Robot

Abstract

The embodiment of the utility model provides a robot, which comprises a base, a charging wire, a power supply device and a power supply device, the first arm is in transmission connection with the base, and the first arm can do linear motion relative to the base; the at least one second arm is in transmission connection with the first arm, the second arm can rotate relative to the first arm, the end, away from the first arm, of the at least one second arm is provided with a charging gun rotationally connected with the second arm, and the other end of the charging wire is connected to the charging gun; wherein a plurality of synchronous structures in transmission connection are arranged in the second arm, and the axis direction of a rotating shaft of the second arm is parallel to the moving direction of the first arm. According to the technical scheme, movement of the charging gun can be achieved only through the linear motion of the first arm and the rotary motion of the second arm, the low-speed and low-rigidity requirements can be met with lower cost, then the charging gun can be accurately positioned to a charging port of an electric vehicle, and automatic charging is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot. Background Art

[0002] At present, new energy vehicles account for an increasingly higher proportion in the market. In daily use, users are required to manually remove the charging gun of the charging pile and insert it into the charging port of the car, which is a rather cumbersome operation. In related technologies, although there are charging robots with multi-degree-of-freedom robotic arms, their structures are relatively complex and their application costs are relatively high. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art or related technology.

[0004] In view of this, an embodiment of the present utility model provides a robot.

[0005] In order to achieve the above-mentioned purpose, an embodiment of the utility model provides a robot, comprising: a base, in which a charging cable is provided; a first arm, which is transmission-connected to the base and can make a linear motion relative to the base; at least one second arm, at least one second arm is transmission-connected to the first arm and can rotate relative to the first arm, and at least one second arm is provided with a charging gun rotationally connected to the second arm at one end away from the first arm, and the other end of the charging cable is connected to the charging gun; wherein, a plurality of transmission-connected synchronization structures are provided in the second arm, and the axial direction of the rotating shaft of the second arm is parallel to the moving direction of the first arm.

[0006] The robot proposed in the utility model includes a base, a first arm and one or more second arms. A charging line is arranged in the base. By controlling the rotation of the first arm and the second arm, the posture adjustment of the charging gun at the tail end of the second arm can be realized, so as to realize the charging insertion of the charging target to be charged, and then realize power supply. For example, for electric vehicles, through the robot provided by the present application, the robot can carry the charging gun to dock the charging port of the electric vehicle for charging. Specifically, the position of the base determines the position of the entire robot. The first arm and the second arm are directly or indirectly connected to the base, and their positions move with the position of the base. The base itself can be fixed on the ground or can slide on the ground. The base mainly provides overall support for the entire robot structure, so as to maintain stability. It should be noted that a charging line is arranged on the base for connecting the power supply, so as to ensure that the electric vehicle can be charged. The charging line starts from the base, runs through the entire robot structure, and is finally connected to the charging gun. The first arm is connected to the base in a transmission manner. By limiting the first arm to make a linear motion relative to the base, the height of the first arm relative to the base can be adjusted, that is, under the action of the first arm, the height of the charging gun relative to the base can be adjusted to facilitate alignment with charging ports at different heights. The second arm is connected to the base in a transmission manner, allowing the robot to move in a straight line direction to adjust the insertion position of the charging gun. In addition, the second arm is connected to the first arm in a transmission manner, allowing the robot to rotate in a plane perpendicular to the movement direction of the first arm to adjust the alignment angle of the charging gun. The charging gun is installed at one end of at least one second arm away from the first arm, so as to dock with the charging port of the electric vehicle.

[0007] It should be added that the base is connected to the first arm through a transmission mechanism (which may include a motor, a screw, a guide rail, etc.) to achieve the linear motion of the first arm. The first arm is connected to the second arm through a transmission mechanism (which may include a motor, a synchronous pulley, etc.) to achieve the rotational motion of the second arm. The second arm is connected to the charging gun through a transmission mechanism, so that the charging gun can rotate with the rotation of the second arm to achieve precise alignment.

[0008] It should be emphasized that the axial direction of the rotation axis of the second arm is parallel to the moving direction of the first arm. The rotation of the second arm will not affect the linear motion of the first arm. The two can be controlled independently to improve the flexibility and positioning accuracy of the robot.

[0009] Among them, the charging cable base extends to the charging gun, providing the necessary power connection so that the charging gun can charge the electric vehicle. The linear motion capability of the first arm allows the robot to approach or move away from the electric vehicle, adapting to different models and charging port locations. The rotation capability of the second arm allows the robot to adjust the direction of the charging gun to align with the charging port of the electric vehicle. Compared with the structure of the articulated robotic arm, this solution only uses the linear motion of the first arm and the rotational motion of the second arm, which can meet the low-speed and low-rigidity requirements at a lower cost, thereby enabling the charging gun to be accurately positioned at the charging port of the electric vehicle to achieve automatic charging.

