, so as to realize automatic charging of the electric vehicle through the electric actuator, which has the advantages of high charging efficiency and labor cost saving. Moreover, the movement mechanism of the charging robot only includes the first and second actuators, so that the charging robot has the advantages of simple structure and small occupied space while realizing automatic charging, and can adapt to more application scenarios.

[0030] (2) the setting position of the first drive motor, the first screw and the first mounting plate in the first actuator of the present application can reduce the size space of the first mounting plate, so that the structure of the first actuator is compact and occupies small space.

[0031] (3) in the first actuator of the present application, the first drive motor and the first screw are arranged in parallel and spaced apart, and the structure using the conveyor belt for power transmission has the advantages of simple and compact structure and small occupied space.

[0032] (4) the setting position of the third drive motor, the second screw and the slider frame relative to the second mounting plate in the second actuator of the present application can reduce the size space of the second mounting plate, so that the structure of the second actuator is compact and occupies small space.

[0033] (5) in the second actuator of the present application, the third drive motor and the second screw are arranged in parallel and spaced apart, and the structure using the conveyor belt for power transmission has the advantages of simple and compact structure and small occupied space.

[0034] (6) the charging robot of the present application combines flexible mechanism through the four-degree-of-freedom driving mechanism of the first, second, third and fourth drive motors, has relatively less degrees of freedom, can reduce the volume and cost, so as to better face different environments, be convenient to install and use in different environments, and can be widely applied. Moreover, while realizing automatic charging of the electric vehicle, the mechanical structure and control algorithm are greatly simplified, the reliability of the charging robot is improved, the development difficulty is reduced, and the maintenance cost in later period is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 a structure diagram of a charging robot provided for some embodiments of the present application Figure 1 ;

[0036] Figure 2 a structure diagram of a charging robot provided for some embodiments of the present application Figure 2 ;

[0037] Figure 3 a first angle structure diagram of a part of a charging robot provided for some embodiments of the present application

[0038] Figure 4 A second angle structure schematic diagram of a charging robot part provided for some embodiments of the application;

[0039] Figure 5 A third angle structure schematic diagram of a charging robot part provided for some embodiments of the application;

[0040] Figure 6 A fourth angle structure schematic diagram of a charging robot part provided for some embodiments of the application;

[0041] Figure 7 A structure schematic diagram of a cross section A-A; Figure 6

[0042] Figure 8 A structure schematic diagram of a charging robot exploded view provided for some embodiments of the application Figure 1 ;

[0043] Figure 9 A structure schematic diagram of a charging robot folded state provided for some embodiments of the application.

[0044] Wherein,

[0045] 1, mounting frame; 11, first bar-shaped opening; 12, first sliding rail;

[0046] 2, first actuating mechanism; 21, first mounting plate; 221, first screw rod; 222, first sliding block; 223, first pulley; 224, first conveying belt; 225, screw rod nut; 226, third pulley; 227, third sliding block; 23, first driving motor; 24, second driving motor; 25, first cover body; 251, avoiding part; 26, first speed reducer; 27, bearing seat;

[0047] 31, first connecting rod; 32, second connecting rod; 33, third connecting rod;

[0048] 4, second actuating mechanism; 41, second mounting plate; 421, third driving motor; 422, second screw rod; 423, second pulley; 424, second conveying belt; 425, second sliding block; 426, fourth pulley; 427, second nut; 43, fourth driving motor; 44, sliding block frame; 441, third mounting plate; 45, second cover body; 46, second sliding rail; 47, third cover body; 48, second speed reducer;

[0049] 5, charging actuating mechanism; 51, rotating support; 52, flexible mechanism; 53, charging gun head;

[0050] 6, image acquisition unit; ​

[0051] 7. Install the column;

[0052] X, first direction; Z, second direction; Y, third direction. Detailed Implementation

[0053] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0054] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0055] With the increasing number of rechargeable vehicles, their safety and convenience have become crucial issues to consider during their use. In related technologies, charging robots are commonly used to automatically charge these vehicles, offering advantages such as high charging efficiency and reduced labor costs. However, these charging robots often employ 6-axis collaborative robotic arms as their charging motion mechanism, relying heavily on high-precision joint motors. This results in redundancy in precision and torque, higher costs, and a larger footprint and movement space, limiting their application scenarios. Furthermore, their complex mechanical structure hinders control system development and leads to higher maintenance costs.

[0056] This application provides a charging robot that achieves automatic charging while having the advantages of simple structure, low cost, small footprint and limited movement space, and can be applied in various scenarios.

