Pitching structure, automatic charging mechanical arm and robot

Abstract

The utility model relates to the technical field of electric automobile charging, in particular to a pitching structure, an automatic charging mechanical arm and a robot, the pitching structure comprises a pitching support and a crank assembly, and the crank assembly is assembled on the pitching support and used for achieving continuous change of a pitching angle under the self-locking condition; the crank assembly comprises a driving part, a transmission part and an execution part, the driving part is assembled on one side of the pitching support and used for providing driving power and can be self-locked, the transmission part is assembled in the pitching support, in transmission connection with the driving part and used for transmitting the driving power, and the execution part is assembled in the pitching support and connected with the transmission part. And the pitching angle is changed. The utility model aims to realize continuous angle change by adopting a crank structure matched with thread adjustment, so that the pitching angle can be adjusted at will, self-locking can be realized, and the reliability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of electric vehicle charging, in particular to a pitch structure, an automatic charging mechanical arm and a robot. Background Art

[0002] At present, electric vehicles are generally charged at large or small charging stations. When charging at charging stations, most of them use 6-axis or above industrial robots as actuators. When the 6-axis industrial robots charge electric vehicles, the 6-axis serial robotic arms use pitch motor axes to adapt to the different pitch posture changes of the charging station, resulting in high costs.

[0003] Some six-axis serial robotic arms use an eccentric linkage mechanism to achieve pitch attitude changes, and use threaded fastening. This allows for continuous drilling of holes in the fixed bracket, and the use of screws to lock the angle. While this method offers high reliability, it also suffers from the problem of discontinuous angle adjustment. Alternatively, arcuate grooves can be made in the fixed bracket, tightened with screws, and the pitch mechanism's angle maintained by clamping friction. While this method can achieve pitch angle changes, it offers low reliability. Utility Model Content

[0004] In view of this, the purpose of the present invention is to provide a pitch structure, an automatic charging robotic arm and a robot. By adopting a crank structure combined with a threaded adjustment method, not only can continuous angle changes be achieved, so that the pitch angle can be adjusted arbitrarily, but also self-locking can be achieved, with high reliability.

[0005] The utility model solves the above technical problems through the following technical means:

[0006] A pitch structure comprises a pitch bracket and a crank assembly, wherein the crank assembly is assembled on the pitch bracket and is used to achieve continuous change of the pitch angle under the condition of self-locking;

[0007] The crank assembly includes a driving member, a transmission member and an actuator. The driving member is assembled on one side of the pitch bracket, used to provide driving power and can be self-locking. The transmission member is assembled in the pitch bracket and is connected to the driving member for transmitting driving power. The actuator is assembled in the pitch bracket and is connected to the transmission member for executing changes in the pitch angle.

[0008] According to the above technical means, the crank assembly composed of the driving member, the transmission member and the actuator not only enables the actuator to achieve continuous angle changes in the pitch bracket, thereby making the pitch angle arbitrarily adjustable, but also can achieve self-locking and high reliability.

[0009] Furthermore, the pitch bracket has a mounting groove, and the pitch bracket has corresponding sliding grooves on both sides of the mounting groove. The transmission member is slidably assembled in the sliding groove, and the actuator is assembled in the mounting groove.

[0010] According to the above technical means, by setting the installation groove, it is used to provide assembly space for the actuator and some transmission parts, which can reduce the volume of the entire structure; by setting the slide groove, some transmission parts can slide to facilitate transmission.

[0011] Furthermore, the driving member includes a slider bracket, an adjusting screw and a slider, the slider bracket is fixedly connected to one side of the pitch bracket, the adjusting screw is rotatably assembled in the slider bracket and partially passes through, the slider is screwed on the adjusting screw, and the slider has a support ear, which is slidably connected to the inner wall of the slider bracket.

[0012] According to the above technical means, the installation base is provided by the slider bracket, and through the cooperation of the adjusting screw and the slider, when the adjusting screw rotates, the slider can be driven to move along the adjusting screw, thereby providing driving power for the movement of the transmission part, and self-locking is also achieved through threaded cooperation.

[0013] Furthermore, the transmission member includes a connecting rod and a transmission shaft, the transmission shaft is slidably installed on the pitch bracket, one end of the connecting rod is connected to the transmission shaft, and the other end is connected to the driving member for transmitting the driving power provided by the driving member.

[0014] According to the above technical means, the slider is connected to the transmission shaft through a connecting rod, so that when the slider moves, the transmission shaft can be driven to move in the sliding groove through the connecting rod.