[0010] Overall, this design provides a flexible and precise charging solution by combining linear motion and rotational motion, which is suitable for charging needs at different positions and angles, helping to improve charging efficiency and user experience.

[0011] In some technical solutions, optionally, there are two second arms, one of which is transmission-connected to the first arm, the two second arms are transmission-connected, and one of the second arms can rotate relative to the other second arm, and a charging gun is provided at one end of the other second arm away from the first arm.

[0012] In this technical solution, two rotating second arms are provided, which can be respectively connected to the first arm and each other in a transmission manner, allowing the robot to be adjusted in multiple directions. Furthermore, one second arm is connected to the first arm to provide basic rotation capability, and the other second arm is connected to the previous second arm to provide additional rotational freedom. By installing the charging gun on the second arm at one end away from the first arm, it is used to dock with the charging port of the electric vehicle.

[0013] The second second arm is connected to the first second arm to form a series rotation structure, allowing finer angle adjustment. By connecting the two second arms, a system that can rotate relative to each other is formed, increasing the flexibility and adjustment range of the robot.

[0014] It can be understood that by increasing the number and rotation capability of the second arm, higher flexibility and precision are provided, enabling the robot to adapt to various charging scenarios and improve charging efficiency and user experience.

[0015] In some technical schemes, optionally, the rotation axis of the first of the two second arms relative to the first arm is the first axis, and the rotation axis of the second second arm relative to the first second arm is the second axis; wherein, multiple synchronous structures for driving the first second arm to rotate around the first axis, and multiple synchronous structures for driving the second second arm to rotate around the second axis are arranged in a first shell.

[0016] In this technical solution, the rotation axes of the two second arms are the first axis and the second axis, respectively, wherein the first axis is the rotation axis of the second arm connected to the first arm, and the second axis is the rotation axis of another second arm with a charging gun. On this basis, this solution provides a structure for driving the two second arms to rotate around the first axis and the second axis respectively, that is, multiple synchronous structures, and at the same time, the structure for driving the two second arms to rotate is limited to be set in the same shell, that is, multiple synchronous structures are set in the first shell. On the one hand, during installation or maintenance, the setting of the synchronous structure is more centralized and easier to operate. On the other hand, it also reduces space occupancy and simplifies wiring and maintenance work.

[0017] In addition, for the first shell, it serves as an integrated shell structure for accommodating all the synchronous structures that drive the two second arms to rotate, that is, the multiple synchronous structures for driving the first second arm to rotate around the first axis can be considered as one group, and the multiple synchronous structures for driving the second second arm to rotate around the second axis can be considered as another group. By limiting the two groups of synchronous structures to be arranged in the same shell, it helps to centrally manage and protect the internal transmission components.

[0018] Furthermore, the first shell can be used as a modular unit to facilitate rapid replacement or upgrading, thereby improving the flexibility and maintainability of the robot.

[0019] In some technical solutions, optionally, the second second arm rotates to a retracted position, and on a tangent plane of the rotation axis, a projection of the second shell of the second second arm is located within a projection of the first shell.

[0020] In this technical solution, the second second arm is a mechanical arm structure connected to the first second arm and can rotate around a second axis. The second shell is used to accommodate the outer shell of multiple synchronous structures that drive the second second arm to rotate. The second second arm is folded or rotated to a compact state when not in use or when the occupied space needs to be minimized.

[0021] The tangent plane of the rotation axis refers to an imaginary plane passing through the second axis, which is perpendicular to the rotation axis. When the second second arm rotates to the retracted position, the projection of the second shell on the tangent plane of the rotation axis is located within the projection of the first shell, so that the second shell can be partially or completely hidden in the first shell when retracted. This design helps to minimize the space occupied by the robot when it is not working.

[0022] It can be understood that by designing the second housing to be located within the projection of the first housing when in the retracted position, the robot is more compact and space-saving when not in operation. Of course, the design of the retracted position makes the robot neater when not in use, improving its aesthetics in a fixed charging station or a mobile charging vehicle.

[0023] Even in the retracted position, the robot maintains the necessary flexibility to quickly deploy and perform charging tasks when needed.

[0024] This design cleverly arranges the positional relationship between the second arm and the second shell, while ensuring the functionality of the robot, it also takes into account space utilization, aesthetics, safety and ease of maintenance.

[0025] In some technical solutions, optionally, it also includes: the first axis and the second axis are respectively located at two opposite ends of the first shell.

[0026] In this technical solution, by arranging the first axis and the second axis at both ends of the first shell, it helps to maintain the balance of the robot and also helps to optimize the use of space, so that the components inside the first shell are distributed more evenly and reduce mutual interference. It can be understood that the components of each axis are located in an easily accessible position, and the design of the layout at both ends makes the inspection and maintenance of the synchronization structure more convenient.

[0027] Since the synchronization structure of each axis can be controlled independently, the dynamic response capability of the robot can be improved by controlling the synchronization structures at both ends, thereby achieving fast and precise movement.

