Manipulator for automatic charging

Abstract

The utility model relates to the technical field of charging piles, and discloses a manipulator for automatic charging, which comprises a base, a driving mechanism mounted on the base, and two clamping modules symmetrically mounted on the driving mechanism, the driving mechanism comprises a motor installed above the base, a gear shaft connected to an output shaft of the motor, a guide seat installed below the base, two racks installed in the guide seat in a central symmetry mode, a threaded guide sleeve installed at the lower end of the gear shaft, an ejector rod installed in the threaded guide sleeve and a limiting seat installed at the bottom of the guide seat. The clamping modules are installed at one ends of the two racks respectively, gear parts of the gear shafts are meshed with the racks, the outer contour of the lower end of the ejector rod is provided with at least one plane, and a through hole matched with the outer contour of the ejector rod is formed in the limiting base. The utility model aims to provide the manipulator for automatic charging, which can unlock the mechanical lock while grabbing the charging gun, and is simple in structure and low in cost.

Description

Technical Field

[0001] The utility model relates to the technical field of charging piles, and particularly relates to a manipulator for automatic charging. Background Art

[0002] In order to improve the convenience of charging new energy vehicles, charging robots that can automatically charge new energy vehicles are increasingly used. The charging robot needs to be equipped with a charging gun or take the charging gun from the charging pile and then dock it with the charging port of the new energy vehicle. After charging is completed, the charging gun is taken off from the charging port of the new energy vehicle. A mechanical lock needs to be installed on the national standard charging gun of the new energy vehicle. The mechanical lock is usually unlocked by pressing one end of the mechanical lock hook at its top. To achieve automatic charging, a mechanical lock unlocking mechanism needs to be set on the manipulator of the charging robot. The existing automatic charging manipulator grasping mechanism and mechanical lock unlocking mechanism require two driving sources, resulting in high costs and complex structures. Summary of the Utility Model

[0003] The purpose of the utility model is to solve the above problems and provide a manipulator for automatic charging, which can unlock the mechanical lock while grasping the charging gun, with a simple structure and low cost.

[0004] To solve the above technical problems, the technical solution provided by the utility model is: a manipulator for automatic charging, including a base, a driving mechanism installed on the base, and two clamping modules symmetrically installed on the driving mechanism. The driving mechanism includes a motor installed above the base, a gear shaft connected to the output shaft of the motor, a guide seat installed below the base, two racks symmetrically installed in the guide seat, a threaded guide sleeve installed at the lower end of the gear shaft, a push rod installed in the threaded guide sleeve, and a limit seat installed at the bottom of the guide seat. The clamping modules are respectively installed at one end of the two racks. The gear part of the gear shaft meshes with the rack. The upper end of the push rod is screwed into the threaded guide sleeve. At least one plane is provided on the outer contour of the lower end of the push rod. A through hole matching the outer contour of the push rod is opened in the limit seat. When the gear shaft rotates to drive the clamping modules to close inward, the push rod moves downward until the mechanical lock of the charging gun is pressed to the unlocked state.

[0005] In the above manipulator, the motor can not only drive the gears to rotate so that the two gears move inward or outward synchronously, thereby clamping or releasing the charging gun by the clamping modules, but also drive the threaded guide sleeve to rotate, so that the push rod moves up and down in the limit seat, realizing the unlocking and resetting of the mechanical lock.

[0006] Further, a gear installation groove is formed in the center of the guide seat, and guide grooves are symmetrically formed on both sides. The middle part of the guide groove communicates with the gear installation groove. The gear part of the gear shaft extends into the gear installation groove to mesh with the racks on both sides. Its function is to make the structure of the driving mechanism more compact.

[0007] Further, the clamping module includes an adapter plate connected to the rack. A guide shaft is installed below the base. The axis of the guide shaft is parallel to the length direction of the guide seat. A linear bearing is installed in the adapter plate, and the guide shaft penetrates through the inner ring of the linear bearing. Its function is to make the sliding of the adapter plate smoother through the cooperation of the guide shaft and the linear bearing.

[0008] Further, a first clamping part for clamping the charging end of the charging gun and a second clamping part for clamping the cable end are installed on the adapter plate. Its function is to enhance the clamping strength when grasping the charging gun, and at the same time make it more convenient to insert and remove the charging gun, avoiding slipping during insertion and removal.

