Charging execution mechanism and charging device

Abstract

The utility model provides a charging execution mechanism and a charging device.The charging execution mechanism is used for being matched with a charging gun head to execute a charging action and comprises a gun grabbing assembly and a gun inserting assembly, the gun grabbing assembly is used for grabbing and fixing the charging gun head, and the gun inserting assembly is used for inserting the charging gun head into or pulling the charging gun head out of a charging base; the gun inserting assembly comprises a telescopic module and a rotating module, the telescopic module is used for driving the charging gun head to stretch out and draw back in the first direction and executing alignment and / or plugging actions with the charging base, and the rotating module is used for driving the telescopic module to rotate with the first direction as the axis so as to drive the charging gun head to rotate and execute alignment actions with the charging base; wherein the telescopic module comprises a first flexible driving structure, and the first flexible driving structure enables the telescopic module to have a degree of freedom when the telescopic module executes alignment and / or plugging actions so as to realize smooth plugging of the charging gun head. Therefore, the charging gun head and the charging seat can be effectively prevented from being damaged in the plugging process.

Description

Technical Field

[0001] The present application belongs to the field of charging technology, and in particular relates to a charging actuator and a charging device. Background Art

[0002] In recent years, the new energy vehicle industry has developed rapidly, especially electric vehicles. The charging methods and efficiency of electric vehicles have also received more and more attention and attention. In terms of efficiency, various fast charging technologies and even super fast charging technologies are being updated and iterated. However, the charging method is still to manually hold the charging gun head and manually insert it into the charging port for charging. The entire charging process requires human intervention to complete the relevant operations, which is not convenient enough. For this reason, people began to try to use a combination of a robotic arm and a charging gun head to realize the automation of charging.

[0003] When charging an electric vehicle automatically, the charging gun head needs to be aligned with the charging base first, and then plugged in. During this process, since the electric vehicle and the external environment are not in an absolutely stable and static state, it is difficult to fully align the charging gun head and the charging base. If it is not aligned, the charging gun head and / or the charging base will be damaged. One solution to accurately achieve the docking of the charging gun head and the charging base is to require a very high-precision robotic arm, but this will result in high costs for the entire charging device and make it difficult to commercialize.

[0004] In summary, current charging devices often have the problem that the charging gun head and the charging base are not aligned, resulting in ineffective plug-in charging and possible damage to the charging gun head and / or the charging base. Utility Model Content

[0005] In view of this, the present application provides a charging actuator and a charging device to solve the technical problem that the charging gun head and the charging base are often misaligned in the existing charging devices, resulting in inability to effectively plug and charge, and damage to the charging gun head and / or the charging base.

[0006] In a first aspect, the present application provides a charging actuator for cooperating with a charging gun head to perform a charging action, including a gun grabbing assembly and a gun plugging assembly, wherein the gun grabbing assembly is used to grab and fix the charging gun head, and the gun plugging assembly is used to insert or pull out the charging gun head from a charging seat;

[0007] The plug-in gun assembly includes a telescopic module and a rotating module, wherein the telescopic module is used to drive the charging gun head to telescope along a first direction and perform alignment and / or plug-in and pull-out actions with the charging base, and the rotating module is used to drive the telescopic module to rotate along the first direction as an axis, thereby driving the charging gun head to rotate and perform an alignment action with the charging base;

[0008] The telescopic module includes a first flexible driving structure, which enables the telescopic module to have freedom when performing alignment and / or plugging and unplugging actions, so as to achieve smooth plugging and unplugging of the charging gun head.

[0009] In a second aspect, the present application provides a charging device, comprising a robotic arm and the charging actuator described in the first aspect, wherein the robotic arm is connected to the charging actuator, and the robotic arm is used to drive the charging actuator to move and perform alignment and / or plug-in actions with the charging seat.