[0028] In some technical solutions, optionally, the rotation axis of the charging gun relative to the second second arm is a third axis, and a plurality of synchronization structures for driving the charging gun to rotate around the third axis are located in the second shell of the second second arm.

[0029] In this technical solution, the second housing is used to accommodate multiple synchronous structures involved in driving the charging gun to rotate around the third axis, which may include components such as a motor, a synchronous pulley, and a synchronous belt, responsible for driving the rotation of the charging gun. The charging gun is installed at the end of the second second arm and rotates around the third axis to achieve precise docking with the charging port of the electric vehicle.

[0030] It can be understood that placing the synchronization structure in the second housing can provide more refined control to ensure that the charging gun can be accurately aligned with the charging port of the electric vehicle. The second housing can be used as a modular unit for easy maintenance and upgrades. The second housing provides physical protection for the synchronization structure to prevent the intrusion of dust and foreign matter, extending the life of the device.

[0031] It should be added that the second housing is located at the end of the second second arm, close to the charging gun, so that the connection between the synchronization structure and the charging gun is more direct and compact.

[0032] In some technical solutions, optionally, there are multiple second arms, and the axial directions of the rotation axes of the multiple second arms are parallel to each other.

[0033] In this technical solution, by setting up multiple second arms and limiting the rotation axes to be parallel, more movement directions can be achieved under the action of multiple second arms, so that the robot can approach and dock the charging port of the electric vehicle from different angles. In addition, since the rotation axes of the multiple second arms are parallel, the postures of the multiple second arms are similar, which can keep the whole structure consistent in motion control and synchronization, and help optimize space utilization, making the robot more compact when not in operation.

[0034] In some technical solutions, optionally, it also includes: a screw rod, which is arranged on the base, and a nut with a threaded connection is provided on the screw rod, and the nut is transmission connected to the first arm to realize the screw rod transmission of the base and the first arm; a first motor, which is transmission connected to the screw rod, and the first motor is used to drive the screw rod to rotate.

[0035] In this technical solution, the mutual movement between the base and the first arm is mainly realized by screw transmission. Specifically, the screw is arranged on the base, and a spiral thread is arranged on its surface. The nut is threadedly connected to the screw and can move linearly on the screw. When the screw rotates, the nut moves along the axial direction of the screw, thereby driving the first arm to realize linear motion. In addition, a first motor is provided, which serves as a power source and is connected to the screw transmission to drive the screw to rotate. The rotational motion of the motor can be converted into the linear motion of the nut through the screw mechanism.

[0036] It can be appreciated that the combination of the lead screw and the nut allows linear motion to be achieved in a smaller space, contributing to the compact design of the robot.

[0037] In some technical solutions, optionally, the base is provided with a guide rail, and the first arm is provided with a guide block slidably connected to the guide rail, and the relative linear movement of the first arm and the base is achieved through the cooperation of the guide rail and the guide block.

[0038] In this technical solution, by setting a guide rail and a guide block, the first arm can be assisted in achieving lifting. Specifically, the guide rail is installed on the base and serves as a guide for the linear motion of the first arm. The guide rail provides a stable sliding path to ensure that the first arm moves in a predetermined direction. The guide block is installed on the first arm and matches the guide rail. The guide block slides on the guide rail, and the cooperation of the guide rail and the guide block ensures the smooth and precise movement of the first arm and reduces friction and wear.

[0039] It can be appreciated that the guide rail provides a stable support, so that the first arm remains stable during movement, reducing vibration and deviation.

[0040] It should be emphasized that, in addition to the screw-nut transmission, the present invention adds a guide rail and guide block structure between the first arm and the base, which can enhance the stability of the entire structure, greatly improve the connection strength between the first arm and the base, and reduce the possibility of breakage near the connection due to the greater force exerted on the connection between the first arm and the base under the action of the lever principle after the second arm is extended.

[0041] It can be understood that the guide rail design allows the first arm to perform stable movement under different loads, thereby improving the adaptability of the robot.

[0042] By setting a guide rail on the base and a guide block slidably connected to it on the first arm, the robot design realizes the relative linear movement between the first arm and the base. This design not only provides precise linear motion control, but also ensures the stability and wear resistance of the motion, while facilitating maintenance and adapting to different load conditions.

[0043] In some technical schemes, optionally, the synchronous structure specifically includes: a second motor; a plurality of synchronous wheels, one of the plurality of synchronous wheels is transmission-connected to the second motor, the plurality of synchronous wheels are connected to each other by a synchronous belt, the rotating axes of the plurality of synchronous wheels are parallel to each other and are in the same plane, wherein a through hole for passing the power line is provided at the axis of at least one synchronous wheel.