[0057] The following is in conjunction with the appendix Figures 1-9 This application provides a detailed description of the charging robot provided in its embodiments and application scenarios. The charging robot is used to charge vehicles, including electric cars, two-wheeled / three-wheeled electric vehicles, electric excavators, electric forklifts, etc. The following description uses the automatic charging of an electric car by the charging robot as an example. (See also...) Figure 1As shown, the charging robot has a first direction X, a second direction Z and a third direction Y that intersect with each other, and the included angles between the first direction X, the second direction Z and the third direction Y are set according to the use requirements, for example, the first direction X is the width direction of the charging robot, the second direction Y is the thickness direction of the charging robot, and the third direction Y is the height direction of the charging robot.

[0058] The embodiment of the present application discloses a charging robot, which comprises a mounting frame 1, a first actuating mechanism 2, a first connecting rod 31, a second actuating mechanism 4 and a charging actuating mechanism 5; the first actuating mechanism 2 is movably connected with the mounting frame 1, and the moving direction is parallel to the first direction X; the first actuating mechanism 2 and the second actuating mechanism 4 are rotatably connected through a connecting rod, and the rotation shaft of the relative rotation of the first actuating mechanism 2 and the second actuating mechanism 4 is parallel to the second direction Z; the second actuating mechanism 4 is movably connected with the charging actuating mechanism 5, and the second actuating mechanism 4 can drive the charging actuating mechanism 5 to rotate and move along the second direction Z.

[0059] In the charging robot of the embodiment of the present application, the mounting frame 1, the first actuating mechanism 2, the first connecting rod 31, the second actuating mechanism 4 and the charging actuating mechanism 5 are sequentially connected, and the mounting frame 1 is used for mounting and supporting the first actuating mechanism 2, the first connecting rod 31, the second actuating mechanism 4 and the charging actuating mechanism 5. The mounting frame 1 can select a specific mounting mode according to the installation environment or user requirements. When the parking space is sufficient, a column type installation can be selected, that is, the mounting frame 1 is assembled on the mounting column 7, and the charging robot is installed at a specific position of the parking space; when the parking space is insufficient or close to the wall, the moving mechanism and the control system can be separated, and the mounting frame 1 is installed in a wall-mounted manner. The wall-mounted installation can refer to Figure 2 As shown, this is conducive to the application of the charging robot in more scenarios.

[0060] In use, the first actuating mechanism 2 moves relative to the mounting frame 1 in the first direction X, the first actuating mechanism 2 carries the first connecting rod 31, the second actuating mechanism 4 and the charging actuating mechanism 5 to move in the first direction X, the second actuating mechanism 4 rotates relative to the first actuating mechanism 2 about the rotation shaft parallel to the second direction Y, the second actuating mechanism 4 carries the charging actuating mechanism 5 to rotate, the second actuating mechanism 4 drives the charging actuating mechanism 5 to rotate and move along the second direction Z, and thus the charging robot can drive the charging actuating mechanism 5 to move in three-dimensional directions through the relative movement between the first actuating mechanism 2, the first connecting rod 31, the second actuating mechanism 4 and the charging actuating mechanism 5, so that the charging actuating mechanism 5 can reach a specified position and realize automatic charging of the electric vehicle.

[0061] The charging robot can realize automatic charging of the electric vehicle, has the advantages of high charging efficiency and saving labor cost. Moreover, the movement mechanism of the charging robot only includes the first actuating mechanism 2 and the second actuating mechanism 4, and the charging robot has the advantages of simple structure and small occupied space while realizing automatic charging, and can adapt to more application scenarios.

[0062] In some embodiments, the mounting rack 1 is provided with a first strip-shaped opening 11 arranged along the first direction X; the first actuating mechanism 2 includes a first linear module and a first mounting plate 21, the first linear module is arranged on the first side of the mounting rack 1 and fixedly connected with the mounting rack 1, the first mounting plate 21 is arranged on the second side of the mounting rack 1 and connected with the first connecting rod 31, the output end of the first linear module is fixedly connected with the first mounting plate 21 through the first strip-shaped opening 11, and the first linear module can drive the first mounting plate 21 to move along the first direction X.

[0063] In the embodiments of the present application, the first linear module and the first mounting plate 21 are arranged on both sides of the mounting rack 1, which can make full use of the space of the mounting rack 1 in the third direction Y, avoid the disadvantage that the size of the first mounting plate 21 is large due to the arrangement of the first linear module and the first mounting plate 21 on the same side of the first mounting plate 21, and affect the overall size and compactness of the first actuating mechanism 2. At the same time, the first mounting plate 21 is driven by the first linear module to move in the first direction X, so that the first actuating mechanism 2 also has the advantage of simple structure.

