Gun collecting device for automatic charging and automatic charging device

Abstract

The utility model provides a gun collecting device for automatic charging and an automatic charging device, comprising an upper plate and a lower plate which are fixedly connected through a support plate, and the upper plate is provided with two gun collecting cylinders; the first mounting plate is fixedly connected with the supporting plate bolt cover, and the first mounting plate is used for fixing a gun collecting device; the steering engine and the steering engine cover plate are fixedly pressed on the upper plate; the cover plate is connected with the steering engine through a cover plate connecting piece; and the lower positioning seat is fixed on the lower plate corresponding to the gun insertion hole. According to the automatic charging device, the two gun collecting barrels are adopted, double-gun collecting can be achieved, one automatic charging device can serve two parking spaces, the utilization rate of the automatic charging device is improved, the gun collecting barrel without the charging gun can be covered through the cover plate, the other gun collecting barrel is covered through the charging gun head, the gun collecting barrels are kept in the covered state, and the charging gun head can be used for charging the charging gun. Foreign matters can be effectively prevented from entering the inside, and subsequent gun insertion is prevented from being affected.

Description

Technical Field

[0001] The utility model relates to the technical field of charging, in particular to a gun receiving device for automatic charging and an automatic charging device. Background Art

[0002] At present, automatic charging devices have mobile charging and fixed charging. For mobile charging, a mobile cart drives to the vicinity of an electric vehicle for charging. For fixed charging, it is generally on the side of a fixed parking space.

[0003] For a fixed automatic charging device, one automatic charging device is responsible for charging one parking space, and only one charging gun and one gun receiving seat are provided. This method has low utilization rate of equipment, which is a waste for automatic charging equipment. Moreover, when the charging gun is not in the gun receiving seat, the gun receiving seat is in an open state, and it is very likely that foreign objects will enter, thus affecting subsequent gun insertion. Summary of the Utility Model

[0004] The utility model provides a gun receiving device for automatic charging to solve the above technical problems.

[0005] The utility model also proposes an automatic charging device.

[0006] The technical scheme adopted by the utility model is as follows:

[0007] The utility model proposes a gun receiving device for automatic charging, including: an upper plate and a lower plate, the upper plate and the lower plate are fixedly connected through a support plate, and the upper plate has a plurality of gun receiving cylinders; a first mounting plate, the first mounting plate is fixedly connected with the support plate through a bolt cover, and the first mounting plate is used for fixing the gun receiving device; a servo motor, the servo motor is fixedly pressed on the upper plate; a cover plate, the cover plate is connected with the servo motor through a cover plate connecting piece; a lower positioning seat, there are a plurality of lower positioning seats, which are fixed on the lower plate through bolts, and the centers of the lower positioning seats are concentrically corresponding to the gun receiving cylinders respectively.

[0008] The above gun receiving device for automatic charging of the utility model also has the following additional technical features:

[0009] Specifically, the cover plate matches the gun receiving cylinder.

[0010] Specifically, the above gun receiving device for automatic charging further includes: a second mounting plate, both ends of the second mounting plate are fixedly connected to the upper plate and the lower plate through bolts, and are fixedly connected to a protective member through bolts.

[0011] Furthermore, the protective member is a brush.

[0012] Further, there are two gun receiving barrels, and the two gun receiving barrels are arranged in the left - right direction or the front - rear direction with respect to the gun receiving posture of the charging gun.

[0013] Specifically, the support plate includes a first support plate, a second support plate, and a third support plate. The first support plate is fixedly connected to the side parts of the upper plate and the lower plate. One end of the second support plate is fixedly connected to the middle part of the lower plate, and the other end of the second support plate is fixedly connected to the middle part of the upper plate through the third support plate.

[0014] Specifically, the above - mentioned gun receiving device for automatic charging further includes: positioning support points, and there are multiple positioning support points, which are evenly distributed around the center of the gun receiving barrel.

[0015] Further, the positioning support point includes: a third mounting plate, which is fixedly installed below the gun receiving barrel; a ball screw, which is fixed on the third mounting through a nut, the front end of the ball screw has a steel ball and a spring inside; a ball screw groove plate, which is fixedly installed on the charging gun head through a screw, and a groove hole matching the ball screw is arranged in the middle of the ball screw groove plate. The groove hole is used to place the steel ball, and a bevel is processed directly below the groove hole for guiding the ball screw.