[0009] Further, a waist-shaped hole is formed at the position where the first clamping part is installed on the adapter plate, and a positioning hole and an arc groove are formed at the position where the second clamping part is installed. Its function is to facilitate the installation and positioning of the first clamping part and the second clamping part, make them better match the shape of the charging gun, and at the same time, the angle between the second clamping part and the first clamping part can be adjusted through the arc groove to adapt to different charging guns.

[0010] Further, the first clamping part includes a first clamping jaw, a first soft rubber pad installed in the first clamping jaw, a first baffle and a second baffle installed on both sides of the first soft rubber pad. The first baffle and the second baffle do not cover the clamping end of the first soft rubber pad. A plurality of first support bars are uniformly arranged on the clamping surface of the first soft rubber pad. Its function is to enhance the clamping stability of the first clamping part when grasping the charging gun through the elastic first soft rubber pad.

[0011] Further, a plurality of first T-shaped grooves are formed on the inner side of the first clamping jaw. Corresponding to the first T-shaped grooves on the first soft rubber pad, first T-shaped bars are provided, and the first T-shaped bars are installed in the first T-shaped grooves. Its function is to facilitate the installation of the first soft rubber pad through the cooperation of the first T-shaped grooves and the first T-shaped bars.

[0012] Further, the second clamping part includes a second clamping jaw, a second soft rubber pad installed in the second clamping jaw, a third baffle and a fourth baffle installed on both sides of the second soft rubber pad. The third baffle and the fourth baffle do not cover the clamping end of the second soft rubber pad. A plurality of second support bars are uniformly arranged on the clamping surface of the second soft rubber pad. Its function is to enhance the clamping stability of the second clamping part when grasping the charging gun through the elastic second soft rubber pad.

[0013] Furthermore, a number of second T-shaped grooves are formed on the inner side of the second jaw, and second T-shaped bars are provided at positions corresponding to the second T-shaped grooves on the second soft rubber pad. The second T-shaped bars are installed in the second T-shaped grooves. Its function is: the cooperation of the second T-shaped grooves and the second T-shaped bars facilitates the installation of the second soft rubber pad.

[0014] Furthermore, a rotating end extending downward is provided at the lower end of the gear shaft. A bearing is provided between the rotating end and the guide seat. The top of the threaded guide sleeve is installed on the lower end face of the rotating end. Its function is: to make the rotation of the gear shaft smoother.

[0015] Combined with the above technical solutions, compared with the prior art, the present utility model has the following beneficial effects:

[0016] The manipulator for automatic charging provided by the present utility model can realize the opening and closing of the clamping module and the unlocking and resetting of the mechanical lock with only one driving source, reducing the manufacturing cost, and its overall mechanism is simple and compact; for the manipulator provided by the present utility model, the horizontal position of the first clamping part is adjustable and the angle of the second clamping part is adjustable, reducing the installation difficulty when matching with the charging gun, and being able to match more types of charging guns, having a large application range; soft rubber pads are provided inside the first clamping part and the second clamping part, which can effectively enhance the clamping stability and are convenient to replace, so as to maintain the clamping effect of the clamping module. Description of the Drawings

[0017] Figure 1 is a schematic structural diagram of a manipulator for automatic charging according to the present utility model.

[0018] Figure 2 is a schematic structural diagram when the clamping module of the present utility model is closed.

[0019] Figure 3 is a schematic structural diagram when the clamping module of the present utility model is opened.

[0020] Figure 4 is an exploded view of the first clamping part of the present utility model.

[0021] Figure 5 is an exploded view of the second clamping part of the present utility model.

[0022] Figure 6 is an exploded view of the drive mechanism of the present utility model.

[0023] Figure 7 is a schematic diagram of the state when the manipulator of the present utility model clamps the charging gun.

[0024] Figure 8 is a schematic diagram of the state when the ejector rod presses the mechanical lock of the present utility model.

[0025] Wherein: 1 - base, 11 - guide shaft, 12 - linear bearing, 2 - drive mechanism, 21 - motor, 22 - guide seat, 221 - gear mounting groove, 222 - guide groove, 23 - rack, 24 - gear shaft, 241 - gear, 242 - rotating end, 25 - threaded guide sleeve, 26 - limit seat, 27 - ejector rod, 271 - threaded end, 272 - guide end, 3 - clamping module, 31 - adapter plate, 311 - waist-shaped hole, 312 - positioning hole, 313 - arc groove, 32 - first clamping part, 321 - first jaw, 3211 - first T-shaped groove, 322 - first soft rubber pad, 3221 - first T-shaped strip, 3222 - first support strip, 323 - first baffle, 324 - second baffle, 33 - second clamping part, 331 - second jaw, 3311 - second T-shaped groove, 332 - second soft rubber pad, 3321 - second T-shaped strip, 3322 - second support strip, 333 - third baffle, 334 - fourth baffle, 4 - charging gun, 41 - mechanical lock. Detailed implementation manners