[0015] Furthermore, one end of the transmission shaft has a limit head, and the other end has a step.

[0016] According to the above technical means, the transmission shaft is prevented from being separated from the slide groove by setting the limit head, and the connection with the connecting rod is facilitated by setting the step.

[0017] Furthermore, the actuator includes a multiplex shaft and an actuator part. The multiplex shaft is symmetrically arranged on the pitch bracket and partially penetrates into the pitch bracket. One end of the actuator is connected to the transmission member, and the other end is rotationally connected to the multiplex shaft.

[0018] According to the above technical means, the multiplexed rotating shaft provides a fulcrum for the actuator to change the pitch angle, so that the actuator can rotate around the axes of the two multiplexed rotating shafts.

[0019] Furthermore, the multiplexed rotating shaft includes a fixed plate and a fixed shaft, the fixed plate is fixedly assembled on the side wall of the pitch bracket, the fixed shaft is fixedly connected to the fixed plate and passes through the pitch bracket, and both sides of the actuator are rotatably connected to the fixed shaft.

[0020] According to the above technical means, the installation and positioning of the reusable rotating shaft are facilitated by the mutual cooperation between the fixed disk and the fixed shaft.

[0021] Furthermore, decorative covers are provided on both sides of the pitch bracket.

[0022] According to the above technical means, by providing the decorative cover, on the one hand, the aesthetics of the pitch structure can be improved, and on the other hand, impurities can be prevented from entering the driving member and affecting the use of the driving member.

[0023] The present application also discloses an automatic charging robotic arm, comprising a robotic arm body and the above-mentioned pitch structure.

[0024] By assembling the above-mentioned pitch structure on the automatic charging robot arm, the cost of the robot arm can be reduced.

[0025] The present application also discloses a robot comprising the automatic charging robotic arm described above.

[0026] By using the above-mentioned automatic charging robot arm on the robot, the cost of the robot can be reduced.

[0027] The present application adopting the above solution has the following beneficial effects:

[0028] 1. In the present application, by adopting the method of cooperating with each other in the pitch bracket and the crank assembly, not only can the continuous angle change of the pitch structure be achieved, thereby making the pitch angle arbitrarily adjustable, but also self-locking can be achieved, with high reliability, and it is also easy to assemble with other components.

[0029] 2. In the present application, a slider crank mechanism is formed by a driving member, a transmission member and an actuator, so that when the driving member is working, it can drive the actuator through the transmission member to achieve continuous angle changes in the pitch bracket, and self-locking can be achieved at each angle change. The structure is simple, practical and reliable.

[0030] 3. In this application, by using the pitch structure for the robotic arm for charging electric vehicles, it can adapt to the pitch posture changes of charging bases of different models, and by not using a pitch motor, the pitch posture adjustment of the robotic arm can also be achieved, thereby reducing the use cost of the robotic arm.

[0031] 4. In this application, by using an automatic charging robotic arm with a pitch structure as a component of the robot, the cost of use can be reduced compared to a traditional 6-axis industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention can be further described by way of non-limiting examples given in the accompanying drawings;

[0033] Figure 1 This is one of the structural diagrams of the pitch structure in the embodiment of the present application;

[0034] Figure 2 This is the second structural diagram of the pitch structure in the embodiment of the present application;

[0035] Figure 3 yes Figure 2 AA-axis cross-sectional structural diagram;

[0036] Figure 4 This is a schematic diagram of a partial installation structure of the pitch bracket, transmission shaft, and multiplexed rotating shaft in an embodiment of the present application;

[0037] Figure 5 This is a schematic diagram of the structure of the automatic charging robot arm in an embodiment of the present application;

[0038] Figure 6 This is one of the structural diagrams of the robot in the embodiment of the present application;

[0039] Figure 7 This is the second structural diagram of the robot in the embodiment of the present application;

[0040] Description of main symbols:

[0041] 100. Automatic charging robotic arm; 1. Lifting structure; 2. First motion component; 3. Second motion component; 4. Third motion component;

[0042] 5. Pitch structure; 501. Mounting slot; 502. Slide slot; 51. Pitch bracket; 52. Slider bracket; 53. Adjusting screw; 54. Slider; 55. Connecting rod; 56. Transmission shaft; 57. Actuator; 58. Reusable shaft; 59. Decorative cover; 6. Fourth motion assembly; 7. Floating structure; 8. Automatic charging gun head. DETAILED DESCRIPTION

[0043] The following describes the implementation of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. It should be noted that the illustrations provided in the following embodiments are for illustrative purposes only and are only schematic diagrams, not actual drawings. They should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts in the figures may be omitted, enlarged or reduced, and do not represent the dimensions of the actual product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the figures.