[0016] The present utility model also proposes an automatic charging device, which includes the above - mentioned gun receiving device for automatic charging of the present utility model.

[0017] Advantages of the present utility model:

[0018] The present utility model adopts two gun receiving barrels, which can realize double - gun receiving. One automatic charging device can serve two parking spaces, improving the utilization rate of the automatic charging device. And through the cover plate, the gun receiving barrel without a charging gun can be covered, and the other gun receiving barrel is covered by the charging gun head itself, keeping the gun receiving barrel covered, which can effectively prevent foreign objects from entering the inside, avoiding affecting subsequent gun insertion. In addition, the whole device has a compact structure, occupies as little parking space as possible under the premise of meeting the functions, and is easy to install, and the installation position can be adjusted according to needs.

[0019] The present utility model can limit the position where the gun head is placed each time within a relatively small fluctuation range, so that the robotic arm can dock with the gun head without using a camera for recognition, realizing blind docking, which can greatly save the overall docking time of automatic charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of a gun receiving device for automatic charging according to an embodiment of the present utility model;

[0021] Figure 2It is a top view of a gun retracting device for automatic charging according to an embodiment of the present utility model;

[0022] Figure 3 It is a schematic structural diagram of a gun retracting device for automatic charging according to another embodiment of the present utility model;

[0023] Figure 4 It is a schematic structural diagram of a ball plunger screw according to an embodiment of the present utility model;

[0024] Figure 5 It is a force analysis diagram of the upper positioning support point according to an embodiment of the present utility model;

[0025] Figure 6 It is a positioning principle diagram of the lower positioning seat according to an embodiment of the present utility model. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0027] Figure 1 It is a schematic structural diagram of a gun retracting device for automatic charging according to an embodiment of the present utility model. As Figure 1 shown, the gun retracting device for automatic charging includes: an upper plate 1, a lower plate 2, a support plate, a first mounting plate 4, a servo motor 5, a cover plate 6, and a lower positioning seat 7.

[0028] Among them, the upper plate 1 and the lower plate 2 are fixedly connected through the support plate. The upper plate 1 has a plurality of gun retracting cylinders 8 (two are taken as examples in the figure); the first mounting plate 4 is fixedly connected to the support plate through a bolt cover, and the first mounting plate 4 is used to fix the gun retracting device; the servo motor 5 is fixedly pressed on the upper plate 1; the cover plate 6 is connected to the servo motor 5 through a cover plate connecting member 9, and the servo motor 5 is used to drive the cover plate 6; a plurality of the lower positioning seats 7 are included, and the lower positioning seats 7 are fixed to the lower plate 2 through bolts, and the centers of the lower positioning seats 7 are concentrically corresponding to the gun retracting cylinders 8 respectively.

[0029] In the embodiment of the present utility model, the cover plate 6 matches the gun retracting cylinder 8. When the charging gun head in the gun retracting cylinder 8 is taken out, the cover plate 6 can completely cover the gun retracting cylinder 8 to prevent foreign objects from entering. The protective cover can be electric or a passive switch, and the installation position of the cover plate 6 is not limited to the left or right.

[0030] It can be understood that the number of cover plates 6 can be set according to the number of gun receivers 8. Generally, the number of cover plates 6 is the same as or less than the number of gun receivers 8. The number of the less ones is determined by the maximum number of charging gun heads that can be charged simultaneously according to the automatic charging setting. In this way, it can be ensured that when a charging gun head is taken out for charging, the control cover plate 6 covers the corresponding gun receiver 8, and the gun receivers 8 without the charging gun heads taken out can be covered by the charging gun heads themselves.

[0031] In an embodiment of the present invention, as Figure 1 shown, the support plate includes a first support plate 31, a second support plate 32, and a third support plate 33. The first support plate 31 is fixedly connected to the side parts of the upper plate 1 and the lower plate 2. One end of the second support plate 32 is fixedly connected to the middle part of the lower plate 2, and the other end of the second support plate 32 is fixedly connected to the middle part of the upper plate 1 through the third support plate 33.