[0010] This application mainly provides a charging actuator and a charging device, which can realize the adaptive posture adjustment of the charging gun head relative to the charging seat, align the charging gun head with the corresponding charging seat socket at a more suitable angle, so that the charging gun head can be smoothly inserted into the socket of the charging seat to achieve the charging purpose. Through the first flexible driving structure, when the charging gun head and the charging seat are docked, there is a certain docking redundancy between the two, making the rigid docking process smooth, which can effectively avoid damage to the charging gun head and the charging seat during the plugging process; by rotating the module, the posture of the charging gun head can be automatically corrected, and the operation of plugging and unplugging the charging head can be completed smoothly under the condition of low initial positioning accuracy without the situation where the two are misaligned and cannot be automatically plugged in for charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1 is a structural schematic diagram of a charging actuator provided in an embodiment of the present application;

[0013] Figure 2 yes Figure 1 A schematic diagram of the structure of the gun insertion component and the gun grabbing component;

[0014] Figure 3 yes Figure 1 Schematic diagram from another perspective;

[0015] Figure 4 yes Figure 1 Schematic diagram of some structures in ;

[0016] Figure 5 yes Figure 2 Schematic diagram from another perspective;

[0017] Figure 6 yes Figure 1A schematic diagram of the structure of the charging gun head and the grab gun assembly;

[0018] Figure 7 yes Figure 5 Schematic diagram from another perspective;

[0019] Figure 8 It is a schematic diagram of some structures in the figure;

[0020] Fig. 9 It is a schematic diagram of the structure of the robotic arm provided in an embodiment of the present application.

[0021] Among them, the figure numbers are:

[0022] 10. Charging gun head; 11. Gun head body; 110. Insertion surface; 111. Button; 12. Connection frame; 121. First hook; 122. Second hook; 13. First magnetic attraction member;

[0023] 20. Gun grabbing assembly; 21. Second magnetic attraction member; 22. Second mounting bracket; 23. Gun head unlocking structure; 231. Support seat; 232. Unlocking connecting rod; 2321. First end; 2322. Second end; 233. Folding airbag; 234. Rotating shaft; 235. Knob; 236. Connecting shaft; 237. Pressing sheet; 2371. Pressing part; 2372. Connecting part; 2373. Extending part; 23730. Through hole; 24. Driving member; 25. First limiting member; 26. Second limiting member;

[0024] 30. Gun insertion assembly; 31. Telescopic module; 311. First flexible drive structure; 312. Fixed seat; 313. Connecting plate; 314. Guide shaft; 315. Partition plate; 32. Rotating module; 321. Second flexible drive structure; 322. First mounting frame; 323. Drive block; 324. Central axis;

[0025] 40. Robotic arm; 41. Driving module; 42. Support arm; 421. Arm body; 422. Base body; 43. First arm section; 431. First rotating axis; 432. First connecting arm; 433. First connecting base; 44. Second arm section; 441. Second rotating axis; 442. Second connecting arm; 443. Second connecting base; 45. Third arm section; 451. Third rotating axis; 452. Third connecting arm. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0027] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0028] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0029] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0030] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0031] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means two or more.

[0032] It should be noted that the first direction is the X direction in the accompanying drawings, the second direction is the Y direction in the drawings, and the third direction is the Z direction in the drawings. The above is only for the convenience of explanation and should not be construed as limiting the scope of the present application.

[0033] First, as Figures 1 to 8As shown, the present application provides a charging actuator for cooperating with a charging gun head 10 to perform a charging action, including a gun grabbing assembly 20 and a gun plugging assembly 30, wherein the gun grabbing assembly 20 is used to grab and fix the charging gun head 10, and the gun plugging assembly 30 is used to insert or pull out the charging gun head 10 from the charging seat;

[0034] The plug-in gun assembly 30 includes a telescopic module 31 and a rotating module 32. The telescopic module 31 is used to drive the charging gun head 10 to telescope along a first direction and perform alignment and / or plug-in and pull-out actions with the charging base. The rotating module 32 is used to drive the telescopic module 31 to rotate along the first direction as an axis, thereby driving the charging gun head 10 to rotate and perform an alignment action with the charging base.

[0035] The telescopic module 31 includes a first flexible driving structure 311 . The first flexible driving structure 311 enables the telescopic module 31 to have freedom when performing alignment and plugging and unplugging actions, so as to achieve smooth plugging and unplugging of the charging gun head 10 .

