Mechanical arm for box type power supply charging station of electric cargo ship

Abstract

The utility model provides a mechanical arm for a box type power supply charging station of an electric cargo ship, which belongs to the technical field of mechanical arms and comprises a mounting chassis, a rotating platform, a cable junction box, a first hydraulic cylinder body, a second hydraulic cylinder body, a third hydraulic cylinder body and a stretching component, the rotating platform is rotationally connected to the mounting chassis, the rotating platform is fixedly connected with the cable junction box, the input cable is fixed to the cable junction box, the first hydraulic cylinder body and the stretching assembly are rotationally connected to the rotating platform, and the first hydraulic cylinder body is rotationally connected with the stretching assembly; the second hydraulic cylinder body is rotationally connected with the stretching assembly, the stretching assembly is rotationally connected with the plug platform through the third hydraulic cylinder body, and the first hydraulic cylinder body, the second hydraulic cylinder body and the third hydraulic cylinder body are used for controlling stretching of the stretching assembly; according to the utility model, the problem of low charging efficiency of the existing ship box type power supply can be solved.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically, it relates to a robotic arm for a box-type power charging station for electric cargo ships. Background Technology

[0002] Currently, charging of containerized power supplies for electric cargo ships primarily relies on manual connection, a process fraught with challenges. Due to the extremely large capacity of these power supplies, the charging power requirements are correspondingly high to meet the demands of high-power charging. To handle the high current, the wiring must have sufficient load-bearing capacity, typically necessitating the use of thicker cables. However, thick cables are not only heavy but also extremely time-consuming and labor-intensive to handle, increasing the difficulty of manual connection. Furthermore, manual operation carries lower safety risks, increasing the likelihood of misoperation or accidents, further amplifying the risks during charging. Therefore, existing charging methods are not only inefficient but also pose significant safety hazards, urgently requiring the search for more efficient and safer solutions.

[0003] In modern shipping, the application of electric cargo ships is gradually increasing, making the charging of their containerized power supplies increasingly important. While traditional manual docking methods could meet basic needs in the initial stages, their drawbacks have become increasingly apparent with technological advancements and rising demands. First, manual docking requires a significant amount of manpower, increasing operating costs and reducing efficiency. Second, due to the large capacity and high charging power requirements of containerized power supplies, thicker cables are needed to carry the high current, significantly increasing the weight and size of the cables, further complicating operations and increasing time costs. Furthermore, the use of thicker cables poses safety hazards; operators are prone to misoperation or accidents when connecting and disconnecting cables, leading to equipment damage or personal injury. Utility Model Content

[0004] In view of this, the present invention provides a robotic arm for a containerized power charging station for electric cargo ships, which can solve the problem of low efficiency in existing containerized power charging systems.

[0005] This utility model is implemented as follows:

[0006] This utility model provides a robotic arm for a box-type power charging station on an electric cargo ship, comprising a mounting chassis, a rotating platform, a cable junction box, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, an extension assembly, a transfer cable, and a plug platform. The rotating platform is rotatably connected to the mounting chassis and fixedly connected to the cable junction box, which is used to dock with the charging station. An input cable is fixed to the cable junction box. The first hydraulic cylinder and the extension assembly are rotatably connected to the rotating platform. The first hydraulic cylinder and the second hydraulic cylinder are rotatably connected to the extension assembly. The extension assembly is rotatably connected to the plug platform via the third hydraulic cylinder. The first, second, and third hydraulic cylinders control the extension of the extension assembly. The plug platform is used to charge the docked box-type power supply.

[0007] Based on the above technical solution, the robotic arm of this utility model for a box-type power charging station for electric cargo ships can be further improved as follows:

[0008] The mounting chassis has a cuboid structure, and a plug fixing lock is fixed to the side wall of the mounting chassis. The plug fixing lock has an L-shaped structure, and the short side of the plug fixing lock is hollow.

