Automatic charging grabbing device

Abstract

The utility model discloses an automatic charging grabbing device which comprises a grabbing hand mechanism which comprises a driving assembly and two clamping assemblies in transmission connection with the driving assembly, the number of the clamping assemblies is two, the two clamping assemblies are oppositely arranged, and the two clamping assemblies are suitable for being driven by the driving assembly to move face to face or back to back; the charging gun comprises a gun body, the position, close to the middle section, of the gun body is concavely provided with concave parts matched with the clamping assemblies, and the concave parts are arranged on the two sides of the gun body so as to correspond to the clamping assemblies one to one; wherein the clamping parts of the two clamping assemblies are both provided with positioning pins, the concave parts are provided with positioning holes corresponding to the positioning pins, the two clamping assemblies respond to the opposite movement and clamp the different concave parts respectively, and the positioning pins are inserted into the positioning holes. By the adoption of the structure, the charging gun is stable and accurate in the clamping process, the inserting and pulling precision is high, and the charging gun is not prone to being damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of charging equipment, in particular to an automatic charging grabbing device. Background Art

[0002] With the intensive introduction of policies to support and encourage new energy vehicles in my country, new energy vehicles have achieved rapid development. The rapid development of electric vehicles and driverless vehicles, especially the rapid development of driverless vehicles, will greatly promote the construction, upgrading and transformation of new energy infrastructure. Unmanned intelligent charging technology is an urgent need to meet the rapid development of electric vehicles. It can give wings to driverless trams and let them fly freely. It can especially escort the medium and long-distance network transportation of intelligent vehicles.

[0003] The automatic charging gripping device usually includes a gripper and a charging gun. The gripper can clamp the charging gun to move the charging gun into or out of the electric vehicle. However, due to the structural limitations of the existing charging gun, the gripper usually clamps and positions the tail step of the charging gun. When clamping the charging gun, it is easy to cause the top to be heavy, resulting in a large deviation between the head and tail of the charging gun, affecting the insertion of the gun. The clamping step at the tail end of the charging gun is easily damaged, affecting the insertion of the gun and accelerating the damage of the charging gun. The weight of the clamped charging gun is limited.

[0004] Therefore, it is necessary to improve the prior art to overcome the above defects in the prior art. Utility Model Content

[0005] The utility model aims to provide an automatic charging gripping device, which can smoothly and accurately hold a charging gun, has high insertion and extraction accuracy, and is not easy to damage the charging gun.

[0006] The purpose of the utility model is achieved through the following technical solutions: an automatic charging grabbing device, comprising:

[0007] The gripper mechanism comprises a driving assembly and a clamping assembly drivingly connected to the driving assembly, wherein the clamping assemblies are two in number and arranged opposite to each other, and the two clamping assemblies are adapted to move toward or away from each other under the drive of the driving assembly;

[0008] The charging gun comprises a gun body, wherein a concave portion adapted to the clamping assembly is concavely arranged near the middle of the gun body, and the concave portions are arranged on both sides of the gun body to correspond one-to-one with the clamping assembly;

[0009] Wherein, the clamping parts of the two clamping assemblies are both provided with positioning pins, the recessed portion is provided with positioning holes corresponding to the positioning pins, the two clamping assemblies respectively clamp different recessed portions in response to the movement towards each other, and the positioning pins are inserted into the positioning holes.

[0010] Furthermore, the gun body is a cylindrical structure, the recessed portion is recessed from the outer surface of the gun body, and the recessed portion is symmetrically distributed on both sides of the axis of the gun body.

[0011] Furthermore, the recessed portion has a recessed bottom surface and a recessed side surface, the recessed bottom surface is parallel to the axial direction of the gun body, the recessed side surfaces are two in number and are arranged on both sides of the recessed bottom surface in the axial direction of the gun body, and the positioning holes are recessed inward from the recessed bottom surface, and the number is at least two.

[0012] Furthermore, there are two positioning holes on each of the recessed bottom surfaces, which are arranged at the middle positions on both sides of the recessed bottom surface in the direction of the axis of the gun body.

[0013] Further, the gripper mechanism includes a mounting seat, and the drive assembly includes:

[0014] A rotating motor is mounted on the mounting seat, and an output end of the rotating motor is connected to a driving gear;

[0015] A transmission block is slidably connected to the mounting seat, and the number of the transmission blocks is two and they are arranged opposite to each other;

[0016] The two clamping assemblies are respectively fixed on different transmission blocks, a rack portion is formed on the transmission block, the driving gear is located between the two transmission blocks and is respectively meshed with different rack portions, and the transmission block drives the clamping assemblies to move toward or away from each other in response to the rotation of the driving gear.