[0032] Specifically, as Figure 1 shown, the entire gun receiving device can be fixed at a specific position through the through holes on the first mounting plate 4. The automatic charging device can be arranged between two parking spaces. The gun receiving device can hold two charging guns. The charging guns in the gun receiving device are grabbed by a robotic arm. Thus, one automatic charging device can serve two parking spaces. If a robotic arm is responsible for charging two parking spaces simultaneously, two sets of gun lines are required. Since the robotic arm can only operate one charging gun head at a time, the robotic arm can place the temporarily unused charging gun head on the gun receiving device first so as to pick up the required charging gun head for charging. When both charging gun heads are in the lower positioning seat 7, the two gun receivers 8 are covered by the charging gun heads themselves; when one charging gun head is taken out for charging, the control cover plate 6 covers the corresponding gun receiver, and the other gun receiver is covered by the charging gun head itself; when both charging gun heads are taken out, the control cover plate 6 covers any one of the gun receivers 8. Thus, in most cases, the gun receivers can be kept covered to prevent foreign objects from entering.

[0033] Figure 2 is a top view of the gun receiving device for automatic charging according to an embodiment of the present invention.

[0034] According to an embodiment of the present invention, as Figure 1 shown, the above-mentioned gun receiving device for automatic charging further includes: a second mounting plate 10. Both ends of the second mounting plate 10 are fixedly connected to the upper plate 1 and the lower plate 2 through bolts and are fixedly connected to the protective member 11 through bolts. Among them, the protective member 11 can be a brush.

[0035] Specifically, the protective member 11 is assembled at the side gun line position. The protective member can be a brush or other components, which can play a role in protecting the gun line.

[0036] In an embodiment of the present utility model, there may be two gun receiving barrels 8, and the two gun receiving barrels 8 are arranged in the left - right direction or the front - back direction with respect to the gun receiving posture of the charging gun. Thus, interference between the gun wires of the two guns during movement can be effectively avoided, and it is convenient for the robotic arm to pick up and place the gun.

[0037] According to an embodiment of the present utility model, Figure 3 is a schematic structural diagram of an automatic - charging gun - receiving device according to another embodiment of the present utility model, where Figure 1 and Figure 3 The difference is: Figure 1 is a schematic structural diagram of the gun - receiving device when the charging gun is not inserted, Figure 3 is a schematic structural diagram of the gun - receiving device when the charging gun is inserted. As Figure 2 shown, the above - mentioned gun - receiving device for automatic charging may further include: positioning support points 17, and there are multiple (three are taken as an example in the figure) positioning support points 17, which are evenly distributed around the center of the gun - receiving barrel.

[0038] Specifically, as Figure 2 shown, in the present utility model, three upper positioning support points 17 are evenly distributed along the circumference on each gun - receiving barrel 8; the charging gun can be accurately positioned at a specific position of the gun - receiving device through the combined action of the lower positioning seat 7 and the positioning support points 17. The support points 17 can be elastic flexible devices.

[0039] Further, as a specific example, as Figure 3 shown, the positioning support point may include: a third mounting plate 12, a ball plunger 13, and a ball plunger groove plate 14.

[0040] Among them, the third mounting plate 12 is fixedly installed below the gun - receiving barrel 8; the ball plunger 13 is fixed on the third mounting 12 through a nut 15. The front end of the ball plunger 13 has a steel ball and a spring inside; the ball plunger groove plate 14 is fixedly installed on the charging gun head 16 through screws. A slot hole matching the ball plunger 13 is provided in the middle of the ball plunger groove plate 14, and the slot hole is used to place the steel ball. A bevel is processed directly below the slot hole for guiding the ball plunger 13.

[0041] Specifically, the installation position of the ball plunger 13 is adjustable. The ball plunger 13 selects a fitting with a relatively small steel ball protrusion amount to improve the positioning accuracy after the gun head is inserted. The structure of the ball plunger 13 can be referred to Figure 4As shown in the figure, the front end of the ball plunger screw 13 has a steel ball and a spring inside. Under the action of the spring force, the steel ball is usually in the extended state and retracts when a force is applied. The ball plunger screw groove plate 14 is fixedly installed on the gun head through screws. There is a groove hole matching the ball plunger screw in the middle, which can just hold the ball at the front end of the ball plunger screw. A bevel is machined directly below the groove hole to guide the ball plunger screw. There is a mechanical lock on each of the left and right charging gun heads 16. When the charging gun head is placed in the storage device, the mechanical lock automatically locks, hooks the lower positioning seat 7, and plays a role in protecting the gun head. When the robotic arm needs to pick up the gun, the mechanical lock automatically lifts, facilitating the picking up of the gun.