[0026] To describe in detail the technical features, achieved purposes and effects of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] Please refer to the attached Figure 1-8 , a manipulator for automatic charging, a manipulator for automatic charging, including a base 1, a drive mechanism 2 installed on the base 1, and two clamping modules 3 symmetrically installed on the drive mechanism 2. The drive mechanism 2 includes a motor 21 installed above the base 1, a gear shaft 24 connected to the output shaft of the motor 21, a guide seat 22 installed below the base 1, two racks 23 symmetrically installed in the guide seat 22, a threaded guide sleeve 25 installed at the lower end of the gear shaft 24, an ejector rod 27 installed in the threaded guide sleeve 25, and a limit seat 26 installed at the bottom of the guide seat 22. The clamping modules 3 are respectively installed at one end of the two racks 23. The gear 241 part of the gear shaft 24 meshes with the rack 23. The ejector rod includes a threaded end 271 at the upper end and a guide end 272 at the lower end. The threaded end 271 is screwed into the threaded guide sleeve 25. The outer contour of the guide end 272 has at least one plane. Exemplarily, the guide end 272 is formed by machining flat positions on both sides of a cylinder. A through hole matching the outer contour of the guide end 272 is opened in the limit seat 26. When the gear shaft 24 rotates to drive the clamping modules 3 to close inward, the ejector rod 27 moves downward until the mechanical lock 41 of the charging gun is pressed to the unlocked state.

[0028] In the above embodiment, the rotation of the motor 21 can drive the gear 241 and the threaded guide sleeve 25 to rotate simultaneously. The rotation of the gear 241 causes the rack 23 engaged with it to move outward or inward simultaneously, thereby realizing the opening and closing of the clamping module 3. The rotation of the threaded guide sleeve 25 can drive the ejector rod 27 to move up and down within the limit seat 26, thereby realizing the unlocking and resetting of the mechanical lock 41. When the gear 241 drives the clamping module 3 to close inward to clamp the charging gun 4, the threaded guide sleeve 25 drives the ejector rod 27 to move downward, so that the lower end surface of the guiding end 272 presses down the unlocking key or the hook unlocking end of the mechanical lock 41, putting the mechanical lock in the unlocked state. At this time, the manipulator can unplug the charging gun 4. When the docking of the charging gun 4 is completed, the gear 241 drives the rack 23 to move outward to open the clamping module 3. At the same time, the threaded guide sleeve 25 drives the ejector rod 27 to move upward to reset the mechanical lock 41.

[0029] Preferably, a gear installation groove 221 is formed in the center of the guiding seat 22, and guiding grooves 222 are symmetrically formed on both sides. The middle part of the guiding groove 222 communicates with the gear installation groove 221. The gear 241 part of the gear shaft 24 extends into the gear installation groove 221 to mesh with the racks 23 on both sides.

[0030] In the above embodiment, the gear installation groove 221 formed in the center of the guiding seat 22 and the guiding grooves 222 on both sides are used to install and position-guide the gear 241 and the racks 23, which can make the overall structure of the driving mechanism 2 more compact and the installation and positioning more convenient.

[0031] Preferably, the clamping module 3 includes an adapter plate 31 connected to the rack 23. A guiding shaft 11 is installed below the base 1. The axis of the guiding shaft 11 is parallel to the length direction of the guiding seat 22. A linear bearing 12 is installed in the adapter plate 31, and the guiding shaft 11 penetrates through the inner ring of the linear bearing 12. Exemplarily, there are two guiding shafts 11, symmetrically arranged on both sides of the guiding seat 22.

[0032] In the above embodiment, the guiding shaft 11 is used to guide the adapter plate 31 to make its sliding smoother. The setting of the linear bearing 12 in the adapter plate 31 can make its sliding smoother. To further reduce the manufacturing cost, the linear bearing 12 can also be replaced with an oil-impregnated bearing.

[0033] Preferably, a first clamping part 32 for clamping the charging end of the charging gun 4 and a second clamping part 33 for clamping the cable end are installed on the adapter plate 31.