[0044] The same or similar numbers in the figures of the embodiments of the present invention correspond to the same or similar parts. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the figures. This is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the figures are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. In the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0045] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0046] like Figure 1-4 As shown, the embodiment of the present application discloses a pitch structure, comprising a pitch bracket 51 and a crank assembly. The crank assembly is assembled on the pitch bracket 51 to achieve continuous change of the pitch angle under the condition of self-locking.

[0047] In this embodiment, if Figure 4 As shown, the middle portion of the pitch bracket 51 has a mounting slot 501 for providing space for assembling the crank assembly and for adjusting the pitch angle, thereby reducing the volume of the entire structure. The top of the pitch bracket 51 has a connecting slot for connecting to other components, thereby facilitating the installation of the entire pitch structure 5 on other components.

[0048] In some embodiments, as Figure 1-3 As shown, the crank assembly includes a driving member, a transmission member and an actuator. The driving member is assembled on one side of the pitch bracket 51, is used to provide driving power, and can be self-locking. The transmission member is assembled in the pitch bracket 51, and is connected to the driving member for transmission, and is used to transmit driving power. The actuator is assembled in the mounting groove 501 of the pitch bracket 51, and is connected to the transmission member for executing the change of the pitch angle. The crank assembly composed of the driving member, the transmission member and the actuator not only enables the actuator to achieve continuous angle change in the pitch bracket 51, thereby making the pitch angle arbitrarily adjustable, but also can achieve self-locking, and has high reliability.

[0049] In this embodiment, the drive member includes a slider bracket 52, an adjustment screw 53, and a slider 54. The slider bracket 52 is fixedly connected to one side of the pitch bracket 51 by bolts. The adjustment screw 53 is rotatably assembled within the slider bracket 52 through bearings, sleeves, etc., and partially protrudes. The slider 54 is threaded onto the adjustment screw 53 and has a lug that slides into contact with the inner wall of the slider bracket 52. When the adjustment screw 53 rotates, the slider 54 can move along the adjustment screw 53, thereby driving the transmission member to move. The threaded engagement allows the slider 54 to self-lock, thereby achieving self-locking of the transmission member and the actuator. This simple structure is highly practical.

[0050] In this embodiment, the adjusting screw 53 can be driven to rotate manually or by other devices, such as a wrench. A suitable driving method or device can be selected according to actual conditions.

[0051] In some embodiments, decorative covers 59 are further fixed on both sides of the pitch bracket 51 by bolts. On the one hand, this can improve the aesthetics of the pitch structure 5 , and on the other hand, it can prevent impurities from entering the driving component and affecting the use of the driving component.

[0052] In this embodiment, if Figure 3 As shown, the transmission member includes a connecting rod 55 and a transmission shaft 56. The pitch bracket 51 has corresponding slots 502 on either side of the mounting slot 501. The slots 502 are strip-shaped slots, and the transmission shaft 56 is slidably mounted within the slots 502 of the pitch bracket 51, allowing the transmission shaft 56 to move within the slots 502. One end of the connecting rod 55 is connected to the end of the transmission shaft 56 extending through the slot 502 via a retaining ring, and the other end is connected to the slider 54. When the slider 54 moves, the connecting rod 55 drives the transmission shaft 56 within the slot 502, thereby driving the actuator 57 to adjust the pitch angle within the mounting slot 501.

[0053] In this embodiment, a limit stop is fixed at one end of the transmission shaft 56, and the other end has a step. The connecting rod 55 is connected to the end of the transmission shaft 56 with the step through a retaining ring, and cooperates with the limit stop to prevent the transmission shaft 56 from disengaging from the chute 502 during movement. The connecting rod 55 has a weight-reducing groove for reducing the weight of the connecting rod 55.

[0054] In this embodiment, one side of the slider 54 is fixedly connected to an extension block. The lower end of the connecting rod 55 and the extension block can be limited in relative position by a shaft retaining ring, or fixed by bolts. The appropriate connection method can also be selected according to actual conditions.