[0044] In this technical solution, the synchronous structure includes a second motor, a plurality of synchronous wheels and a synchronous belt, wherein the second motor, as the power source of the synchronous structure, is responsible for driving the entire synchronous wheel system to rotate. The plurality of synchronous wheels are connected to the second motor directly or through a synchronous belt transmission to ensure synchronous movement. The synchronous belt is used to connect the various synchronous wheels to transmit the power of the motor. The rotating shafts of all synchronous wheels are parallel to each other and are in the same plane, thereby improving the synchronization and stability of the synchronous wheel system. It should be emphasized that by providing a through hole at the axis of at least one synchronous wheel to allow the power supply line to pass through, the continuous power supply of the motor during the movement of the robot is guaranteed, and in particular, the torsional damage to the cable during the rotation process can be reduced.

[0045] The design of the synchronous structure achieves precise control and synchronous movement of the robot's second arm or charging gun through the second motor and multiple synchronous wheels connected by a synchronous belt. The design of the through hole ensures continuous power supply to the motor, while the layout of the synchronous wheels improves the synchronization and stability of the movement.

[0046] Additional aspects and advantages of the present invention will become apparent in the following description or will be understood through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0048] Figure 2 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0049] Figure 3 A schematic diagram showing a synchronization structure according to an embodiment of the utility model is shown;

[0050] Figure 4 A schematic diagram showing a synchronization structure according to an embodiment of the utility model is shown;

[0051] Figure 5 A schematic structural diagram of a synchronization structure according to an embodiment of the utility model is shown;

[0052] Figure 6 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0053] Figure 7 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0054] Figure 8 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0055] Fig. 9 A schematic diagram of a transmission structure between a first arm and a base according to an embodiment of the utility model is shown;

[0056] Fig.10 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0057] Fig.11 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0058] Fig.12 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0059] Fig.13 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0060] Fig.14 A schematic diagram showing a synchronization structure according to an embodiment of the utility model is shown;

[0061] Fig.15 A schematic diagram showing a synchronization structure according to an embodiment of the utility model is shown;

[0062] Fig.16 A schematic structural diagram of a synchronization structure according to an embodiment of the utility model is shown;

[0063] Fig.17 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0064] Fig.18 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0065] Fig.19 A schematic diagram of a transmission structure between a first arm and a base according to an embodiment of the utility model is shown;

[0066] Fig. 20 A schematic diagram of a transmission structure between a first arm and a base according to an embodiment of the utility model is shown;

[0067] Fig.21 A schematic diagram of a transmission structure between a first arm and a base according to an embodiment of the utility model is shown;

[0068] Fig. 22 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0069] Fig.23 A schematic structural diagram of a robot according to an embodiment of the utility model is shown;

[0070] Fig.24 A schematic structural diagram of a robot according to an embodiment of the utility model is shown.

[0071] in, Figures 1 to 24 The corresponding relationship between the reference numerals and the component names is as follows:

[0072] 100: robot; 102: base; 1022: charging cable; 104: first arm; 106: second arm; 108: charging gun; 110: synchronous structure; 1102: second motor; 1104: synchronous wheel; 1106: synchronous belt; 1108: through hole; 1122: first shell; 1124: second shell; 1142: first axis; 1144: second axis; 1146: third axis; 1162: screw rod; 1164: nut; 1166: first motor; 1182: guide rail; 1184: guide block; 120: power supply line; 122: rotating axis. DETAILED DESCRIPTION

[0073] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0074] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0075] Refer to the following Figures 1 to 24 Some embodiments according to the present invention are described.

[0076] like Figure 1 , Figure 2 , Fig.13 and Fig.16 As shown, a robot 100 proposed in this embodiment includes a base 102, a first arm 104 and one or more second arms 106. A charging cable 1022 is provided in the base 102. By controlling the rotation of the first arm 104 and the second arm 106, the posture of the charging gun 108 at the tail end of the second arm 106 can be adjusted, thereby realizing the charging insertion of the charging target and then realizing power supply. For example, for electric vehicles, through the robot 100 provided in this application, the robot 100 can carry the charging gun 108 to dock with the charging port of the electric vehicle for charging. Specifically, the position of the base 102 determines the position of the entire robot 100. The first arm 104 and the second arm 106 are directly or indirectly connected to the base 102, and their positions move with the position of the base 102. The base 102 itself can be fixed on the ground, or can slide on the ground. The base 102 mainly provides overall support for the entire robot 100 structure, thereby maintaining stability. It should be noted that a charging line 1022 is provided on the base 102 for connecting a power source to ensure that the electric vehicle can be charged. The charging line 1022 starts from the base 102, runs through the entire robot 100 structure, and is finally connected to the charging gun 108. The first arm 104 is connected to the base 102 in a transmission manner. By limiting the first arm 104 to make a linear motion relative to the base 102, the height of the first arm 104 relative to the base 102 can be adjusted, that is, under the action of the first arm 104, the height of the charging gun 108 relative to the base 102 can be adjusted to facilitate alignment with charging ports at different heights. The second arm 106 is connected to the base 102 in a transmission manner, allowing the robot 100 to move in a linear direction to adjust the insertion position of the charging gun 108. In addition, the second arm 106 is connected to the first arm 104 in a transmission manner, allowing the robot 100 to rotate in a plane perpendicular to the moving direction of the first arm 104 to adjust the alignment angle of the charging gun 108. The charging gun 108 is installed at one end of at least one second arm 106 away from the first arm 104, so as to dock with the charging port of the electric vehicle.