[0064] The structure of the first linear module can be set according to the use requirement, and the use requirement is met, for example, in some embodiments, the first linear module includes a first driving motor 23, a first screw rod 221 and a first sliding block 222; the first driving motor 23 is fixedly connected with the mounting rack 1, the first screw rod 221 is rotatably connected with the mounting rack 1, and the first driving motor 23 and the first screw rod 221 are in transmission connection; the first sliding block 222 is arranged on the first screw rod 221 and fixedly connected with the first mounting plate 21 through the first strip-shaped opening 11.

[0065] In the use process of the first actuating mechanism 2, the first driving motor 23 drives the first screw rod 221 to rotate, the first screw rod 221 carries the first sliding block 222 to move when rotating, the first sliding block 222 cannot rotate due to the limitation of the mounting rack 1 and can only move along the first direction X, and the first sliding block 222 carries the first mounting plate 21 connected therewith to move along the first direction X. The first linear module realizes the driving of the first mounting plate 21 to move through the first driving motor 23, the first screw rod 221 and the first sliding block 222, and has the advantages of simple structure and stable movement.

[0066] It can be understood that the first screw rod 221 is in threaded connection with the screw nut 225, the screw nut 225 is fixedly connected with the first sliding block 222, and the screw nut 225 moves to drive the first sliding block 222 to move when the first screw rod 221 rotates. Wherein, how the screw nut 225 moves without rotating with the first screw rod 221 belongs to the conventional technology, and the embodiments of the present application do not make redundant description, for example, the screw nut 225 is limited by the mounting frame 1 and cannot rotate.

[0067] In order to further reduce the size of the first driving motor 23, the first driving motor 23 and the first screw rod 221 are arranged in parallel and spaced apart in the second direction Z, the output end of the first driving motor 23 and the first screw rod 221 are parallel, and a conveyor belt is used as a power transmission. That is, the first linear module further comprises a first pulley 223 and a first conveyor belt 224, the first pulley 223 is fixedly connected with the first screw rod 221, and the first conveyor belt 224 is wound around the output shaft of the first driving motor 23 and the outer periphery of the first pulley 223. When the output shaft of the first driving motor 23 rotates, the first pulley 223 is driven to rotate by the first conveyor belt 224, the first pulley 223 drives the first screw rod 221 to rotate, and the first driving motor 23 drives the first screw rod 221 to rotate. It can be understood that the output shaft of the first driving motor 23 can also be fixedly connected with the third pulley 226, the first conveyor belt 224 is wound around the third pulley 226 and the outer periphery of the first pulley 223, and the first conveyor belt 224 synchronously drives the third pulley 226 and the first pulley 223 to rotate.

[0068] It can be understood that the first driving motor 23 and the first screw rod 221 are arranged in parallel and spaced apart in the second direction Z, and other transmission assemblies can also be used to realize transmission connection, for example, the first driving motor 23 and the first screw rod 221 are connected through a gear set. However, since the gear has a large motion envelope when moving, it will occupy more space relative to the first pulley 223 and the first conveyor belt 224, so it needs to be selected for use in appropriate application scenarios.

[0069] In other embodiments, the first linear module comprises a screw rod module, that is, the output end of the first driving motor 23 and the first screw rod 221 are coaxially arranged and connected, and the first driving motor 23 can directly drive the first screw rod 221 to rotate. In this scheme, although the first screw rod 221 can be driven to rotate, the length of the first actuating mechanism 2 and the first screw rod 221 in the axial direction of the first screw rod 221 is added, which increases the size of the first linear module, so it needs to be selected for use in appropriate application scenarios.

[0070] The first mounting plate 21 in the first actuating mechanism 2 is used to support the first connecting rod 31, the second actuating mechanism 4 and the charging actuating mechanism 5, therefore, the first mounting plate 21 is subjected to a large force in use, in order to improve the load bearing capacity of the first mounting plate 21 and increase the movement stability of the first mounting plate 21, in some embodiments, two first sliding rails 12 are further arranged on the second side of the mounting rack 1, one first sliding rail 12 is arranged on one side of the first strip-shaped opening 11 in the first direction X, and the other first sliding rail 12 is arranged on the other side of the first strip-shaped opening 11 in the first direction X, and the two first sliding rails 12 are respectively in sliding connection with the first mounting plate 21. In this way, the first mounting plate 21 is movably connected with the mounting rack 1 through the first sliding block 222, the first lead screw 221 and the two first sliding rails 12, the first mounting plate 21 has high connection strength with the mounting rack 1 and is relatively stable in movement.