[0017] Furthermore, the gripping mechanism includes a slide rail assembly corresponding to the transmission block one by one, the slide rail assembly includes a slide rail fixedly connected to the mounting seat and a slider slidably connected to the slide rail, and the transmission block is fixedly connected to the slider.

[0018] Furthermore, the charging gun comprises:

[0019] A gun head connected to one end of the gun body and adapted to dock with a charging port of a vehicle;

[0020] A handle connected to the other end of the gun body and extending downward;

[0021] A buckle, rotatably disposed on the top of the gun body and adapted to buckle with the charging port;

[0022] Wherein, the recessed portion is located on the side surface of the gun body.

[0023] Furthermore, the snap-on component has a transmission end and a snap-on end extending to the gun head, an elastic component is connected between the transmission end and the gun body, the elastic component is suitable for providing a force driving the snap-on end to rotate downward and be in a snap-on state, and the clamping assembly is suitable for pushing the transmission end to rotate downward during the relative movement to compress the elastic component and cause the snap-on end to rotate upward to a released state.

[0024] Furthermore, the clamping assembly comprises:

[0025] A clamping block having a clamping surface for clamping the recessed portion, wherein the positioning pin is convexly disposed on the clamping surface;

[0026] A connecting block, adapted to be drivingly connected to the driving assembly;

[0027] Among them, the connecting block is an L-shaped block, which includes a transmission part extending along the movement direction of the clamping assembly and a connecting part vertically connected to the transmission part, the connecting part is connected to the clamping block, and the side of the transmission part away from the connecting part cooperates with the inclined surface of the transmission end to push the transmission end downward during the relative movement.

[0028] Furthermore, the two transmission parts are staggeredly arranged in the axial direction of the gun body, and the transmission part located at the rear end cooperates with the inclined surface of the transmission end to push the transmission end downward during the process of moving toward each other.

[0029] Compared with the prior art, the utility model has the following beneficial effects: the utility model provides a recessed portion corresponding to the clamping assembly at a position near the middle of the gun body, so that the clamping assembly can reliably clamp the position near the middle of the gun body, has high clamping reliability, is not easily limited by the weight of the charging gun, and can improve the accuracy of plugging and unplugging the gun, and is not easy to damage the charging gun during the clamping and plugging and unplugging process; in addition, a locating pin is provided on the clamping part of the clamping assembly, and a locating hole corresponding to the locating pin is provided in the recessed portion, when the clamping assemblies move toward each other and clamp the gun body, the locating pin is inserted into the locating hole, thereby improving the clamping position accuracy, and clamping the charging gun more smoothly and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the automatic charging grabbing device of the utility model.

[0031] Figure 2 It is a structural schematic diagram of the gripper mechanism of the utility model when clamping the charging gun.

[0032] Figure 3 yes Figure 2 Schematic diagram of the structure in another direction.

[0033] Figure 4It is a structural schematic diagram of the gripper mechanism in the utility model.

[0034] Figure 5 It is a schematic diagram of the installation of the clamping assembly in the utility model.

[0035] Description of reference numerals:

[0036] 100, gripper mechanism; 110, drive assembly; 111, rotary motor; 112, transmission block; 1121, rack portion; 120, clamping assembly; 121, positioning pin; 122, connecting block; 1221, transmission portion; 1222, connecting portion; 1223, first inclined surface; 123, clamping block; 1231, clamping surface; 130, mounting seat; 140, slide rail assembly; 141, slide rail; 142, slider; 200, charging gun; 210, gun body; 211, recessed portion; 2111, positioning hole; 2112, recessed bottom surface; 2113, recessed side surface; 220, gun head; 230, handle; 240, buckle; 241, transmission end; 2411, second inclined surface; 242, buckle end. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0038] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0039] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0040] See also Figures 1 to 5As shown, an automatic charging grasping device corresponding to a preferred embodiment of the utility model includes: a gripping mechanism 100, including a driving component 110 and a clamping component 120 transmission-connected to the driving component 110, the number of the clamping components 120 is two, and they are arranged relatively, and the two clamping components 120 are suitable for moving toward or away from each other under the drive of the driving component 110; a charging gun 200, including a gun body 210, the gun body 210 is provided with a recessed portion 211 adapted to the clamping component 120 at a position close to the middle section, and the recessed portions 211 are arranged on both sides of the gun body 210 to correspond to the clamping components 120 one by one; wherein, the clamping parts of the two clamping components 120 are both provided with a positioning pin 121, the recessed portion 211 is provided with a positioning hole 2111 corresponding to the positioning pin 121, and the two clamping components 120 respectively clamp different recessed portions 211 in response to the movement toward each other, and the positioning pin 121 is inserted into the positioning hole 2111.