[0077] It should be added that the base 102 is connected to the first arm 104 through a transmission mechanism (which may include a motor, a screw 1162, a guide rail 1182, etc.) to achieve the linear motion of the first arm 104. The first arm 104 is connected to the second arm 106 through a transmission mechanism (which may include a motor, a synchronous pulley, etc.) to achieve the rotational motion of the second arm 106. The second arm 106 is connected to the charging gun 108 in a transmission manner, so that the charging gun 108 can rotate with the rotation of the second arm 106 to achieve precise alignment.

[0078] It should be emphasized that if Figure 2 and Figure 3 As shown, the axial direction of the rotating shaft 122 of the second arm 106 is parallel to the moving direction of the first arm 104 , and the rotation of the second arm 106 will not affect the linear motion of the first arm 104 . The two can be controlled independently, thereby improving the flexibility and positioning accuracy of the robot 100 .

[0079] Among them, the base of the charging cable extends to the charging gun 108, providing the necessary power connection so that the charging gun 108 can charge the electric vehicle. The linear motion capability of the first arm 104 allows the robot 100 to move in the first direction, so that it can be close to or away from the electric vehicle by lifting and lowering, adapting to different models and charging port locations. The rotation capability of the second arm 106 allows the robot 100 to adjust the direction of the charging gun 108 to align with the charging port of the electric vehicle. Through the linear motion of the first arm 104 and the rotational motion of the second arm 106, the charging gun 108 can be accurately positioned at the charging port of the electric vehicle to achieve automatic charging.

[0080] Overall, this design provides a flexible and precise charging solution by combining linear motion and rotational motion, which is suitable for charging needs at different positions and angles, helping to improve charging efficiency and user experience.

[0081] In some embodiments, two rotating second arms 106 are optionally provided, which can be respectively connected to the first arm 104 and each other in a transmission manner, allowing the robot 100 to be adjusted in multiple directions. Further, one second arm 106 is connected to the first arm 104 to provide basic rotation capability, and the other second arm 106 is connected to the previous second arm 106 to provide additional rotational freedom. By installing the charging gun 108 on the second arm 106 at one end away from the first arm 104, it is used to dock with the charging port of the electric vehicle.

[0082] The second second arm 106 is connected to the first second arm 106 to form a series rotation structure, allowing finer angle adjustment. By connecting the two second arms 106, a system that can rotate relative to each other is formed, which increases the flexibility and adjustment range of the robot 100.

[0083] It can be understood that by increasing the number and rotation capability of the second arms 106 , higher flexibility and precision are provided, enabling the robot 100 to adapt to various charging scenarios, improving charging efficiency and user experience.

[0084] In some embodiments, optionally, Fig.12 As shown, the rotation axes 122 of the two second arms 106 are respectively the first axis 1142 and the second axis 1144, wherein the first axis 1142 is the rotation axis 122 of the second arm 106 connected to the first arm 104, and the second axis 1144 is the rotation axis 122 of another second arm 106 provided with the charging gun 108. On this basis, the present solution provides a structure for driving the two second arms 106 to rotate around the first axis 1142 and the second axis 1144, respectively, as shown in FIG. Figure 2 As shown, multiple synchronization structures 110, while limiting the structure for driving the two second arms 106 to rotate, are arranged in the same shell, that is, multiple synchronization structures 110 are arranged in the first shell 1122. On the one hand, during installation or maintenance, the setting of the synchronization structure 110 is more centralized and easier to operate. On the other hand, it also reduces space occupancy and simplifies wiring and maintenance work.

[0085] In addition, for the first shell 1122, it serves as an integrated shell structure for accommodating all the synchronization structures 110 that drive the two second arms 106 to rotate, that is, the multiple synchronization structures 110 for driving the first second arm 106 to rotate around the first axis 1142 can be considered as one group, and the multiple synchronization structures 110 for driving the second second arm 106 to rotate around the second axis 1144 can be considered as another group. By limiting the two groups of synchronization structures 110 to be arranged in the same shell, it helps to centrally manage and protect the internal transmission components.

[0086] Furthermore, the first shell 1122 can be used as a modular unit to facilitate quick replacement or upgrading, thereby improving the flexibility and maintainability of the robot 100.

[0087] In a specific embodiment, the second second arm 106 is a mechanical arm structure connected to the first second arm 106, which can rotate around the second axis 1144. The second shell 1124 is used to accommodate the outer shell of multiple synchronous structures 110 that drive the second second arm 106 to rotate. The second second arm 106 is folded or rotated to a compact state when not in use or when it is necessary to minimize the occupied space.