[0071] In the first mounting plate 21, a structure matched with the first sliding rail 12 can be arranged, or the first mounting plate 21 is fixedly connected with the third sliding block 227 which is assembled on the first sliding rail 12, and the first mounting plate 21 is movably connected with the first sliding rail 12 through the third sliding block 227.

[0072] In some embodiments, the first actuating mechanism 2 further comprises a second driving motor 24, the second driving motor 24 is fixedly connected with the surface of the first mounting plate 21 away from the mounting rack 1, the output end of the second driving motor 24 is fixedly connected with one end of the first connecting rod 31, and the second driving motor 24 drives the first connecting rod 31 to rotate, so that the first actuating mechanism 2 and the second actuating mechanism 4 rotate relatively.

[0073] In the embodiments of the present application, the second driving motor 24 is arranged along the second direction Y, the second driving motor 24 drives the first connecting rod 31 to rotate, so that the first actuating mechanism 2 and the second actuating mechanism 4 rotate relatively, and the structure is simple.

[0074] In order to increase the movement stability and structural connection strength between the first actuating mechanism 2 and the second actuating mechanism 4, in some embodiments, the charging robot further comprises a second connecting rod 32 and a third connecting rod 33, the first connecting rod 31, the second connecting rod 32 and the third connecting rod 33 are arranged at intervals in the second direction Z, the second connecting rod 32 and the third connecting rod 33 are respectively hinged with the first mounting plate 21 and are respectively fixedly connected with the second actuating mechanism 4. In this way, the first actuating mechanism 2 and the second actuating mechanism 4 are connected through the first connecting rod 31, the second connecting rod 32 and the third connecting rod 33, and the first actuating mechanism 2 and the second actuating mechanism 4 have good movement stability and connection strength.

[0075] The relative positions of the first connecting rod 31, the second connecting rod 32, and the third connecting rod 33 can be set according to usage requirements. In this embodiment, refer to... Figure 1 As shown, the first connecting rod 31 is located on the upper side, and the third connecting rod 33 is located on the lower side. The first connecting rod 31 can also be located on the lower side. The first connecting rod 31 is located on the outermost side of the three connecting rods, which can save space in the height direction of the first actuator 2, thereby making the charging robot compact and smaller in size.

[0076] In some embodiments, the second actuator 4 includes a second mounting plate 41, a second linear module, and a fourth drive motor 43; the second mounting plate 41 is fixedly connected to the first connecting rod 31 and the second linear module respectively; the output end of the second linear module is connected to the fourth drive motor 43 to drive the fourth drive motor 43 to move along the second direction Y; and the output end of the fourth drive motor 43 is connected to the charging actuator 5 to drive the charging actuator 5 to rotate.

[0077] In use, the second actuator 4 of this application embodiment drives the fourth drive motor 43 to move in the second direction Y. The fourth drive motor 43 carries the charging actuator 5 to move in the second direction Y. The fourth drive motor 43 also drives the charging actuator 5 to rotate. In this way, the second actuator 4 can drive the charging actuator 5 to move and rotate in the second direction Z, and has the advantages of simple structure and stable movement.

[0078] In some embodiments, the second linear module includes a third drive motor 421, a second lead screw 422, and a slider frame 44; the third drive motor 421 is fixedly connected to the second mounting plate 41, the second lead screw 422 is rotatably connected to the second mounting plate 41, and the third drive motor 421 and the second lead screw 422 are connected in a transmission manner; the second lead screw 422 is provided with a slider frame 44, and the slider frame 44 is fixedly connected to a fourth drive motor 43.

[0079] In use, the second linear module of this embodiment drives the second lead screw 422 to rotate via the third drive motor 421. The rotation of the second lead screw 422 carries the slider frame 44 along with it. The slider frame 44, limited by the second mounting plate 41, cannot rotate but can only move along the second direction Y. The movement of the slider frame 44 carries the fourth drive motor 43 connected to it along the second direction Y. The second linear module drives the fourth drive motor 43 through the third drive motor 421, the second lead screw 422, and the slider frame 44, offering advantages of simple structure and stable movement.

[0080] The slider frame 44 supports the fourth drive motor 43 and the charging actuator 5. Therefore, the slider frame 44 is subjected to considerable forces during use. To increase the motion stability of the slider frame 44, in some embodiments, the second mounting plate 41 is also provided with a second slide rail 46. The second slide rail 46 is located on the side of the second lead screw 422 away from the charging actuator 5, and the second slide rail 46 is slidably connected to the slider frame 44. In this way, the slider frame 44 is movably connected to the second mounting plate 41 through the second lead screw 422 and the second slide rail 46, respectively. The connection strength between the slider frame 44 and the second mounting plate 41 is high, and the relative motion is stable.