[0009] Furthermore, the extension assembly includes a first arm, a second arm, a third arm, a fourth arm, a fifth arm, a sixth arm, a first link, a second link, and a third link. One end of the first arm is rotatably connected to the top surface of the rotating platform via a pivot. The other end of the first arm is rotatably connected to one end of the first link. The other end of the first link is rotatably connected to the third arm. One end of the second hydraulic cylinder is rotatably connected to the first arm. The other end of the second hydraulic cylinder is rotatably connected to the second arm. One end of the second arm is rotatably connected to the inner wall of the first arm. The other end of the second arm is rotatably connected to the inner wall of one end of the third arm.

[0010] The other end of the third arm is rotatably connected to one end of the third link, and the other end of the third link is rotatably connected to the fifth arm.

[0011] Furthermore, one end of the second link is rotatably connected to the second arm, the other end of the second link is rotatably connected to one end of the fourth arm, the other end of the fourth arm is rotatably connected to one end of the fifth arm, the other end of the fifth arm is rotatably connected to one end of the third hydraulic cylinder, the other end of the third hydraulic cylinder is rotatably connected to the plug platform, one end of the fourth link is rotatably connected to the fourth arm, the other end of the fourth link is rotatably connected to one end of the sixth arm, and the other end of the sixth arm is rotatably connected to the plug platform.

[0012] Furthermore, there are two of each of the first, second, third, and fourth links. The two second links are located inside the two first links. The fourth arm passes through the third arm and is rotatably connected to the inner wall of the third arm. The sixth arm passes through the fifth arm and is rotatably connected to the inner wall of the fifth arm.

[0013] Furthermore, the first, second, third, fourth, fifth, and sixth arms are all letter H-shaped frame structures.

[0014] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the support arm of the robotic arm adopts a letter H-shaped frame structure, which can provide strong structural stability and high load-bearing capacity, while also facilitating the assembly and maintenance of various components.

[0015] Furthermore, the plug platform is equipped with a plug rotating shaft, a vertical slide rail, a horizontal slide rail, and a plug. The plug platform is rotatably connected to the sixth arm and the third hydraulic cylinder, respectively. The plug rotating shaft is rotatably connected to the plug platform, the plug rotating shaft is slidably connected to the vertical slide rail, the vertical slide rail is slidably connected to the horizontal slide rail, and the plug is fixed on the horizontal slide rail.

[0016] Furthermore, the plug platform is compatible with the plug locking mechanism.

[0017] Furthermore, one end of the adapter cable is connected to the input cable, the other end of the adapter cable is connected to the plug platform, and the body of the adapter cable is distributed along the extension assembly.

[0018] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: the adapter cable is distributed along the extension component, which can effectively manage the cable length and tension, avoid the cable being pulled or tangled during use, and improve the cable's service life and safety.

[0019] Furthermore, the plug contains a gyroscope and an accelerometer.

[0020] The beneficial effects of adopting the above-mentioned improvement scheme are as follows: The plug platform is equipped with a gyroscope and accelerometer, which provides more intelligent support for the precise positioning and docking of the robotic arm, effectively avoids docking errors, and ensures the safety and accuracy of the charging process.

[0021] Compared with existing technologies, the beneficial effects of the robotic arm for a box-type power charging station on an electric cargo ship provided by this utility model are:

[0022] 1. Traditional charging methods rely on manual operation, requiring manual handling and connection of thick cables, which is time-consuming, labor-intensive, and prone to safety hazards due to improper operation. By using a robotic arm to automatically connect the power source, the intensity of manual labor can be greatly reduced, charging efficiency can be improved, and the safety risks associated with human operation can be avoided. The robotic arm design can automatically connect the plug to the charging station's socket, reducing human intervention, improving the automation and efficiency of the charging process, and ensuring that the electric cargo ship's batteries can be charged quickly and stably.

[0023] 2. The extension assembly, through the linkage of multiple hydraulic cylinders and the outrigger, provides a high degree of extension and rotation flexibility, which can adapt to charging station sockets of different shapes and positions, thus enhancing the applicability of the robotic arm.