[0042] For the above-mentioned gun storage device of the present utility model, manually insert the gun head into a gun storage cylinder, test whether the position of the ball plunger screw 13 is optimal, and adjust the extension amount of the ball plunger screw 13 so that the steel ball of the ball plunger screw just falls into the steel ball groove on the surface of the gun head. Connect the charging gun head 16 with the robotic arm through teaching. The robotic arm records the current position. After the robotic arm pulls out the charging gun head 16, it inserts it into the lower positioning seat 7 according to the previously recorded position, and then releases the charging gun head 16 so that the charging gun head 16 is fixed in the lower positioning seat 7. When the robotic arm performs automatic charging later, it can dock the position of the charging gun head according to the recorded position without visual recognition docking again. The other charging gun head is also taught using the above teaching steps for the charging gun head. Thus, this gun storage device can limit the position where the gun head is placed each time within a relatively small fluctuation range, so that the robotic arm can dock with the gun head without using a camera for recognition, achieving blind plug docking, which can greatly save the overall docking time for automatic charging.

[0043] It can be understood that since the 3 points of the upper positioning support point 17 are evenly distributed on the circumference (mutually differing by 120° in the same plane), due to the flexibility of the support point 17, the elastic force acceptance is uneven, and the gun body cannot be fixed in the same plane, resulting in the gun body being skewed. Therefore, a method must be adopted to make the support point flexible, capable of self-adaptive adjustment during insertion, and the amount of change in flexibility of the three support points being equal after the gun insertion is completed, so that the gun body is maintained in the same plane to ensure that the gun body is upright. Therefore, analyze the force application method. When the support points are arranged in the same plane and mutually differ by 120°, the three support points are evenly stressed, and the analysis is as follows.

[0044] As Figure 5 shown, the forces on the middle gun head from the 3 points are F1, F2, and F3 respectively. Since the 3 points are evenly distributed, the angle between F3 and the X-axis is . Now, decompose F1, F2, and F3 respectively along the X-axis and Y-axis for force analysis.

[0045] Force analysis in the X direction: Component of F1: -F1; Component of F2: ; Component of F3: .

[0046] Force analysis in the Y direction: Component of F1: 0; Component of F2: ; Component of F3: .

[0047] Since F1 = F2 = F3, and the angles between F1, F2, and F3 are 120° to each other, so is equal to 60°.

[0048] Resultant force in the X direction: .

[0049] Resultant force in the Y direction: .

[0050] From the above calculations, it can be obtained that the gun head reaches a force balance state in the radial direction, and the gun bodies are all maintained in the same plane, which can make the gun body stand upright to accurately position the radial position of the gun head.

[0051] As Figure 6 shown, in the axial direction of the gun head, that is Figure 6 the Z-axis direction shown, if the gun head needs to be fully positioned, the Z-axis needs to be limited. The positioning on the Z-axis can be achieved by the lower positioning seat 7 contacting the end plane of the gun head to achieve the axial positioning function. When both the axial and radial directions are positioned, the position of the gun head on the lower positioning seat is also completely determined.

[0052] The specific implementation method of the automatic charging gun receiving device provided by the present utility model is as follows: Assemble the gun receiving device as Figure 1 shown, manually insert the gun head into the gun receiving device first, make the end face of the gun head align with the lower positioning seat 17, and install it in place axially; then install the radial positioning support, control the elongation of each support point to be the same, and hold the gun head to make the axis of the gun receiving barrel coincide with the axis of the gun head, and the gun head is positioned radially; at this time, the gun head can be accurately positioned on the lower positioning seat.