[0081] The specific structure of the slider holder 44 can be set according to usage requirements, for example, refer to Figure 8 As shown, the slider frame 44 includes a third mounting plate 441, a second nut 427, and a second slider 425. The third mounting plate 441 is movably connected to the second lead screw 422 via the second nut 427. When the first lead screw 221 rotates, the second nut 427 moves to drive the third mounting plate 441 to move. How the second nut 427 moves without rotating with the second lead screw 422 is a conventional technique, and this embodiment will not elaborate on this. For example, the second lead screw 422 may be limited by the second mounting plate 41 and unable to rotate. The third mounting plate 441 is also slidably connected to the second slide rail 46 via the second slider 425.

[0082] In some embodiments, the third drive motor 421 is disposed on the first side of the second mounting plate 41, and the second lead screw 422 is disposed on the second side of the second mounting plate 41. The second mounting plate 41 and the second lead screw 422 are respectively arranged along the second direction Z. The second linear module also includes a second pulley 423 and a second conveyor belt 424. The second pulley 423 is fixedly connected to the second lead screw 422, and the second conveyor belt 424 is wound around the output shaft of the third drive motor 421 and the outer periphery of the second pulley 423. When the output shaft of the third drive motor 421 rotates, it drives the second pulley 423 to rotate through the second conveyor belt 424. The second pulley 423 drives the second lead screw 422 to rotate, thus the third drive motor 421 drives the second lead screw 422 to rotate. It can be understood that the output shaft of the third drive motor 421 can also be fixedly connected to a fourth pulley 426, and the second conveyor belt 424 is wound around the outer periphery of the second pulley 423 and the fourth pulley 426, so that the second pulley 423 and the fourth pulley 426 rotate synchronously.

[0083] It can be understood that the second lead screw 422 and the second lead screw 422 can also be driven by other transmission assemblies, for example, the second lead screw 422 and the second lead screw 422 are connected through a gear set, however, due to the large motion envelope of the gear when moving, it will occupy more space relative to the second pulley 423 and the second conveying belt 424, therefore, it needs to be selected in the appropriate application scenario.

[0084] In other embodiments, the second linear module includes a lead screw module, that is, the output end of the third driving motor 421 and the second lead screw 422 are coaxially arranged and connected, and the third driving motor 421 can directly drive the second lead screw 422 to rotate. In this scheme, although the second lead screw 422 can be driven to rotate, the length of the third driving motor 421 and the second lead screw 422 in the axial direction of the second lead screw 422 is added, which increases the size of the second linear module, therefore, it needs to be selected in the appropriate application scenario.

[0085] In order to make the appearance of the charging robot more beautiful, in some embodiments, the charging robot further comprises a first cover 25, the first cover 25 is connected with the first mounting plate 21 to form a first accommodating cavity, and part of the components of the first execution mechanism 2, such as the second driving motor 24 and the first speed reducer 26, are arranged in the first accommodating cavity and protect the components in the first accommodating cavity.

[0086] The first cover 25 and the second connecting rod 32 and the third connecting rod 33 are arranged on the same side of the first mounting plate 21, in order to avoid interference with the second connecting rod 32 and the third connecting rod 33 and make the structure of the charging robot more compact, a recessed avoiding portion 251 can be arranged on the first cover 25, the second connecting rod 32 is arranged in the avoiding portion 251, and the second connecting rod 32 is connected with the first mounting plate 21.

[0087] In some embodiments, the charging robot further comprises a second cover 45, the second cover 45 is connected with the second mounting plate 41 of the second execution mechanism 4 to form a second accommodating cavity, and part of the components of the second execution mechanism 4, such as the second lead screw 422, the second sliding rail 46, the sliding block frame 44, the fourth driving motor 43, and the second speed reducer 48 connected with the fourth driving motor 43, are arranged in the second accommodating cavity and protect the components in the second accommodating cavity.

[0088] Wherein, the second execution mechanism 4 is in a suspended state, in order to protect the third driving motor 421, the charging robot further comprises a third cover 47, the third cover 47 is fixedly connected with the second mounting plate 41.

[0089] In the embodiments of the present application, the types of the first screw rod 221 and the second screw rod 422 are not limited, for example, the first screw rod 221 and the second screw rod 422 are both needle roller screw rods.

[0090] In some embodiments, the charging execution mechanism 5 includes a rotating bracket 51, a flexible mechanism 52, and a charging gun head 53, the side wall of the rotating bracket 51 is connected with the fourth driving motor 43 of the second execution mechanism 4, and the rotating bracket 51, the flexible mechanism 52, and the charging gun head 53 are sequentially connected.