[0041] The utility model provides a recessed portion 211 corresponding to the clamping assembly 120 at a position near the middle of the gun body 210, so that the clamping assembly 120 can reliably clamp the position near the middle of the gun body 210, with high clamping reliability, not easily limited by the weight of the charging gun 200, and can improve the accuracy of plugging and unplugging the gun, and is not easy to damage the charging gun 200 during the clamping and plugging and unplugging process; in addition, a positioning pin 121 is provided on the clamping part of the clamping assembly 120, and a positioning hole 2111 corresponding to the positioning pin 121 is provided in the recessed portion 211, when the clamping assembly 120 moves toward each other and clamps the gun body 210, the positioning pin 121 is plugged into the positioning hole 2111, thereby improving the clamping position accuracy, and clamping the charging gun 200 is more stable and accurate.

[0042] Furthermore, the gripper mechanism 100 further includes a mounting seat 130 , which is suitable for connecting with a manipulator (not shown) to achieve free movement of the gripper mechanism 100 driven by the manipulator.

[0043] The driving assembly 110 includes a rotating motor 111 and a transmission block 112 that is transmission-connected to the rotating motor 111. The rotating motor 111 is mounted on a mounting seat 130, and an output end thereof is connected to a driving gear (not shown). The transmission block 112 is slidably connected to the mounting seat 130 to slide along a first horizontal direction. Specifically, the gripping mechanism 100 includes a slide rail assembly 140 disposed at the bottom of the mounting seat 130, the slide rail assembly 140 is arranged along the first horizontal direction, and the transmission block 112 is disposed on the slide rail assembly 140. The slide rail assembly 140 includes a slide rail 141 that is fixedly connected to the mounting seat 130 and a slider 142 that is slidably connected to the slide rail 141. The top of the transmission block 112 is fixedly connected to the slider 142.

[0044] There are two transmission blocks 112, which are arranged opposite to each other in the second horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction. The two clamping assemblies 120 are respectively fixed on different transmission blocks 112, and the slide rail assembly 140 corresponds to the transmission block 112 one by one. A rack portion 1121 is formed on the transmission block 112, and the length direction of the rack portion 1121 is parallel to the first horizontal direction. The driving gear is located between the two transmission blocks 112 and meshes with different rack portions 1121 respectively. The rotating motor 111 can drive the driving gear to rotate, so as to drive the two rack portions 1121 to move toward or away from each other along the first horizontal direction. The transmission block 112 responds to the rotation of the driving gear and synchronously drives the clamping assembly 120 to move toward or away from each other.

[0045] Furthermore, the clamping assembly 120 includes a connecting block 122 drivingly connected to the driving assembly 110 and a clamping block 123 detachably connected to the connecting block 122 . The clamping block 123 has a clamping surface 1231 for clamping the recessed portion 211 , and the positioning pin 121 is protruding from the clamping surface 1231 .

[0046] The connecting block 122 is an L-shaped block, which includes a transmission part 1221 and a connecting part 1222 vertically connected to the transmission part 1221. The transmission part 1221 is fixedly connected to the bottom of the transmission block 112, and the clamping block 123 is fixedly connected to the connecting part 1222. When the clamping assembly 120 is in the clamping state, the transmission part 1221 is located above the charging gun 200, the connecting part 1222 is located on the side of the charging gun 200 where the recessed part 211 is formed, and the clamping block 123 is embedded in the recessed part 211.

[0047] Furthermore, the gun body 210 of the charging gun 200 is a cylindrical structure, the axial direction of the gun body 210 is parallel to the second horizontal direction, the recessed portion 211 is recessed from the outer surface of the gun body 210, the recessed direction of the recessed portion 211 is parallel to the first horizontal direction, and the recessed portions 211 are symmetrically distributed on both sides of the axis of the gun body 210. The recessed portion 211 is a through structure in the vertical direction, and the recessed portion 211 has a recessed bottom surface 2112 and a recessed side surface 2113. The recessed bottom surface 2112 is parallel to the axis direction of the gun body 210, so as to be in close contact with the clamping surface 1231. There are two recessed side surfaces 2113, which are arranged on both sides of the recessed bottom surface 2112 in the axis direction of the gun body 210, and the size of the clamping block 123 in the second horizontal direction is not greater than the spacing between the recessed side surfaces 2113.