[0024] 3. This device can be used as a complete module, flexibly installed on top or side of a charging cabinet, or even at the rear of a mobile charging station truck. This modular design improves the adaptability and versatility of the equipment, allowing for flexible configuration according to different scenarios and meeting the needs of different types of vessels.

[0025] 4. By using multiple thin cables instead of traditional thick cables, the device can provide sufficient high-current charging capacity while also possessing good flexibility and a small bending radius. This design not only significantly reduces the weight of the cables, facilitating transportation and operation, but also effectively saves space and improves the convenience and reliability of the equipment.

[0026] 5. The equipped junction box and control box, working in conjunction with the automatic control module, can automatically locate and connect the charging socket by cooperating with various auxiliary sensors. This intelligent control system improves the system's automation level and ensures the accuracy and efficiency of the charging connection.

[0027] 6. The hydraulic system design enables the charging device to monitor system pressure in real time and automatically adjust when the ship is rolling, ensuring a stable connection of the charging plug and reducing stress during the connection process. This design ensures a stable power supply even when the ship is in an unstable state, improving the reliability of the charging process.

[0028] 7. The control system has a pressure protection function. When the ship moves too far due to violent water surface fluctuations, the system can detect pressure changes, automatically adjust the charging power and release the plug connection to avoid equipment damage or safety accidents caused by excessive movement. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of a robotic arm in the deployed state for a box-type power charging station for electric cargo ships.

[0031] Figure 2 This is a schematic diagram of the retracted state of a robotic arm used in a box-type power charging station for electric cargo ships.

[0032] Figure 3 A top view of a robotic arm used in a box-type power charging station for electric cargo ships.

[0033] The attached diagram lists the components represented by each number as follows:

[0034] 10. Mounting chassis; 11. Plug fixing lock; 20. Rotating platform; 30. Cable junction box; 31. Input cable; 40. First hydraulic cylinder; 50. Second hydraulic cylinder; 60. Third hydraulic cylinder; 70. Extension assembly; 71. First outrigger; 72. Second outrigger; 73. Third outrigger; 74. Fourth outrigger; 75. Fifth outrigger; 76. Sixth outrigger; 77. First connecting rod; 78. Second connecting rod; 79. Third connecting rod; 79. Fourth connecting rod; 80. Adapter cable; 90. Plug platform; 91. Plug rotation shaft; 92. Vertical slide rail; 93. Horizontal slide rail; 94. Plug. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0036] like Figure 1-3The diagram shows a structural schematic of a robotic arm for a box-type power charging station for electric cargo ships provided by this utility model. The structure includes a mounting chassis 10, a rotating platform 20, a cable junction box 30, a first hydraulic cylinder 40, a second hydraulic cylinder 50, a third hydraulic cylinder 60, an extension assembly 70, a transfer cable 80, and a plug platform 90. The rotating platform 20 is rotatably connected to the mounting chassis 10 and is fixedly connected to the cable junction box 30. The cable junction box 30 is used to dock with the charging station, and an input cable 31 is fixed to it. The first hydraulic cylinder 40 and the extension assembly 70 are rotatably connected to the rotating platform 20. The first hydraulic cylinder 40 is rotatably connected to the extension assembly 70, and the second hydraulic cylinder 50 is rotatably connected to the extension assembly 70. The extension assembly 70 is rotatably connected to the plug platform 90 via the third hydraulic cylinder 60. The first hydraulic cylinder 40, the second hydraulic cylinder 50, and the third hydraulic cylinder 60 are used to control the extension of the extension assembly 70. The plug platform 90 is used to charge the docked box-type power supply.

[0037] The mounting chassis 10 is installed on the top or side of the charging cabinet, such as at the rear of a mobile charging station truck or on top of the charging cabinet.

[0038] In the above technical solution, the mounting chassis 10 has a cuboid structure, and a plug fixing lock 11 is fixed to the side wall of the mounting chassis 10. The plug fixing lock 11 has an L-shaped structure, and the short side of the plug fixing lock 11 is a hollow structure.