[0034] In the above embodiments, providing the first clamping portion 32 and the second clamping portion 33 for the charging end and the cable end of the charging gun 4 can further enhance the clamping stability. Since the outer contour dimensions of the charging end and the cable end are different, the separate arrangement of the clamping portions can also reduce the processing difficulty. Additionally, because the charging end and the cable end generally form a certain angle, the clamping directions between the first clamping portion 32 and the second clamping portion 33 also form a certain angle, which can avoid the phenomenon of slipping when clamping at a single part.

[0035] Preferably, a waist-shaped hole 311 is provided at the position on the adapter plate 31 where the first clamping portion 32 is installed, and a positioning hole 312 and an arc groove 313 are provided at the position where the second clamping portion 33 is installed.

[0036] In the above embodiments, the waist-shaped hole 311 enables the first clamping portion 32 to be adjustable in the axial direction position of the charging end of the charging gun 4. The positioning hole 312 is used to position the second clamping portion 33, and the arc groove 313 is used to adjust the angle of the second clamping portion 33, thereby facilitating the fitting installation of the clamping module 3 and the charging gun 4, reducing the requirements for part processing, thus reducing the processing cost. At the same time, the clamping module 3 can also meet the clamping requirements of more types of charging guns 4. When the angles of the charging end and the cable end of the charging gun 4 are different, adjusting the installation position of the first clamping portion 32 and the installation angle of the second clamping portion 33 can improve the adaptability of the manipulator.

[0037] Preferably, the first clamping portion 32 includes a first clamping jaw 321, a first soft rubber pad 322 installed inside the first clamping jaw 321, a first baffle 323 and a second baffle 324 installed on both sides of the first soft rubber pad 322. The first baffle 323 and the second baffle 324 do not cover the clamping end of the first soft rubber pad 322, and a plurality of first support bars 3222 are uniformly arranged on the clamping surface of the first soft rubber pad 322.

[0038] In the above embodiments, the fact that the first baffle 323 and the second baffle 324 do not cover the clamping end of the first soft rubber pad 322 allows sufficient elastic deformation space for the clamping surface of the first soft rubber pad 322. The elastic first soft rubber pad 322 can enhance the clamping stability and avoid damaging the outer surface of the charging gun 4. The provision of the first support bars 3222 on the clamping surface of the first soft rubber pad 322 makes the clamping surface more likely to undergo elastic deformation and closely adhere to the charging gun 4, thereby improving the clamping stability.

[0039] Preferably, a plurality of first T-shaped grooves 3211 are provided on the inner side of the first clamping jaw 321. Corresponding to the first T-shaped grooves 3211 on the first soft rubber pad 322, first T-shaped bars 3221 are provided, and the first T-shaped bars 3221 are installed in the first T-shaped grooves 3211.

[0040] In the above embodiment, the cooperation between the first T-shaped groove 3211 and the first T-shaped strip 3221 facilitates the installation and positioning of the first soft rubber pad 322.

[0041] Preferably, the second clamping portion 33 includes a second clamping jaw 331, a second soft rubber pad 332 installed inside the second clamping jaw 331, a third baffle 333 and a fourth baffle 334 installed on both sides of the second soft rubber pad 332. The third baffle 333 and the fourth baffle 334 do not cover the clamping end of the second soft rubber pad 332, and a plurality of second support strips 3322 are uniformly arranged on the clamping surface of the second soft rubber pad 332.

[0042] In the above embodiment, the third baffle 333 and the fourth baffle 334 do not cover the clamping end of the second soft rubber pad 332, so that there is enough space for elastic deformation on the clamping surface of the second soft rubber pad 332. The elastic second soft rubber pad 332 can enhance the clamping stability and avoid damaging the outer surface of the charging gun 4 at the same time. The second support strips 3322 are arranged on the clamping surface of the second soft rubber pad 332, making the clamping surface more likely to undergo elastic deformation and closely adhere to the charging gun 4, thereby improving the clamping stability.

[0043] Preferably, a plurality of second T-shaped grooves 3311 are formed inside the second clamping jaw 331. Second T-shaped strips 3321 are provided at positions corresponding to the second T-shaped grooves 3311 on the second soft rubber pad 332, and the second T-shaped strips 3321 are installed in the second T-shaped grooves 3311.

[0044] In the above embodiment, the cooperation between the second T-shaped groove 3311 and the second T-shaped strip 3321 facilitates the installation and positioning of the second soft rubber pad 332.