[0048] The positioning holes 2111 are formed by being recessed inward from the recessed bottom surface 2112, and there are at least two of them. Accordingly, there are at least two positioning pins 121 on each clamping block 123, so as to correspond one-to-one with the positioning holes 2111. In this embodiment, there are two positioning holes 2111 on each recessed bottom surface 2112, and they are respectively arranged at the middle positions on both sides of the recessed bottom surface 2112 in the axial direction of the gun body 210.

[0049] Furthermore, the charging gun 200 also includes a gun head 220 and a handle 230. The gun head 220 is connected to one end of the gun body 210 and is suitable for docking with the charging port of the vehicle. The handle 230 is connected to the other end of the gun body 210 and extends downward to facilitate holding or wiring.

[0050] Preferably, the charging gun 200 includes a buckle 240 rotatably arranged on the top of the gun body 210, the rotation axis of the buckle 240 is parallel to the first horizontal direction, and the buckle 240 is used to achieve the buckle engagement between the charging gun 200 and the charging port when the charging gun 200 is docked. The buckle 240 has a transmission end 241 and a buckle end 242 extending to the gun head 220, and an elastic member is connected between the transmission end 241 and the gun body 210. The elastic member can be a spring, and the elastic member is suitable for providing a force to drive the buckle end 242 to rotate downward and be in a buckled state. In the buckled state, the buckle end 242 can be buckled with the corresponding buckle hole at the charging port to prevent the charging gun 200 from being separated from the charging port in the second horizontal direction. The buckle structure is a common means in the art, and the utility model will not be repeated here.

[0051] Preferably, when the clamping assembly 120 clamps the charging gun 200, it is suitable for pushing the transmission end 241 to rotate downward during the relative movement to compress the elastic member, thereby causing the buckle end 242 to rotate upward to a loose state, thereby preventing the buckle end 242 from obstructing the plugging and unplugging of the charging gun 200. The above structure can facilitate the plugging and unplugging of the charging gun 200, while preventing the charging gun 200 from being loosened from the charging port during charging, thereby improving the reliability of the charging process.

[0052] Specifically, a first inclined surface 1223 is provided at the bottom of the transmission part 1221 away from the connecting part 1222, and a second inclined surface 2411 is provided at the top of the transmission end 241. During the movement of the clamping assembly 120 toward each other, the first inclined surface 1223 gradually approaches and cooperates with the inclined surface of the second inclined surface 2411 to gradually push the transmission end 241 downward, and when the clamping assembly 120 is in a clamping position moved to the charging gun 200, the bottom surface of the transmission part 1221 is in contact with the top surface of the transmission end 241, and the latch 240 is in a loose state.

[0053] Since the two transmission blocks 112 are arranged opposite to each other in the second horizontal direction, the two transmission parts 1221 are arranged alternately in the axial direction and / or the second horizontal direction of the gun body 210. In this embodiment, only the transmission part 1221 at the rear end cooperates with the inclined surface of the transmission end 241 to push the transmission end 241 downward during the movement toward each other. The rear end specifically refers to the end of the gun body 210 close to the handle 230.

[0054] The working process of the automatic charging gripping device of the utility model is as follows: when the vehicle needs to be automatically charged, the manipulator drives the gripping mechanism 100 to move to the top of the charging gun 200 and moves downward, so that the clamping assembly 120 corresponds to the recessed portion 211; then the driving assembly 110 drives the clamping assembly 120 to move toward each other along the first horizontal direction, and the clamping block 123 of the clamping assembly 120 is embedded in the recessed portion 211 to reliably clamp the charging gun 200, and in this process, the connecting block 122 is suitable for pushing the buckle 240 located at the top of the charging gun 200, so that the buckle 240 gradually turns to a loose state; then The gripper mechanism 100, driven by the manipulator, moves the charging gun 200 and plugs it into the charging port of the vehicle, and then the gripper mechanism 100 releases the charging gun 200 with its back to the sportswear. At this time, the push on the buckle 240 is released, and the buckle 240 is reset to the buckled state under the rebound action of the elastic member to achieve the buckling of the charging gun 200 and the charging port; when the charging gun 200 needs to be pulled out, the manipulator drives the gripper mechanism 100 to move back to the charging gun 200 to grab the charging gun 200. At this time, the buckle 240 is in a loose state under the push of the clamping assembly 120 to ensure that the charging gun 200 is smoothly pulled out.