[0091] In the embodiments of the present application, the fourth driving motor 43 drives the rotating bracket 51 to rotate, and the rotating bracket 51 carries the flexible mechanism 52 and the charging gun head 53 to rotate around the axis of the fourth driving motor 43, so that the second execution mechanism 4 drives the charging execution mechanism 5 to rotate. The flexible mechanism 52 and the charging gun head 53 are coaxially designed, which is conducive to reducing the installation error of the charging execution mechanism 5 and reducing the calibration difficulty of the charging execution mechanism 5.

[0092] In the embodiments of the present application, the flexible mechanism 52 is used to adapt the charging gun head 53 to the pitch and roll angle changes of the charging port of different electric vehicles, reduce the precision requirement of the charging robot, and realize passive flexible insertion and extraction of the charging gun head 53 during the process of inserting the charging gun head 53 into the charging port and the process of pulling out after charging, while ensuring safe insertion and extraction. It can be understood that the flexible mechanism 52 is not specifically limited in the embodiments of the present application, and the flexible mechanism 52 is a conventional structure that can be three-dimensionally active and has a certain rigidity. In this way, when there is a slight deviation between the charging gun head 53 and the charging port, the flexible mechanism 52 can compensate for the deviation through its own deformation, so as to ensure that the charging gun head 53 can be accurately and stably inserted into the charging port, and after the charging gun head 53 is pulled out, the flexible mechanism 52 can automatically return to normal. It can be understood that the flexible mechanism 52 can provide a certain range of error compensation (for example, realize ±1mm offset / ±6° deflection compensation), and when the compensation range is exceeded, the first execution mechanism 2, the first connecting rod 31, and the second execution mechanism 4 can actively compensate to effectively improve the gun insertion success rate.

[0093] In some embodiments, the charging robot further includes an image acquisition unit 6 and a controller, the image acquisition unit 6 is assembled on the side wall of the rotating bracket 51 and located on the side away from the second execution mechanism 4, the image acquisition unit 6 is used to acquire the position of the charging port of the electric vehicle and transmit the charging port position information. The image acquisition unit 6, the first execution mechanism 2, and the second execution mechanism 4 are electrically connected with the controller, and the controller controls the first execution mechanism 2 and the second execution mechanism 4 to act after acquiring the charging port position information transmitted by the image acquisition unit 6, so as to realize the gun insertion action of the charging gun head 53.

[0094] The image acquisition unit 6 is a device such as a camera capable of acquiring image information of the charging port of the electric vehicle. The embodiment of the present application does not make specific limitation to the image acquisition unit 6, and can meet the use requirement.

[0095] It can be understood that the charging robot further comprises a charging system and the like, and the controller and the charging system and the like can be installed in the mounting column 7. In addition, the charging robot has a connecting structure such as a bearing seat 27. For example, the first lead screw 221 is rotatably connected to the mounting frame 1 through the bearing seat 27, and the second connecting rod 32 is assembled through the bearing seat 27.

[0096] The charging robot disclosed in the present application can be assembled by using fasteners such as screws. For example, the mounting frame 1 is mounted on the mounting column 7 by screws, the first drive motor 23 is mounted on the mounting frame 1 by screws, the first sliding rail 12 is fixedly connected to the mounting frame 1 by screws, the second drive motor 24 and the first speed reducer 26 are mounted on the first mounting plate 21 by screws, and the third drive motor 421 is connected to the second mounting plate 41 by screws.

[0097] In use, the charging robot moves the charging execution mechanism 5 to the shooting position through the first execution mechanism 2 and the second execution mechanism 4, the image acquisition unit 6 shoots to acquire the position information of the charging port of the electric vehicle, the position coordinate information of the charging port is transmitted back to the controller after positioning, and the controller sends a movement instruction. At this time, the first execution mechanism 2 and the second execution mechanism 4 start to perform the gun insertion action. During the execution of the gun insertion action, at least one of the first execution mechanism 2 and the second execution mechanism 4 moves.

[0098] For the first execution mechanism 2, the first drive motor 23 drives the first pulley 223 to rotate through the first conveying belt 224, the first pulley 223 drives the first lead screw 221 to rotate to move the first sliding block 222 along the first direction X, the movement of the first sliding block 222 drives the first mounting plate 21, the second drive motor 24, the first connecting rod 31, the second execution mechanism 4, and the charging execution mechanism 5 to move along the first direction X. The second drive motor 24 drives the first connecting rod 31 to rotate, so that the second execution mechanism 4 rotates relative to the first mounting plate 21, and the second execution mechanism 4 rotates while carrying the charging execution mechanism 5. The first execution mechanism 2 can move relative to the mounting frame 1 and rotate relative to the second execution mechanism 4.