[0039] The robotic arm is controlled by an automatic control system. It is equipped with position sensors, pressure sensors, and liquid level sensors. The position sensors monitor the position of the socket and plug in real time to ensure accurate alignment during automatic connection. The pressure sensors detect the internal pressure of the system to monitor the connection status and provide pressure protection. The liquid level sensors monitor changes in the coolant level to ensure normal system operation.

[0040] The control system's CPU processes data from various sensors, controls the actions of actuators, and facilitates information exchange between different modules based on sensor inputs. This exchange can be achieved using RS485, CAN bus, or wireless communication to ensure the system's real-time performance and reliability. Simultaneously, it controls the electric cylinder, adjusting its movement via PWM signals, and precisely moves the plug on the slide rail. Based on feedback from the pressure sensor, it adjusts the charger's power output to prevent continued power supply under excessive pressure, thereby releasing the plug connection and protecting the equipment.

[0041] Furthermore, in the above technical solution, the extension assembly 70 includes a first support arm 71, a second support arm 72, a third support arm 73, a fourth support arm 74, a fifth support arm 75, a sixth support arm 76, a first connecting rod 77, a second connecting rod 78, and a third connecting rod 79. One end of the first support arm 71 is rotatably connected to the upper surface of the rotating platform 20 via a rotating shaft. The other end of the first support arm 71 is rotatably connected to one end of the first connecting rod 77. The other end of the first connecting rod 77 is rotatably connected to the third support arm 73. One end of the second hydraulic cylinder 50 is rotatably connected to the first support arm 71. The other end of the second hydraulic cylinder 50 is rotatably connected to the second support arm 72. One end of the second support arm 72 is rotatably connected to the inner wall of the first support arm 71. The other end of the second support arm 72 is rotatably connected to the inner wall of one end of the third support arm 73.

[0042] The other end of the third arm 73 is rotatably connected to one end of the third link 79, and the other end of the third link 79 is rotatably connected to the fifth arm 75.

[0043] Furthermore, in the above technical solution, one end of the second connecting rod 78 is rotatably connected to the second support arm 72, the other end of the second connecting rod 78 is rotatably connected to one end of the fourth support arm 74, the other end of the fourth support arm 74 is rotatably connected to one end of the fifth support arm 75, the other end of the fifth support arm 75 is rotatably connected to one end of the third hydraulic cylinder 60, the other end of the third hydraulic cylinder 60 is rotatably connected to the plug platform 90, one end of the fourth connecting rod 791 is rotatably connected to the fourth support arm 74, the other end of the fourth connecting rod 791 is rotatably connected to one end of the sixth support arm 76, and the other end of the sixth support arm 76 is rotatably connected to the plug platform 90.

[0044] Furthermore, in the above technical solution, there are two of each of the first link 77, the second link 78, the third link 79, and the fourth link 791. The two second links 78 are located inside the two first links 77. The fourth arm 74 passes through the third arm 73 and is rotatably connected to the inner wall of the third arm 73. The sixth arm 76 passes through the fifth arm 75 and is rotatably connected to the inner wall of the fifth arm 75.

[0045] Furthermore, in the above technical solution, the first arm 71, the second arm 72, the third arm 73, the fourth arm 74, the fifth arm 75 and the sixth arm 76 are all letter H-shaped frame structures.

[0046] Furthermore, in the above technical solution, the plug platform 90 is provided with a plug rotating shaft 91, a vertical slide rail 92, a horizontal slide rail 93 and a plug 94. The plug platform 90 is rotatably connected to the sixth support arm 76 and the third hydraulic cylinder body 60, respectively. The plug rotating shaft 91 is rotatably connected to the plug platform 90. The plug rotating shaft 91 is slidably connected to the vertical slide rail 92. The vertical slide rail 92 is slidably connected to the horizontal slide rail 93. The plug 94 is fixed on the horizontal slide rail 93.

[0047] One or more sliders are fixed to the bottom of the vertical slide rail, and these sliders cooperate with the guide rails on the horizontal slide rail. The sliders can slide freely horizontally within the guide rails. The horizontal and vertical slide rails are each driven by an independent electric cylinder. The electric cylinders provide precise position control, ensuring that the plug moves along a predetermined trajectory.