[0036] The utility model mainly provides a charging actuator, which can realize the adaptive posture adjustment of the charging gun head 10 relative to the charging seat, align the charging gun head 10 with the corresponding charging seat socket at a more suitable angle, so that the charging gun head 10 can be smoothly inserted into the socket of the charging seat to achieve the charging purpose. Through the first flexible driving structure 311, when the charging gun head 10 is docked with the charging seat, there is a certain docking redundancy between the two, making the rigid docking process smooth, which can effectively avoid damage to the charging gun head 10 during the plugging process with the charging seat; by rotating the module, the posture of the charging gun head 10 can be automatically corrected, and the operation of plugging and unplugging the charging head can be successfully completed under the condition of low initial positioning accuracy without the situation where the two are misaligned and cannot be automatically plugged in for charging.

[0037] In some embodiments, Figure 1 and Figure 2 As shown, the gun grabbing assembly 20 is rotatably connected to the rotating module 32, and the telescopic module 31 is connected to the rotating module 32. In application, the rotating module 32 of the gun plugging assembly 30 is rotatably connected to the gun grabbing assembly 20, and the rotating module 32 drives the entire gun grabbing assembly 20 to rotate, thereby realizing the rotation of the charging gun head 10, and the telescopic module 31 is connected to the rotating module 32, so that the charging gun head 10 matched with the gun grabbing assembly 20 performs telescopic movement, and then plugs and matches with the charging seat.

[0038] In some embodiments, Figure 1 , Figure 2 as well as Figure 5 As shown, the telescopic module 31 further includes a fixing seat 312, a guide shaft 314 and a connecting plate 313, and the connecting plate 313 is provided with at least one;

[0039] The first flexible driving structure 311 is connected between the fixing seat 312 and the connecting plate 313, the guide shaft 314 is fixed on the fixing seat 312, the guide shaft 314 is passed through the connecting plate 313, and the connecting plate 313 is fixedly connected to the gun grabbing assembly 20. The first flexible driving structure 311 is extended and retracted to allow the charging gun head 10 to extend and retract along the first direction and perform alignment and / or plug-in and unplug actions with the charging seat.

[0040] In application, two connecting plates 313 are provided, and the two connecting plates 313 are spaced apart along the first direction, and the guide shaft 314 passes through the connecting plates 313;

[0041] One end of the guide shaft 314 is connected to the fixed seat 312, and the other end of the guide shaft 314 is connected to a connecting plate 313 farther away from the fixed seat 312. Both ends of the first flexible driving structure 311 are respectively connected to adjacent connecting plates 313. The first flexible driving structure 311 is extended and retracted to allow the charging gun head 10 to extend and retract along the first direction and perform alignment and plug-in actions with the charging seat.

[0042] The first flexible driving structure 311 expands and contracts, driving the gun insertion assembly 30 to move as a whole in the first direction, so that the charging gun head 10 plugged with the gun grabbing assembly 20 can expand and contract in the first direction, thereby achieving smooth plugging and unplugging with the charging base.

[0043] In applications, such as Figure 2 As shown, two partitions 315 are evenly spaced between the two connecting plates 313, and first flexible driving structures 311 are provided between the connecting plates 313 and the partitions 315 and between the partitions 315 and the partitions 315. The partitions 315 are provided with holes to facilitate the connection between adjacent first flexible driving structures 311, thereby enhancing the driving force of the first flexible driving structures 311. The connecting plates 313 and the partitions 315 are driven by the first flexible driving structure and move back and forth relative to the fixing seat 312, so that the gun grabbing assembly 20 connected to the connecting plates 313 can perform telescopic movement.

[0044] In application, the first flexible driving structure 311 is a folded airbag 233, which utilizes the compressibility and consistency of air (i.e., Pascal's law of gas) to achieve flexible contact of the 360-degree full-circle braking surface. This means that during braking, the friction area is large, the braking efficiency is high, and the braking temperature is low and the heat dissipation is fast. Secondly, the braking synchronization of the front, back, left and right sides is good, and there is no deviation, no sideslip, no tail swing, no locking, and no noise during braking. In addition, the folded airbag 233 also has a mechanical ABS function. When applied here, it can give full play to its advantages, and can also further prevent the rigid collision between the charging gun head 10 and the charging base, and the contact is softer and smoother.