[0055] In this embodiment, if Figure 3As shown, the actuator includes a reusable shaft 58 and an actuator 57. The reusable shaft 58 is symmetrically arranged on the pitch bracket 51 and partially extends into the pitch bracket 51. One end of the actuator 57 is connected to the transmission shaft 56, and the other end is rotationally connected to the reusable shaft 58. When the transmission shaft 56 moves in the slide slot 502, it drives the actuator 57 to rotate about the reusable shaft 58, thereby adjusting the pitch angle of the actuator 57 in the pitch bracket 51.

[0056] In this embodiment, the reusable shaft 58 comprises a fixed plate and a fixed shaft. The fixed plate is bolted to the side wall of the pitch bracket 51. The fixed shaft is fixedly connected to the fixed plate and extends through the pitch bracket 51. Both sides of the actuator 57 are rotatably connected to the fixed shaft. When the actuator 57 changes its pitch angle within the pitch bracket 51, it rotates around the axes of the two fixed shafts, using the fixed shafts as fulcrums, to achieve the pitch angle change of the actuator 57. The interaction between the fixed plate and the fixed shaft facilitates the installation and positioning of the reusable shaft 58 and the actuator 57.

[0057] In this embodiment, the sidewalls of the actuator 57 are provided with grooves, which are rotatably connected to the fixed shaft, thereby improving the smoothness of the rotation of the actuator 57. The upper end of the actuator 57 has a mounting point for easy installation with the transmission shaft 56.

[0058] In this embodiment, when it is necessary to adjust the pitch angle of the actuator 57, the adjusting screw 53 is rotated to drive the slider 54 to move along the adjusting screw 53. When sliding, the extension block and the connecting rod 55 are driven to move. The movement of the connecting rod 55 drives the transmission shaft 56 to move in the slide groove 502. The movement of the transmission shaft 56 drives the actuator 57 to rotate around the fixed axis, thereby realizing the pitch angle adjustment of the actuator 57.

[0059] like Figure 5 As shown, the present application also discloses an automatic charging robotic arm 100, comprising a robotic arm body and the pitch structure 5 in the above embodiment.

[0060] By assembling the above-mentioned pitch structure 5 on the automatic charging robotic arm 100, the automatic charging robotic arm 100 can adapt to the pitch posture changes of charging seats of different models when used as a robotic arm for charging electric vehicles, and the pitch posture adjustment of the robotic arm can be achieved without using a pitch motor, thereby reducing the use cost of the robotic arm.

[0061] In this embodiment, the robotic arm body includes a lifting structure 1, a first motion component 2, a second motion component 3, a third motion component 4, a fourth motion component 6, a floating structure 7 and an automatic charging gun head 8. The first motion component 2 is assembled on the lifting component, the second motion component 3 is assembled on the first motion component 2, the third motion component 4 is assembled on the second motion component 3, the pitch structure 5 is assembled on the third motion component 4, the fourth motion component 6 is assembled on the pitch structure 5, the floating structure 7 is assembled on the fourth motion component 6, and the automatic charging gun head 8 is integrated on the floating structure 7.

[0062] The lifting structure 1, the first motion component 2, the second motion component 3, the third motion component 4 and the fourth motion component 6 form a motion structure with five active degrees of freedom, which can realize the adjustment of multiple postures; the pitch angle of the fourth motion component 6, the floating structure 7 and the automatic charging gun head 8 can be changed and locked through the pitch structure 5, so that the pitch angle of the automatic charging gun head 8 is consistent with the pitch angle of the vehicle charging port, which is conducive to the plugging and unplugging of the automatic charging gun head 8 and the vehicle charging port.

[0063] In this embodiment, the lifting structure 1 can be a screw lifting structure 1, or a lifting structure 1 such as an electric telescopic rod, a cylinder, or a hydraulic cylinder, and can be selected according to actual conditions. The first motion component 2, the second motion component 3, and the third motion component 4 can all be rotating structures driven by servo motors, which can enable the first motion component 2, the second motion component 3, and the third motion component 4 to adjust their relative positions. The fourth motion component 6 can be a linear motion structure, such as a screw structure, an electric telescopic rod, a cylinder, etc., and other devices capable of achieving linear motion can also be selected according to actual conditions to achieve the insertion and removal of the automatic charging gun head 8 from the charging port of the electric vehicle. The structure is simple and practical.