[0099] For the second execution mechanism 4, the third drive motor 421 drives the second pulley 423 to rotate through the second conveying belt 424, the second pulley 423 drives the second screw rod 422 to rotate to move the sliding block frame 44 in the second direction Y, the movement of the sliding block frame 44 drives the fourth drive motor 43 and the charging execution mechanism 5 to move in the second direction Y. The output shaft of the fourth drive motor 43 is connected with the charging execution mechanism 5, and the fourth drive motor 43 can drive the charging execution mechanism 5 to rotate to adjust the pitch angle of the charging gun head 53. The second execution mechanism 4 can realize driving the charging execution mechanism 5 to rotate and move in the second direction Y.

[0100] In the process of inserting the gun, due to the precision error of the charging robot, there may be a small deviation between the charging gun head 53 and the charging port, and the charging gun head 53 can be passively deflected by a small angle under the action of the flexible mechanism 52, so as to smoothly insert the charging gun head 53 into the charging port, and ensure the safety and reliability of inserting and pulling out the gun. The flexible mechanism 52 can effectively reduce the dependence on the degree of freedom of the motor, and compensate for the lack of active degree of freedom through passive degree of freedom, while further reducing the system cost.

[0101] The charging robot of the embodiment of the application only uses the first execution mechanism 2 and the second execution mechanism 4 as the motion mechanism, has the advantages of simple structure, compact motion mechanism and small occupied space.

[0102] The charging robot also has a folded state, and in the folded state, the first connecting rod 31 and the second execution mechanism 4 move close to the mounting frame 1, the first execution mechanism 2 moves to the position closest to the left side, and the charging gun head 53 of the charging execution mechanism 5 rotates downward. At this time, the volume between the mounting frame 1, the first execution mechanism 2, the first connecting rod 31, the second execution mechanism 4 and the charging execution mechanism 5 is the smallest, and the occupied space is the smallest, that is, the charging robot has the advantages of small volume and small occupied space in the folded state.

[0103] In the charging robot, the first drive motor 23 and the first screw rod 221 are connected through the first pulley 223 and the first conveying belt 224, and the third drive motor 421 and the second screw rod 422 are connected through the second pulley 423 and the second conveying belt 424, which has the advantages of simple connection structure and small occupied space.

[0104] Compared with the 6-axis collaborative robot in the prior art, the charging robot of the embodiment of the application has fewer degrees of freedom, can reduce the volume and cost, and is better for different environments, is convenient to install and use in different environments, and can be widely applied, by combining the 4-degree-of-freedom driving motor type of the first driving motor 23, the second driving motor 24, the third driving motor 421 and the fourth driving motor 43 with the flexible mechanism 52. Moreover, while realizing automatic charging of the electric vehicle, the mechanical structure and the control algorithm are greatly simplified, the reliability of the charging robot is improved, the development difficulty is reduced, and the maintenance cost in the later period is reduced.

[0105] In some embodiments, the second driving motor 24 and the fourth driving motor 43 are also connected with reducers respectively, and power output is realized through the reducers, which has obvious cost advantage compared with the joint motor in the prior art.

[0106] It should be noted that, for the method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited to the action sequence described, because according to the embodiments of the present application, some steps can be performed in other sequences or at the same time. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0107] The above embodiments are only preferred embodiments for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent replacement or transformation of the present application made by those skilled in the art based on the present application is within the protection scope of the present application.

Claims

1. A charging robot having a first direction (X) and a second direction (Z) intersecting, characterized in that, The charging robot comprises a mounting frame (1), a first actuating mechanism (2), a first connecting rod (31), a second actuating mechanism (4) and a charging actuating mechanism (5); The first actuating mechanism (2) is movably connected with the mounting frame (1), and the moving direction is parallel to the first direction (X); The first actuating mechanism (2) and the second actuating mechanism (4) are rotatably connected through the first connecting rod (31), and the rotation shaft of the relative rotation of the first actuating mechanism (2) and the second actuating mechanism (4) is parallel to the second direction (Z); The second actuating mechanism (4) is movably connected with the charging actuating mechanism (5), and the second actuating mechanism (4) can drive the charging actuating mechanism (5) to rotate and move along the second direction (Z).

2. The charging robot of claim 1, wherein, The mounting frame (1) is provided with a first strip-shaped opening (11) arranged along the first direction (X); The first actuating mechanism (2) comprises a first linear module and a first mounting plate (21), the first linear module is arranged on the first side of the mounting frame (1) and fixedly connected with the mounting frame (1), the first mounting plate (21) is arranged on the second side of the mounting frame (1), the output end of the first linear module passes through the first strip-shaped opening (11) and is fixedly connected with the first mounting plate (21), and the first linear module can drive the first mounting plate (21) to move along the first direction (X).