[0045] In some embodiments, Figure 2 and Figure 5 As shown, the rotating module 32 includes a second flexible driving structure 321. When the rotating module 32 performs an alignment action, the second flexible driving structure 321 makes it flexible and adaptive to prevent the charging gun head 10 from rigidly colliding with the charging seat and causing damage.

[0046] In some embodiments, Figures 2 to 5 As shown, the rotating module 32 further includes a first mounting frame 322 and a driving block 323 disposed on the gun grabbing assembly 20;

[0047] The second flexible driving structure 321 is arranged along the second direction, one end of the second flexible driving structure 321 is connected to the first mounting frame 322, and the other end is connected to the driving block 323. The first mounting frame 322 is rotatably connected to the gun grab assembly 20, and the central axis 324 of the rotatable connection is perpendicular to the insertion surface 110 of the charging gun head 10 in a fixed state. The extension line of the central axis 324 intersects with the insertion surface 110 at the center point of the insertion surface 110. When the second flexible driving structure 321 is extended or retracted, the driving block 323 is driven to drive the charging gun head 10 to rotate relative to the first mounting frame 322 to perform an alignment action. When the rotating module 32 performs an alignment action, the second flexible driving structure 321 has flexible adaptability to prevent the charging gun head 10 from rigidly contacting the charging seat and causing damage.

[0048] In application, the first mounting frame 322 is rotatably connected to the second mounting frame 22 , and when the second flexible driving structure 321 is extended or retracted, the driving block 323 drives the charging gun head 10 to rotate relative to the second mounting frame 22 to perform an alignment action.

[0049] It should be noted that the insertion surface 110 is a surface perpendicular to the axial direction at the end of the gun head body 11 , and the center point is the center of the arc portion of the contour of the insertion surface 110 .

[0050] The second flexible driving structure 321 provides driving force, so that the driving block 323 rotates, thereby driving the gun grabbing assembly 20 connected to the driving block 323 to rotate, and finally driving the charging gun head 10 to align with the charging seat.

[0051] In application, a plurality of second flexible driving structures 321 are provided, and the plurality of second flexible driving structures 321 are arranged along the second direction to enhance the driving force and ensure that the gun grabbing assembly 20 and the charging gun head 10 can be driven to rotate to achieve alignment.

[0052] In some embodiments, the first flexible driving structure 311 and the second flexible driving structure 321 are both folded airbags 233. Flexible contact of the 360-degree full-circle braking surface can be achieved, and there is no deflection, no side slip, no tail swing, no locking, and no noise during braking.

[0053] In some embodiments, Figures 4 to 8 As shown, the charging gun head 10 includes a gun head body 11 and a connecting frame 12, the connecting frame 12 is arranged at the insertion end of the gun head body 11 away from the charging gun head 10, the connecting frame 12 is provided with a first magnetic member 13, and the gun grabbing assembly 20 includes a second magnetic member 21, and the first magnetic member 13 and the second magnetic member 21 are magnetically matched. Through the magnetic matching of the first magnetic member 13 and the second magnetic member 21, the gun grabbing assembly 20 can grasp and fix the charging gun head 10.

[0054] In application, the first magnetic member 13 is an iron block, and the second magnetic member 21 is a magnet. In other embodiments, the first magnetic member 13 can be a magnet, and the second magnetic member 21 can be a metal block such as an iron block that can be attracted by a magnet.

[0055] In some embodiments, Figure 4 and Figure 8 As shown, the two ends of the connection frame 12 along the third direction are further provided with a first hook 121 and a second hook 122, and the first hook 121 and the second hook 122 are respectively hingedly connected to the two ends of the connection frame 12;

[0056] The gun grab assembly 20 also includes a driving member 24, a first limiting member 25 and a second limiting member 26 respectively arranged at both ends of the driving member 24, the driving member 24 is used to drive the first limiting member 25 and the second limiting member 26 to move away from or approach each other, the first hook 121 is engaged with the first limiting member 25, and the second hook 122 is engaged with the second limiting member 26.