[0064] In this embodiment, the floating structure 7 can be configured as a device capable of three-degree-of-freedom passive rotation, such as a three-degree-of-freedom manipulator or a DC permanent magnet spherical motor. Alternatively, a non-motor-driven device can be used, depending on the actual situation. The floating structure 7's three-degree-of-freedom passive rotation can passively compensate for changes in the charging port's pitch angle caused by changes in vehicle roll, as well as changes in the charging port's roll angle caused by vehicle pitch. This allows the floating structure 7 to adapt to fine pitch angle adjustments left over from the larger pitch angle adjustments of the pitch structure 5, while also passively accommodating rotational errors caused by the vehicle's charging port assembly and parking.

[0065] like Figure 6-7 As shown, an embodiment of the present application further discloses a robot, including the automatic charging robot arm 100 in the above embodiment.

[0066] By using the automatic charging robot arm 100 on a robot, not only can the cost of the robot be reduced, but the robot can also be applied to various environments, especially widely applicable to charging household electric vehicles.

[0067] The above is a detailed introduction to a pitch structure, an automatic charging manipulator, and a robot provided by this application. The description of the specific embodiments is only used to help understand the method and core ideas of this application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the scope of protection of the claims of this utility model.

[0068] It should be noted that phrases such as "one embodiment," "an embodiment," "some optional embodiments," "exemplary embodiments," and "some embodiments" mentioned in this specification indicate that the described embodiment may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0069] The above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and such modifications or equivalent substitutions shall be encompassed by the claims of the present invention. The techniques, shapes, and structural portions not described in detail in the present invention are well known.

Claims

1. A pitch structure, characterized in that: It comprises a pitch bracket (51) and a crank assembly, wherein the crank assembly is assembled on the pitch bracket (51) and is used to achieve continuous change of the pitch angle under the condition of being able to self-lock; The crank assembly includes a driving member, a transmission member and an actuator. The driving member is assembled on one side of the pitch bracket (51) for providing driving power and capable of self-locking. The transmission member is assembled in the pitch bracket (51) and is connected to the driving member for transmitting driving power. The actuator is assembled in the pitch bracket (51) and is connected to the transmission member for executing changes in the pitch angle.

2. A pitch structure according to claim 1, characterized in that: The pitch bracket (51) has a mounting groove (501), and the pitch bracket (51) has corresponding sliding grooves (502) on both sides of the mounting groove (501). The transmission member is slidably assembled in the sliding groove (502), and the actuator is assembled in the mounting groove (501).

3. The pitch structure according to claim 1, characterized in that: The driving member comprises a slider bracket (52), an adjusting screw (53) and a slider (54); the slider bracket (52) is fixedly connected to one side of the pitch bracket (51); the adjusting screw (53) is rotatably assembled in the slider bracket (52) and partially penetrates; the slider (54) is screwed on the adjusting screw (53); the slider (54) has a lug, and the lug is in sliding contact with the inner wall of the slider bracket (52).

4. The pitch structure according to claim 1, characterized in that: The transmission member comprises a connecting rod (55) and a transmission shaft (56), wherein the transmission shaft (56) is slidably mounted on the pitch bracket (51), one end of the connecting rod (55) is connected to the transmission shaft (56), and the other end is connected to the driving member for transmitting driving power provided by the driving member.

5. The pitch structure according to claim 4, characterized in that: One end of the transmission shaft (56) is provided with a limit head, and the other end is provided with a step.

6. The pitch structure according to claim 1, characterized in that: The actuator includes a multiplexed rotating shaft (58) and an actuator (57). The multiplexed rotating shaft (58) is symmetrically arranged on the pitch bracket (51) and partially penetrates into the pitch bracket (51). One end of the actuator (57) is connected to the transmission member, and the other end is rotationally connected to the multiplexed rotating shaft (58).

7. The pitch structure according to claim 6, characterized in that: The multiplexed rotating shaft (58) includes a fixed disk and a fixed shaft. The fixed disk is fixedly assembled on the side wall of the pitch bracket (51). The fixed shaft is fixedly connected to the fixed disk and passes through the pitch bracket (51). Both sides of the execution part (57) are rotatably connected to the fixed shaft.

8. The pitch structure according to claim 1, characterized in that: Decorative covers (59) are provided on both sides of the pitch bracket (51).

9. An automatic charging robot arm, characterized in that: It comprises a robotic arm body and a pitch structure (5) as described in any one of claims 1 to 8.

10. A robot, characterized in that: It comprises the automatic charging robotic arm (100) as claimed in claim 9.

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