[0055] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An automatic charging grabbing device, characterized in that: include: A gripper mechanism (100) comprises a driving assembly (110) and a clamping assembly (120) drivingly connected to the driving assembly (110), wherein the number of the clamping assemblies (120) is two and they are arranged opposite to each other, and the two clamping assemblies (120) are suitable for moving towards or away from each other under the drive of the driving assembly (110); A charging gun (200) comprises a gun body (210), wherein a recessed portion (211) adapted to the clamping assembly (120) is recessedly provided near the middle of the gun body (210), and the recessed portions (211) are arranged on both sides of the gun body (210) to correspond one-to-one with the clamping assembly (120); The clamping parts of the two clamping assemblies (120) are each provided with a positioning pin (121), the recessed portion (211) is provided with a positioning hole (2111) corresponding to the positioning pin (121), the two clamping assemblies (120) respectively clamp different recessed portions (211) in response to movement toward each other, and the positioning pin (121) is inserted into the positioning hole (2111).

2. The automatic charging grabbing device according to claim 1, characterized in that: The gun body (210) is a cylindrical structure, the recessed portion (211) is recessed from the outer surface of the gun body (210), and the recessed portion (211) is symmetrically distributed on both sides of the axis of the gun body (210).

3. The automatic charging grabbing device according to claim 2, characterized in that: The recessed portion (211) comprises a recessed bottom surface (2112) and a recessed side surface (2113); the recessed bottom surface (2112) is parallel to the axial direction of the gun body (210); the recessed side surfaces (2113) are two in number and are arranged on both sides of the recessed bottom surface (2112) in the axial direction of the gun body (210); the positioning holes (2111) are recessed inwardly from the recessed bottom surface (2112), and the number of the positioning holes is at least two.

4. The automatic charging grabbing device according to claim 3, characterized in that: The number of positioning holes (2111) on each of the recessed bottom surfaces (2112) is two, and they are arranged at the middle positions on both sides of the recessed bottom surface (2112) in the axial direction of the gun body (210).

5. The automatic charging grabbing device according to claim 1, characterized in that: The gripper mechanism (100) comprises a mounting seat (130), and the drive assembly (110) comprises: A rotating motor (111) is mounted on the mounting seat (130), and an output end thereof is connected to a driving gear; A transmission block (112) is slidably connected to the mounting seat (130), and there are two transmission blocks (112) arranged opposite to each other; The two clamping assemblies (120) are respectively fixed on different transmission blocks (112); a rack portion (1121) is formed on the transmission block (112); the driving gear is located between the two transmission blocks (112) and is respectively meshed with different rack portions (1121); the transmission block (112) drives the clamping assemblies (120) to move toward or away from each other in response to the rotation of the driving gear.

6. The automatic charging grabbing device according to claim 5, characterized in that: The gripping mechanism (100) comprises a slide rail assembly (140) corresponding one-to-one to the transmission block (112), the slide rail assembly (140) comprising a slide rail (141) fixedly connected to the mounting seat (130) and a slider (142) slidably connected to the slide rail (141), and the transmission block (112) is fixedly connected to the slider (142).

7. The automatic charging grabbing device according to claim 2, characterized in that: The charging gun (200) comprises: A gun head (220) connected to one end of the gun body (210) and adapted to dock with a charging port of a vehicle; A handle (230) connected to the other end of the gun body (210) and extending downward; A buckle (240) is rotatably disposed on the top of the gun body (210) and is suitable for buckling with the charging port; Wherein, the recessed portion (211) is located on the side surface of the gun body (210).

8. The automatic charging grabbing device according to claim 7, characterized in that: The buckle (240) comprises a transmission end (241) and a buckle end (242) extending to the gun head (220); an elastic member is connected between the transmission end (241) and the gun body (210); the elastic member is suitable for providing a force driving the buckle end (242) to rotate downward and be in a buckled state; and the clamping assembly (120) is suitable for pushing the transmission end (241) to rotate downward during the process of moving toward each other, so as to compress the elastic member and make the buckle end (242) rotate upward to a released state.

9. The automatic charging grabbing device according to claim 8, characterized in that: The clamping assembly (120) comprises: A clamping block (123) having a clamping surface (1231) for clamping the recessed portion (211), and the positioning pin (121) is protruding from the clamping surface (1231); A connecting block (122), adapted to be drivingly connected to the driving assembly (110); The connecting block (122) is an L-shaped block, comprising a transmission part (1221) extending along the movement direction of the clamping assembly (120) and a connecting part (1222) vertically connected to the transmission part (1221), the connecting part (1222) being connected to the clamping block (123), and a side of the transmission part (1221) away from the connecting part (1222) being matched with an inclined surface of the transmission end (241) so as to push the transmission end (241) downward during the process of moving toward each other.

10. The automatic charging grabbing device according to claim 9, characterized in that: The two transmission parts (1221) are arranged alternately in the axial direction of the gun body (210), and the transmission part (1221) located at the rear end cooperates with the inclined surface of the transmission end (241) to push the transmission end (241) downward during the process of moving towards each other.

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