[0057] In application, the driving member 24 is a folding airbag 233 , and the first limiting member 25 and the second limiting member 26 are rollers, which are engaged with the protrusions on the first hook 121 and the second hook 122 to further fix the charging gun head 10 .

[0058] In some embodiments, Figure 4 , Figure 6 as well as Figure 8 As shown, the gun head body 11 is provided with a button 111, and the button 111 is used to unlock the plug-in fit between the gun head body 11 and the charging base;

[0059] The gun grabbing assembly 20 includes a second mounting frame 22 and a gun head unlocking structure 23 mounted on the second mounting frame 22 . The gun head unlocking structure 23 is used to press a button 111 to unlock the plug-in fit between the gun head body 11 and the charging seat.

[0060] In some embodiments, Figure 8 As shown, the gun head unlocking structure 23 includes a support seat 231, an unlocking connecting rod 232 and a folding airbag 233;

[0061] The support seat 231 is arranged on the mounting frame, the middle part of the unlocking link 232 is hingedly connected to the support seat 231, the unlocking link 232 has a first end 2321 and a second end 2322, the first end 2321 is tilted relative to the second end 2322, one end of the folding airbag 233 is arranged on the support seat 231, and the other end of the folding airbag 233 is connected to the second end 2322;

[0062] When the folding airbag 233 is extended, it drives the second end 2322 to move in a direction away from the support seat 231, so that the first end 2321 approaches the button 111 and presses the button 111; when the folding airbag 233 is contracted, it drives the second end 2322 to move in a direction close to the support seat 231, so that the first end 2321 is away from the button 111.

[0063] In some embodiments, Figure 6 As shown, the gun head unlocking structure 23 of the folded airbag 233 also includes a rotating shaft 234, a knob 235 and a connecting shaft 236;

[0064] One end of the rotating shaft 234 is passed through the support seat 231 and is rotatably connected to the support seat 231 , the knob 235 is connected to the other end of the rotating shaft 234 , one end of the connecting shaft 236 is hingedly connected to the rotating shaft 234 , and the other end of the connecting shaft 236 is hingedly connected to the middle part of the second end 2322 .

[0065] In some embodiments, Figures 4 to 8 As shown, the gun head unlocking structure 23 further includes a pressing piece 237, which is disposed on the button 111, and includes a pressing portion 2371, a connecting portion 2372 and an extending portion 2373;

[0066] The pressing portion 2371 covers the button 111;

[0067] One end of the connecting portion 2372 is connected to the pressing portion 2371 , and the other end of the connecting portion 2372 is connected to the connecting frame 12 ;

[0068] There are two extension parts 2373, which are respectively connected to the two sides of the pressing part 2371 and extend along the side of the gun head body 11. A through hole 23730 is provided at one end of the extension part 2373 away from the pressing part 2371. The through hole 23730 is used to pass an unlocking rope. By pulling the unlocking rope, the pressing part 2371 presses the button 111.

[0069] In application, as the gun head unlocking structure 23, its function is to unlock the charging gun head 10. In actual use, in order to avoid the failure of one set of gun head unlocking structures 23, resulting in the charging gun head 10 not being unlocked in time, multiple sets of gun head unlocking structures 23 are set. The redundant setting can ensure that the charging gun head 10 can be unlocked in time. It includes the automatic unlocking of the support seat 231, the unlocking connecting rod 232 and the folding airbag 233, and the manual unlocking of the pressing piece 237, which fully improves the timeliness and reliability of unlocking the charging gun head 10.

[0070] In the second aspect, the present application also provides a charging device, including a robotic arm 40 and the charging actuator described in the first aspect, the robotic arm 40 is connected to the charging actuator, and the robotic arm 40 is used to drive the charging actuator to move and perform alignment and plug-in actions with the charging seat.

[0071] Since the charging device prepared in the present application includes the charging actuator provided by the first aspect, it has all the beneficial effects of the first aspect.