[0045] Preferably, a downwardly extending rotating end 242 is provided at the lower end of the gear shaft 24. A bearing is provided between the rotating end 242 and the guide seat 22, and the top of the threaded guide sleeve 25 is installed on the lower end surface of the rotating end 242.

[0046] In the above embodiment, the bearing installed in the guide seat 22 can position the rotating end 242 and make the rotation of the gear shaft 24 smooth and stable. Installing the threaded guide sleeve 25 on the lower end surface of the rotating end 242 can reduce the installation difficulty.

[0047] It should be noted that the various embodiments in the content of the present invention are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0048] The above has described the present utility model and its implementation manners in detail. Such description is not restrictive, and only some implementation manners of the present utility model are shown in the drawings. The actual structure is not limited thereto. Inspired by this, those of ordinary skill in the art can also make various deformations, improvements and substitutions without departing from the concept of the present utility model, and these shall all fall within the protection scope of the present utility model.

Claims

1. A manipulator for automatic charging, comprising a base, a driving mechanism mounted on the base, and two clamping modules symmetrically mounted on the driving mechanism, characterized in that: The driving mechanism includes a motor installed above the base, a gear shaft connected to the motor output shaft, a guide seat installed below the base, two racks installed in the guide seat in a centrally symmetrical manner, a threaded guide sleeve installed at the lower end of the gear shaft, a push rod installed in the threaded guide sleeve, and a limit seat installed at the bottom of the guide seat. The clamping modules are respectively installed at one end of the two racks, the gear part of the gear shaft is meshed with the rack, the upper end of the push rod is screwed into the threaded guide sleeve, the outer contour of the lower end of the push rod is provided with at least one plane, and a through hole matching the outer contour of the push rod is opened in the limit seat. When the gear shaft rotates to drive the clamping module to close inward, the push rod moves downward until the mechanical lock of the charging gun is pressed to an unlocked state.

2. A robot for automatic charging according to claim 1, characterized in that: The guide seat has a gear installation groove at its center and guide grooves symmetrically provided on both sides. The middle portion of the guide groove is connected to the gear installation groove. The gear portion of the gear shaft extends into the gear installation groove to mesh with the racks on both sides.

3. A robot for automatic charging according to claim 1, characterized in that: The clamping module includes an adapter plate connected to the rack, a guide shaft is installed below the base, the axis of the guide shaft is parallel to the length direction of the guide seat, a linear bearing is installed in the adapter plate, and the guide shaft passes through the inner ring of the linear bearing.

4. A robot for automatic charging according to claim 3, characterized in that: The adapter plate is provided with a first clamping portion for clamping the charging end of the charging gun and a second clamping portion for clamping the cable end.

5. A robot for automatic charging according to claim 4, characterized in that: A waist-shaped hole is provided at the position where the first clamping part is installed on the adapter plate, and a positioning hole and an arc groove are provided at the position where the second clamping part is installed.

6. A robot for automatic charging according to claim 4, characterized in that: The first clamping part includes a first clamping jaw, a first soft rubber pad installed in the first clamping jaw, and a first baffle and a second baffle installed on both sides of the first soft rubber pad. The first baffle and the second baffle do not cover the clamping end of the first soft rubber pad, and the clamping surface of the first soft rubber pad is evenly provided with a plurality of first support strips.

7. A robot for automatic charging according to claim 6, characterized in that: A plurality of first T-shaped slots are formed on the inner side of the first clamping jaw, and first T-shaped strips are formed on the first soft rubber pad at positions corresponding to the first T-shaped slots. The first T-shaped strips are installed in the first T-shaped slots.

8. A robot for automatic charging according to claim 4, characterized in that: The second clamping part includes a second clamping jaw, a second soft rubber pad installed in the second clamping jaw, and a third baffle and a fourth baffle installed on both sides of the second soft rubber pad. The third baffle and the fourth baffle do not cover the clamping end of the second soft rubber pad, and the clamping surface of the second soft rubber pad is evenly provided with a plurality of second support strips.

9. A robot for automatic charging according to claim 8, characterized in that: A plurality of second T-shaped slots are formed on the inner side of the second clamping jaw, and a second T-shaped strip is formed on the second soft rubber pad at a position corresponding to the second T-shaped slot, and the second T-shaped strip is installed in the second T-shaped slot.

10. The robot for automatic charging according to claim 1, characterized in that: The lower end of the gear shaft is provided with a rotating end extending downward, a bearing is provided between the rotating end and the guide seat, and the top of the threaded guide sleeve is installed on the lower end surface of the rotating end.

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