[0088] The tangent plane of the rotation axis 122 refers to an imaginary plane passing through the second axis 1144, and the plane is perpendicular to the rotation axis 122. Figure 6 and Figure 7As shown, when the second second arm 106 rotates to the retracted position, the projection of the second shell 1124 on the tangent plane of the rotation axis 122 is located within the projection of the first shell 1122, so that the second shell 1124 can be partially or completely hidden in the first shell 1122 when retracted. This design helps to minimize the space occupied by the robot 100 when not in operation.

[0089] It is understandable that Fig.17 and Fig.18 As shown, by designing the second housing 1124 to be located within the projection of the first housing 1122 when in the retracted position, the robot 100 is more compact and space-saving when not in operation. Of course, the design of the retracted position makes the robot 100 tidier when not in use, improving its aesthetics in a fixed charging station or a mobile charging vehicle.

[0090] Even in the retracted position, the robot 100 can still maintain the necessary flexibility to quickly deploy and perform charging tasks when needed.

[0091] This design cleverly arranges the positional relationship between the second second arm 106 and the second shell 1124, thereby ensuring the functionality of the robot 100 while also taking into account space utilization, aesthetics, safety, and ease of maintenance.

[0092] In the normal extended state, Figure 8 , Fig. 22 , Fig.23 and Fig.24 As shown, a certain angle is generated between the first shell and the second shell. When the angle is 180 degrees, as shown in FIG. Fig.10 and Fig.11 As shown, the entire robot is extended to its maximum limit position.

[0093] In another specific embodiment, the first axis 1142 and the second axis 1144 are arranged at both ends of the first housing 1122, which helps to maintain the balance of the robot 100 and optimize the use of space, so that the components inside the first housing 1122 are more evenly distributed and reduce mutual interference. It can be understood that the components of each axis are located in an easily accessible position, and the design of the layout at both ends makes the inspection and maintenance of the synchronization structure 110 more convenient.

[0094] Since the synchronization structure 110 of each axis can be controlled independently, the dynamic response capability of the robot 100 can be improved by controlling the synchronization structures 110 at both ends, thereby achieving fast and precise movement.

[0095] In a specific embodiment, optionally, the second housing 1124 is used to accommodate multiple synchronous structures 110 involved in driving the charging gun 108 to rotate around the third axis 1146, which may specifically include components such as a motor, a synchronous pulley, and a synchronous belt 1106, responsible for driving the rotation of the charging gun 108. The charging gun 108 is mounted at the end of the second second arm 106 and rotates around the third axis 1146 to achieve precise docking with the charging port of the electric vehicle.

[0096] It can be understood that placing the synchronization structure 110 in the second housing 1124 can provide more precise control to ensure that the charging gun 108 can be accurately aligned with the charging port of the electric vehicle. The second housing 1124 can be used as a modular unit for easy maintenance and upgrading. The second housing 1124 provides physical protection for the synchronization structure 110 to prevent the intrusion of dust and foreign objects, thereby extending the life of the device.

[0097] It should be supplemented that the second housing 1124 is located at the end of the second second arm 106 , close to the charging gun 108 , so that the connection between the synchronization structure 110 and the charging gun 108 is more direct and compact.

[0098] In a specific embodiment, multiple second arms 106 are optionally provided, and the rotation axes are limited to be parallel, so that under the action of the multiple second arms 106, more movement directions are achieved, so that the robot 100 can approach and dock with the charging port of the electric vehicle from different angles. In addition, since the rotation axes of the multiple second arms 106 are parallel, the postures of the multiple second arms 106 are similar, which can maintain consistent motion control and synchronization of the entire structure on the one hand, and help optimize space utilization on the other hand, making the robot 100 more compact when not in operation.

[0099] In a specific embodiment, optionally, Fig. 9 , Fig.19 , Fig. 20 and Fig.21 As shown, the mutual movement between the base 102 and the first arm 104 is mainly realized by the transmission of the screw rod 1162. Specifically, the screw rod 1162 is arranged on the base 102, and a spiral thread is arranged on its surface. The nut 1164 is threadedly connected with the screw rod 1162 and can move linearly on the screw rod 1162. When the screw rod 1162 rotates, the nut 1164 moves along the axial direction of the screw rod 1162, thereby driving the first arm 104 to achieve linear motion. In addition, a first motor 1166 is provided, which serves as a power source and is transmission-connected with the screw rod 1162 to drive the screw rod 1162 to rotate. The rotational motion of the motor can be converted into the linear motion of the nut 1164 through the screw rod 1162 mechanism.

[0100] It can be appreciated that the combination of the lead screw 1162 and the nut 1164 allows for linear motion in a smaller space, contributing to a compact design of the robot 100 .