[0072] In some embodiments, Fig. 9 As shown, the mechanical arm 40 includes a driving module, a supporting arm 42, a first arm segment 43, a second arm segment 44 and a third arm segment 45, the supporting arm 42, the first arm segment 43, the second arm segment 44, the third arm segment 45 and the charging actuator are connected in sequence, the supporting arm 42 is rotatably arranged on the driving module and rotates in the plane where the driving module is located, the two ends of the first arm segment 43 are respectively hingedly connected to the supporting arm 42 and one end of the second arm segment 44, one end of the third arm segment 45 is hingedly connected to the other end of the second arm segment 44, and the other end of the third arm segment 45 is rotatably connected to the charging actuator;

[0073] The driving module is electrically connected to the support arm 42, the first arm segment 43, the second arm segment 44 and the third arm segment 45 respectively. The driving module is used to drive the support arm 42, the first arm segment 43, the second arm segment 44 and the third arm segment 45 to rotate so that the charging actuator moves and performs alignment and plug-in actions with the charging base.

[0074] In application, the driving module is an electrical driving component, that is, it uses pneumatic and electrical connections to drive the support arm 42, the first arm segment 43, the second arm segment 44 and the third arm segment 45 to rotate, so that the robotic arm 40 moves the charging actuator to the specified position to achieve precise plugging and unplugging with the charging base.

[0075] In some embodiments, Figure 8 As shown, the support arm 42 includes an arm body 421 and a seat body 422. The arm body 421 is rotatably connected to the driving module, and the seat body 422 is disposed at one end of the arm body 421 away from the driving module.

[0076] The first arm section 43 includes a first rotating shaft 431, a first connecting arm 432 and a first connecting seat 433. The first rotating shaft 431 is arranged along the radial direction of the support arm 42 and is rotatably connected to the seat body 422. One end of the first connecting arm 432 is connected to the first rotating shaft 431, and the other end of the first connecting arm 432 is connected to the first connecting seat 433. The first connecting arm 432 and the first connecting seat 433 rotate circumferentially along the first rotating shaft 431.

[0077] The second arm section 44 includes a second rotating shaft 441, a second connecting arm 442 and a second connecting seat 443. The second rotating shaft 441 is arranged along the radial direction of the first connecting arm 432 and is rotatably connected to the first connecting seat 433. One end of the second connecting arm 442 is connected to the second rotating shaft 441, and the other end of the second connecting arm 442 is rotatably connected to the second connecting seat 443. The second connecting arm 442 and the second connecting seat 443 rotate circumferentially along the second rotating shaft 441.

[0078] The third arm segment 45 includes a third rotating shaft 451 and a third connecting arm 452. The third rotating shaft 451 is arranged along the radial direction of the second connecting arm 442 and is rotatably connected to the second connecting seat 443. One end of the third connecting arm 452 is connected to the third rotating shaft 451, and the other end of the third connecting arm 452 is connected to the charging actuator. The third connecting arm 452 rotates circumferentially along the third rotating shaft 451.

[0079] In some embodiments, Fig. 9 As shown, one end of the first connecting arm 432 is fixedly connected to the first rotating shaft 431, and the other end of the first connecting arm 432 is rotatably connected to the first connecting seat 433. The advantage of such a configuration is that the degree of freedom of the second arm segment 44 can be further improved, so that the movable range and degree of freedom of the entire mechanical arm 40 are larger.

[0080] In some embodiments, Fig. 9As shown, the length of the first connecting arm 432 is L1, the length of the second connecting arm 442 is L2, the length of the third connecting arm 452 is L3, and the length of the arm body 421 is L4, where 1.3L1≥L2≥L1>2L3≥2L4. In this way, on the one hand, it can adapt to the different charging port positions of different models (the side of the car body and the head and tail), while occupying the surrounding space as little as possible to avoid obstruction and collision with human bodies and objects in the environment. In addition, it can also effectively improve the flexibility and adaptability of the robot arm 40. The unequal arm lengths can make the robot arm 40 more flexible and adaptable when operating and grasping objects. Different arm length combinations can enable the robot arm 40 to cover a larger working space and better adapt to objects of different shapes and sizes. When the robot arm 40 needs to work in a complex environment, the design of unequal arm lengths in each section can help it better avoid obstacles. By adjusting the arm length, the robot arm 40 can more easily bypass obstacles and complete designated tasks. It can also improve accuracy and stability. Unequal arm lengths can improve the accuracy and stability of positioning and operation by optimizing the kinematic characteristics of the robot arm 40. It can also reduce the structural burden. By reasonably designing the unequal arm lengths, the overall structural burden of the robot arm 40 can be reduced. Shorter arm lengths can reduce the requirements for joints and drives, and reduce the manufacturing cost and maintenance cost of the robot arm 40. It can also save energy and improve efficiency. The unequal arm length design can make the robot arm 40 more energy-saving and efficient during operation. Shorter arm lengths can reduce friction and inertia during movement, reduce energy consumption, and improve the working efficiency of the robot arm 40.