[0053] To sum up, the present utility model adopts two gun receiving barrels, which can realize the receiving of two guns, enabling one automatic charging device to serve two parking spaces, improving the utilization rate of the automatic charging device, and the gun receiving barrel without a charging gun can be covered by a cover plate, and the other gun receiving barrel is covered by the charging gun head itself, keeping the gun receiving barrel covered, which can effectively prevent foreign objects from entering the interior, avoid affecting subsequent gun insertion, and the entire device structure is compact, occupying as little parking space as possible under the premise of meeting the functions, and is easy to install, and the installation position can be adjusted according to needs; the present utility model can limit the position where the gun head is placed each time within a relatively small fluctuation range, so that the robotic arm can dock with the gun head without using a camera for recognition, realizing blind docking, which can greatly save the overall docking time of automatic charging.

[0054] In addition, the present utility model also proposes an automatic charging device, including the gun receiving device for automatic charging described above in the present utility model.

[0055] According to the automatic charging device of the present utility model, through the above-mentioned gun receiving device for automatic charging, by adopting two gun receiving cylinders, double-gun receiving can be realized, enabling one automatic charging device to serve two parking spaces, improving the utilization rate of the automatic charging device. Moreover, the gun receiving cylinder without a charging gun can be covered by a cover plate, and the other gun receiving cylinder is covered by the charging gun head itself, keeping the gun receiving cylinder covered, which can effectively prevent foreign objects from entering the interior, avoid affecting subsequent gun insertion, and the entire device has a compact structure, occupies as little parking space as possible while meeting the functions, and is convenient to install, and the installation position can be adjusted as needed.

[0056] In the description of the present utility model, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present utility model, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0057] In the present utility model, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0058] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0059] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A gun receiving device for automatic charging, characterized in that, Including: An upper plate and a lower plate, the upper plate and the lower plate are fixedly connected through a support plate, and the upper plate is provided with a plurality of gun receiving barrels; A first mounting plate, the first mounting plate is fixedly connected with the support plate through a bolt cover, and the first mounting plate is used for fixing the gun receiving device; A servo motor, the servo motor is fixedly pressed on the upper plate; A cover plate, the cover plate is connected with the servo motor through a cover plate connecting piece; Lower positioning seats, there are a plurality of the lower positioning seats, which are fixed on the lower plate by bolts, and the centers of the lower positioning seats are respectively concentrically corresponding to the gun receiving barrels.

2. The gun receiving device for automatic charging according to claim 1, characterized in that, The cover plate matches the gun receiving barrel.

3. The gun receiving device for automatic charging according to claim 1, wherein It also includes: A second mounting plate, both ends of the second mounting plate are fixedly connected to the upper plate and the lower plate by bolts, and are fixedly connected to the protective member by bolts.

4. The gun receiving device for automatic charging according to claim 3, characterized in that, The protective member is a brush.

5. The gun receiving device for automatic charging according to claim 1, characterized in that There are two gun receiving barrels, and the two gun receiving barrels are arranged in the left-right direction or the front-back direction with respect to the gun receiving posture of the charging gun.

6. The gun receiving device for automatic charging according to claim 1, characterized in that, The support plate includes a first support plate, a second support plate and a third support plate. The first support plate is fixedly connected to the side parts of the upper plate and the lower plate. One end of the second support plate is fixedly connected to the middle part of the lower plate, and the other end of the second support plate is fixedly connected to the middle part of the upper plate through the third support plate.

7. The gun receiving device for automatic charging according to claim 1, wherein It also includes: Positioning support points, there are a plurality of the positioning support points, which are evenly distributed around the centers of the gun receiving barrels.

8. The gun receiving device for automatic charging according to claim 7, characterized in that, The positioning support points include: A third mounting plate, the third mounting plate is fixedly installed below the gun receiving barrel; A ball plunger screw, the ball plunger screw is fixed on the third mounting through a nut, the front end of the ball plunger screw has a steel ball, and a spring is arranged inside; A ball plunger screw groove plate, the ball plunger screw groove plate is fixedly installed on the charging gun head through a screw, a groove hole matching the ball plunger screw is arranged in the middle of the ball plunger screw groove plate, the groove hole is used for placing the steel ball, and a bevel is processed directly below the groove hole for guiding the ball plunger screw.

9. An automatic charging device, characterized in that, Including the gun receiving device for automatic charging according to any one of claims 1-8.

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