[0101] In a specific embodiment, optionally, a guide rail 1182 and a guide block 1184 are provided to assist the first arm 104 in achieving lifting and lowering. Specifically, the guide rail 1182 is installed on the base 102 to guide the linear motion of the first arm 104. The guide rail 1182 provides a stable sliding path to ensure that the first arm 104 moves in a predetermined direction. The guide block 1184 is installed on the first arm 104 and matches the guide rail 1182. The guide block 1184 slides on the guide rail 1182, and the cooperation between the guide rail 1182 and the guide block 1184 ensures the smooth and precise movement of the first arm 104, reducing friction and wear.

[0102] It can be appreciated that the guide rail 1182 provides a stable support so that the first arm 104 remains stable during movement, reducing vibration and deviation.

[0103] It should be emphasized that, in addition to the screw-nut transmission, the present solution adds a guide rail and guide block structure between the first arm 104 and the base 102, which can enhance the stability of the entire structure, greatly improve the connection strength between the first arm 104 and the base 102, and reduce the possibility of breakage near the connection due to the greater force exerted on the connection between the first arm 104 and the base 102 under the action of the lever principle after the second arm 106 is extended.

[0104] It can be understood that the design of the guide rail 1182 allows the first arm 104 to perform stable movement under different loads, thereby improving the adaptability of the robot 100 .

[0105] By providing a guide rail 1182 on the base 102 and a guide block 1184 slidably connected thereto on the first arm 104, the design of the robot 100 realizes the relative linear movement between the first arm 104 and the base 102. This design not only provides precise linear motion control, but also ensures the stability and wear resistance of the motion, and is easy to maintain and adapt to different load conditions.

[0106] In some embodiments, optionally, Figure 3 , Figure 4 , Figure 5 , Fig.14 and Fig.15As shown, the synchronous structure 110 includes a second motor 1102, a plurality of synchronous wheels 1104 and a synchronous belt 1106, wherein the second motor 1102 serves as the power source of the synchronous structure 110 and is responsible for driving the entire synchronous wheel 1104 system to rotate. The plurality of synchronous wheels 1104 are directly connected to the second motor 1102 or through the synchronous belt 1106 to ensure synchronous movement. The synchronous belt 1106 is used to connect the various synchronous wheels 1104 to transmit the power of the motor. The rotating shafts of all synchronous wheels 1104 are parallel to each other and are on the same plane, thereby improving the synchronization and stability of the synchronous wheel 1104 system. It should be emphasized that Fig.12 As shown, by providing a through hole 1108 at the axis of at least one synchronous wheel 1104, the power supply line 120 is allowed to pass through, thereby ensuring continuous power supply to the motor during the movement of the robot 100, and in particular reducing torsional damage to the cable during the rotation process.

[0107] The design of the synchronization structure 110 realizes precise control and synchronous movement of the second arm 106 or the charging gun 108 of the robot 100 through the second motor 1102 and multiple synchronous wheels 1104 connected by a synchronous belt 1106. The design of the through hole 1108 ensures continuous power supply to the motor, and the layout of the synchronous wheels 1104 improves the synchronization and stability of the movement.

[0108] In a specific embodiment, a new type of robot transmission structure is proposed, which has low parts processing cost and is suitable for application scenarios requiring low speed and low rigidity, which is in line with the robot charging operation. The robot structure is mainly composed of 4 joints. Through the joint movement of the joints, the operation of inserting or pulling out the charging gun from the charging port of the electric vehicle is realized. The first joint (i.e., the first arm) is a linear motion, and adopts a transmission structure of a motor, a screw and a linear guide. The second, third and fourth joints (i.e., the second arm) are all rotational motions, and adopt a transmission structure of a motor and a multi-stage synchronous belt. The robot consists of one linear motion and three rotational motions, and the necessary cables are installed inside. Usually a charging gun is installed at the end of the robot, and the robot can carry the charging gun to connect to the charging port of the electric vehicle for charging.

[0109] Specifically, in this specific embodiment, the first arm and the base are driven by a motor, a screw rod, and a screw nut to complete the lifting movement. The main components include a base, a servo motor, a screw rod, a screw nut, a bearing, and a linear guide rail.

[0110] The first arm and the second arm are driven by a motor, input synchronous pulley Ⅰ, synchronous belt Ⅰ, output synchronous pulley Ⅰ, input synchronous pulley Ⅱ, synchronous belt Ⅱ, output synchronous pulley Ⅱ, input synchronous pulley Ⅲ, synchronous belt Ⅲ, and output synchronous pulley Ⅲ, and the rotation movement is completed through three-stage reduction. In addition to the above-mentioned transmission parts, the main parts of the shaft are support bearing group Ⅰ, support bearing group Ⅱ, support bearing group Ⅲ, and large arm.

[0111] The structure between the two second arms is similar to the previous structure, using the transmission of the motor, input synchronous pulley Ⅰ, synchronous belt Ⅰ, output synchronous pulley Ⅰ, input synchronous pulley Ⅱ, synchronous belt Ⅱ, output synchronous pulley Ⅱ, input synchronous pulley Ⅲ, synchronous belt Ⅲ, and output synchronous pulley Ⅲ to complete the rotation movement through three-stage reduction. The main components, in addition to the above-mentioned transmission parts, mainly include support bearing group Ⅰ, support bearing group Ⅱ, support bearing group Ⅲ, large arm, etc.