[0081] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0082] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A charging actuator, used to cooperate with a charging gun head to perform charging actions, characterized in that: It includes a gun grabbing assembly and a gun inserting assembly, wherein the gun grabbing assembly is used to grab and fix the charging gun head, and the gun inserting assembly is used to insert or remove the charging gun head from the charging seat; The plug-in gun assembly includes a telescopic module and a rotating module, wherein the telescopic module is used to drive the charging gun head to telescope along a first direction and perform alignment and / or plug-in and pull-out actions with the charging base, and the rotating module is used to drive the telescopic module to rotate along the first direction as an axis, thereby driving the charging gun head to rotate and perform an alignment action with the charging base; The telescopic module includes a first flexible driving structure, which enables the telescopic module to have freedom when performing alignment and plugging and unplugging actions, so as to achieve smooth plugging and unplugging of the charging gun head.

2. The charging actuator according to claim 1, characterized in that: The gun grabbing assembly is rotatably connected to the rotating module, and the telescopic module is connected to the rotating module; The telescopic module also includes: Fixed seat, connecting plate and guide shaft; The first flexible driving structure is connected between the fixing seat and the connecting plate, the guide shaft is fixed on the fixing seat, the guide shaft passes through the connecting plate, and the connecting plate is fixedly connected to the gun grabbing assembly, and the first flexible driving structure is extended and retracted to make the charging gun head extend and retract along the first direction and perform alignment and / or plug-in and unplug actions with the charging seat.

3. The charging actuator according to claim 1, characterized in that: The rotating module includes a second flexible driving structure, a first mounting frame, and a driving block provided on the gun grabbing assembly; The second flexible driving structure is arranged along the second direction, one end of the second flexible driving structure is connected to the first mounting frame, and the other end is connected to the driving block. The first mounting frame is rotatably connected to the gun grabbing assembly, and the central axis of the rotatable connection is perpendicular to the insertion surface of the charging gun head in a fixed state, and the central axis intersects the insertion surface at the center point of the insertion surface. When the second flexible driving structure is extended and retracted, the driving block is driven to drive the charging gun head to rotate relative to the first mounting frame to perform an alignment action. When the rotating module performs an alignment action, the second flexible driving structure has flexible adaptability to prevent the charging gun head from rigidly contacting with the charging seat and causing damage. The first flexible driving structure and the second flexible driving structure both include folding airbags.

4. The charging actuator according to claim 1, characterized in that: The charging gun head comprises a gun head body and a connection frame, wherein the connection frame is arranged at the insertion end of the gun head body away from the charging gun head, the connection frame is provided with a first magnetic attraction member, the gun grabbing assembly comprises a second magnetic attraction member, and the first magnetic attraction member and the second magnetic attraction member are magnetically matched; The two ends of the connection frame along the third direction are further provided with a first hook and a second hook, and the first hook and the second hook are respectively hingedly connected to the two ends of the connection frame; The gun grabbing assembly also includes a driving member, a first limiting member and a second limiting member respectively arranged at both ends of the driving member, the driving member is used to drive the first limiting member and the second limiting member to move away from or approach each other, the first hook claw is engaged with the first limiting member, and the second hook claw is engaged with the second limiting member.

5. The charging actuator according to claim 4, wherein the gun head body is provided with a button, and the button is used to unlock the plug-in fit between the gun head body and the charging seat; characterized in that: The gun grabbing assembly includes a second mounting frame and a gun head unlocking structure mounted on the second mounting frame, and the gun head unlocking structure is used to press the button to unlock the plug-in fit between the gun head body and the charging seat.