3. The charging robot of claim 2, wherein, The first linear module comprises a first driving motor (23), a first screw rod (221) and a first sliding block (222); the first driving motor (23) is fixedly connected with the mounting frame (1), the first screw rod (221) is rotatably connected with the mounting frame (1), and the first driving motor (23) and the first screw rod (221) are in transmission connection; The first sliding block (222) is arranged on the first screw rod (221), and part of the first sliding block (222) passes through the first strip-shaped opening (11) and is fixedly connected with the first mounting plate (21).

4. The charging robot of claim 3, wherein, The first driving motor (23) and the first screw rod (221) are arranged in the second direction (Z). The first linear module further comprises a first pulley (223) and a first conveying belt (224), the first pulley (223) is fixedly connected with the first screw rod (221), and the first conveying belt (224) is arranged around the output shaft of the first driving motor (23) and the outer periphery of the first pulley (223).

5. The charging robot of claim 2, wherein, The second side of the mounting frame (1) is further provided with two first sliding rails (12), one of the first sliding rails (12) is arranged on one side of the first strip-shaped opening (11) in the second direction (Z), and the other first sliding rail (12) is arranged on the other side of the first strip-shaped opening (11) in the second direction (Z), and the two first sliding rails (12) are respectively in sliding connection with the first mounting plate (21).

6. The charging robot of claim 2, wherein, The first actuating mechanism (2) further comprises a second driving motor (24) fixedly connected with the surface of the first mounting plate (21) away from the mounting rack (1), and the output end of the second driving motor (24) is fixedly connected with one end of the first connecting rod (31), so that the second driving motor (24) drives the first connecting rod (31) to rotate, and the first actuating mechanism (2) and the second actuating mechanism (4) rotate relatively.

7. The charging robot of claim 6, wherein, The charging robot further comprises a second connecting rod (32) and a third connecting rod (33), the first connecting rod (31), the second connecting rod (32) and the third connecting rod (33) are arranged at intervals in the second direction (Z), and the second connecting rod (32) and the third connecting rod (33) are rotatably connected with the first mounting plate (21) and the second actuating mechanism (4) respectively.

8. The charging robot of claim 1, wherein, The second actuating mechanism (4) comprises a second mounting plate (41), a second linear module and a fourth driving motor (43). The second mounting plate (41) is rotatably connected with the first connecting rod (31) and fixedly connected with the second linear module, the output end of the second linear module is connected with the fourth driving motor (43) to drive the fourth driving motor (43) to move along the second direction (Y), and the output end of the fourth driving motor (43) is connected with the charging actuating mechanism (5) to drive the charging actuating mechanism (5) to rotate.

9. The charging robot of claim 8, wherein, The second linear module comprises a third driving motor (421), a second screw rod (422) and a sliding block frame (44), the third driving motor (421) is fixedly connected with the second mounting plate (41), the second screw rod (422) is rotatably connected with the second mounting plate (41), and the third driving motor (421) and the second screw rod (422) are in transmission connection. The second screw rod (422) is provided with the sliding block frame (44), and the sliding block frame (44) is fixedly connected with the fourth driving motor (43).

10. The charging robot of claim 9, wherein, The third driving motor (421) is arranged on the first side of the second mounting plate (41), the second screw rod (422) is arranged on the second side of the second mounting plate (41), and the second mounting plate (41) and the second screw rod (422) are arranged along the second direction (Z) respectively. The second linear module further comprises a second belt wheel (423) and a second conveying belt (424), the second belt wheel (423) is fixedly connected with the second screw rod (422), and the second conveying belt (424) is wound around the output shaft of the third driving motor (421) and the outer periphery of the second belt wheel (423).

11. The charging robot of claim 1, wherein, The charging robot further comprises a first cover body (25) connected with the first mounting plate (21) of the first actuating mechanism (2) to form a first accommodating cavity, and part of the components of the first actuating mechanism (2) are arranged in the first accommodating cavity; and / or, The charging robot further comprises a second cover body (45) connected with a second mounting plate (41) of the second actuating mechanism (4) to form a second accommodating cavity, and part components of the second actuating mechanism (4) are arranged in the second accommodating cavity.

12. The charging robot of claim 1, wherein, The charging actuating mechanism (5) comprises a rotating support (51), a flexible mechanism (52) and a charging gun head (53), a side wall of the rotating support (51) is movably connected with the second actuating mechanism (4), and one end of the rotating support (51), the flexible mechanism (52) and the charging gun head (53) are sequentially connected.

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