[0112] The structure between the second arm at the end and the charging gun is similar to the previous one, using the transmission of the motor, input synchronous pulley Ⅰ, synchronous belt Ⅰ, output synchronous pulley Ⅰ, input synchronous pulley Ⅱ, synchronous belt Ⅱ, output synchronous pulley Ⅱ, input synchronous pulley Ⅲ, synchronous belt Ⅲ, and output synchronous pulley Ⅲ to complete the rotation movement through three-stage reduction. In addition to the above-mentioned transmission parts, the main components include support bearing group Ⅰ, support bearing group Ⅱ, support bearing group Ⅲ, small arm and output flange.

[0113] The cables start from the base and transmit the power to the servo motors of each axis. Between the first arm and the second arm, the cables pass through the hollow output synchronous pulley III, the lifting seat and the main arm, which can reduce the torsional damage to the cables during the rotation process. At the same time, the structure of the other two axes, that is, the structure between the two second arms and the structure between the second arm at the end and the charging gun, the cable passing method is the same as that between the first arm and the second arm.

[0114] The robot can be installed at a fixed charging station or a mobile charging vehicle. When not in use, the robot is in a stowed position to ensure aesthetics and take up less space. When charging is required, the robot moves to the charging port of the car with the charging gun under the guidance of vision or other sensors, and docks the charging gun with the charging port of the car. When charging is completed, the robot separates from the charging port of the car with the charging gun and returns to the stowed position.

[0115] According to the robot provided by the utility model, the movement of the charging gun can be achieved only through the linear movement of the first arm and the rotational movement of the second arm, so that the low-speed and low-rigidity requirements can be met at a lower cost, thereby enabling the charging gun to be accurately positioned at the charging port of the electric vehicle to achieve automatic charging.

[0116] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0117] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0118] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0119] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot, characterized in that: include: A base, wherein a charging cable is arranged in the base; A first arm is drivingly connected to the base, and the first arm can perform linear motion relative to the base; at least one second arm, at least one second arm is transmission-connected to the first arm, the second arm can rotate relative to the first arm, at least one second arm is provided with a charging gun rotationally connected to the second arm at one end away from the first arm, and the other end of the charging cable is connected to the charging gun; Wherein, a plurality of transmission-connected synchronous structures are arranged in the second arm, and the axial direction of the rotation axis of the second arm is parallel to the moving direction of the first arm.

2. The robot according to claim 1, characterized in that: There are two second arms, one of which is transmission-connected to the first arm, and the two second arms are transmission-connected, and one of the second arms can rotate relative to the other second arm, and the charging gun is provided at one end of the other second arm away from the first arm.

3. The robot according to claim 2, characterized in that: The rotation axis of the first of the two second arms relative to the first arm is the first axis, and the rotation axis of the second second arm relative to the first second arm is the second axis; Wherein, a plurality of the synchronous structures for driving a first second arm to rotate around the first axis and a plurality of the synchronous structures for driving a second second arm to rotate around the second axis are arranged in a first housing.

4. The robot according to claim 3, characterized in that: The second second arm rotates to a retracted position, and on a tangent plane to the rotation axis, a projection of the second shell of the second second arm is located within the projection of the first shell.

5. The robot according to claim 3, characterized in that: Also includes: The first shaft and the second shaft are respectively located at two opposite ends of the first housing.

6. The robot according to claim 3, characterized in that: The rotation axis of the charging gun relative to the second second arm is the third axis, and the multiple synchronization structures used to drive the charging gun to rotate around the third axis are located in the second shell of the second second arm.

7. The robot according to any one of claims 1 to 6, characterized in that: There are a plurality of second arms, and the axis directions of the rotation axes of the plurality of second arms are parallel to each other.

8. The robot according to any one of claims 1 to 6, characterized in that: Also includes: A screw rod is arranged on the base, a nut connected by a thread is arranged on the screw rod, and the nut is drivingly connected with the first arm to realize screw rod transmission between the base and the first arm; The first motor is transmission-connected to the screw rod, and the first motor is used to drive the screw rod to rotate.

9. The robot according to claim 8, characterized in that: The base is provided with a guide rail, and the first arm is provided with a guide block slidably connected to the guide rail. The guide rail and the guide block cooperate to achieve relative linear movement between the first arm and the base.

10. The robot according to any one of claims 1 to 6, characterized in that: The synchronization structure specifically includes: Second motor; A plurality of synchronous wheels, one of which is drivingly connected to the second motor, the plurality of synchronous wheels are connected to each other via a synchronous belt, and the rotating axes of the plurality of synchronous wheels are parallel to each other and are on the same plane; Wherein, a power supply line is arranged in the base, and a through hole for the power supply line to pass through is arranged at the axis of at least one of the synchronous wheels.

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