6. The charging actuator according to claim 5, characterized in that: The gun head unlocking structure comprises: A support seat, provided on the second mounting frame; An unlocking link, the middle portion of which is hingedly connected to the support seat, the unlocking link having a first end and a second end, the first end being tilted relative to the second end; and A folding airbag, one end of which is disposed on the support seat and the other end of which is connected to the second end; When the folded airbag is extended, the second end is driven to move in a direction away from the support base, so that the first end approaches the button and presses the button; when the folded airbag is contracted, the second end is driven to move in a direction close to the support base, so that the first end is away from the button; and / or The gun head unlocking structure also includes: A rotating shaft, one end of which is passed through the supporting seat and is rotatably connected to the supporting seat; a knob connected to the other end of the rotating shaft; and A connecting shaft, one end of which is hingedly connected to the rotating shaft, and the other end of which is hingedly connected to the middle of the second end; and / or The gun head unlocking structure further includes a pressing sheet, which is arranged on the button and includes: A pressing portion, covering the button; A connecting portion, one end of which is connected to the pressing portion, and the other end of which is connected to the connecting frame; and Two extension parts are respectively connected to the two sides of the pressing part and extend along the side of the gun head body. A through hole is opened at one end of the extension part away from the pressing part. The through hole is used to pass an unlocking rope. By pulling the unlocking rope, the pressing part presses the button.

7. A charging device, characterized in that: It comprises a robotic arm and a charging actuator as described in any one of claims 1 to 6, wherein the robotic arm is connected to the charging actuator, and is used to drive the charging actuator to move and perform alignment and plug-in actions with a charging base.

8. The charging device according to claim 7, characterized in that: The mechanical arm comprises a driving module, a supporting arm, a first arm segment, a second arm segment and a third arm segment, wherein the supporting arm, the first arm segment, the second arm segment, the third arm segment and the charging actuator are connected in sequence, the supporting arm is rotatably arranged on the driving module and rotates in the plane where the driving module is located, the two ends of the first arm segment are respectively hingedly connected to the supporting arm and one end of the second arm segment, one end of the third arm segment is hingedly connected to the other end of the second arm segment, and the other end of the third arm segment is rotatably connected to the charging actuator; The driving module is electrically connected to the support arm, the first arm segment, the second arm segment and the third arm segment respectively, and is used to drive the support arm, the first arm segment, the second arm segment and the third arm segment to rotate so that the charging actuator moves and performs alignment and plug-in actions with the charging base.

9. The charging device according to claim 8, characterized in that: The support arm comprises an arm body and a seat body, the arm body is rotatably connected to the driving module, and the seat body is arranged at one end of the arm body away from the driving module; The first arm section includes a first rotating shaft, a first connecting arm and a first connecting seat, wherein the first rotating shaft is arranged along the radial direction of the support arm and is rotatably connected to the seat body, one end of the first connecting arm is connected to the first rotating shaft, and the other end of the first connecting arm is connected to the first connecting seat, and the first connecting arm and the first connecting seat rotate circumferentially along the first rotating shaft; The second arm segment includes a second rotating shaft, a second connecting arm and a second connecting seat, wherein the second rotating shaft is arranged along the radial direction of the first connecting arm and is rotatably connected to the first connecting seat, one end of the second connecting arm is connected to the second rotating shaft, and the other end of the second connecting arm is rotatably connected to the second connecting seat, and the second connecting arm and the second connecting seat rotate circumferentially along the second rotating shaft; The third arm segment includes a third rotating shaft and a third connecting arm. The third rotating shaft is arranged along the radial direction of the second connecting arm and is rotatably connected to the second connecting seat. One end of the third connecting arm is connected to the third rotating shaft, and the other end of the third connecting arm is connected to the charging actuator. The third connecting arm rotates circumferentially along the third rotating shaft.

10. The charging device according to claim 9, characterized in that: The length of the first connecting arm is L1, the length of the second connecting arm is L2, the length of the third connecting arm is L3, and the length of the arm body is L4, wherein 1.3L1≥L2≥L1>2L3≥2L4.

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