[0048] The control system calculates the correction amount that needs to be applied to the electric cylinder based on sensor data. The electric cylinder adjusts the position of the slide rail according to the correction amount, thereby counteracting or reducing plug wobble and ensuring that the plug is stably inserted into the socket of the box-type power supply.

[0049] Furthermore, in the above technical solution, the plug platform 90 is adapted to the plug fixing lock 11.

[0050] Furthermore, in the above technical solution, one end of the adapter cable 80 is connected to the input cable 31, the other end of the adapter cable 80 is connected to the plug platform 90, and the body of the adapter cable 80 is distributed along the extension assembly 70.

[0051] Furthermore, in the above technical solution, a gyroscope and an accelerometer are installed inside the plug 94.

[0052] Specifically, the principle of this invention is as follows: The control module first initializes all sensors (position sensor, pressure sensor, accelerometer, and gyroscope) and performs a self-test to ensure that each module is working properly. After the self-test is completed, the control module confirms that all sensors are in good condition and prepares to enter the connection mode. The control module issues a command to control the robotic arm to gradually extend to the predetermined position via the hydraulic cylinder, so that the plug can be connected to the socket. During the extension process, the position sensor monitors the position of the robotic arm in real time to ensure that it runs on the correct trajectory. The position sensor continues to monitor the position of the plug and socket in real time. If the plug is detected to be misaligned or has a large deviation, the control module will adjust the action of the hydraulic cylinder so that the robotic arm can fine-tune its position to achieve precise alignment. The accelerometer and gyroscope continuously monitor the shaking frequency and amplitude of the plug and robotic arm in real time. Based on the sensor data, the control module automatically adjusts the movement of the hydraulic cylinder to achieve intelligent compensation and maintain the stability of the connection. During this process, the movement of the robotic arm will be dynamically adjusted according to the rolling of the ship to maintain a stable connection between the plug and the socket. If the ship experiences severe rolling, and the pressure sensor detects a pressure change reaching a set threshold, the control module will immediately issue a command to slowly retract the robotic arm via the hydraulic system, reduce the charger's power, and release the plug connection to prevent equipment damage. The system continuously monitors the status of the robotic arm and plug to ensure timely feedback and appropriate adjustments under any circumstances.

[0053] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A robotic arm for a box-type power charging station on an electric cargo ship, characterized in that, The system includes a mounting chassis, a rotating platform, a cable junction box, a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, an extension assembly, a transfer cable, and a plug platform. The rotating platform is rotatably connected to the mounting chassis and fixedly connected to the cable junction box, which is used to connect to a charging station. An input cable is fixed to the cable junction box. The first hydraulic cylinder and the extension assembly are rotatably connected to the rotating platform. The first and second hydraulic cylinders are rotatably connected to the extension assembly, and the extension assembly is rotatably connected to the plug platform via the third hydraulic cylinder. The first, second, and third hydraulic cylinders control the extension of the extension assembly. The plug platform is used for charging with a docking box-type power supply.

2. The robotic arm for a containerized power charging station for electric cargo ships according to claim 1, characterized in that, The mounting chassis has a cuboid structure, and a plug fixing lock is fixed to the side wall of the mounting chassis. The plug fixing lock has an L-shaped structure, and the short side of the plug fixing lock is hollow.

3. The robotic arm for a containerized power charging station on an electric cargo ship according to claim 2, characterized in that, The extension assembly includes a first arm, a second arm, a third arm, a fourth arm, a fifth arm, a sixth arm, a first link, a second link, and a third link. One end of the first arm is rotatably connected to the top surface of the rotating platform via a pivot. The other end of the first arm is rotatably connected to one end of the first link. The other end of the first link is rotatably connected to the third arm. One end of the second hydraulic cylinder is rotatably connected to the first arm. The other end of the second hydraulic cylinder is rotatably connected to the second arm. One end of the second arm is rotatably connected to the inner wall of the first arm. The other end of the second arm is rotatably connected to the inner wall of one end of the third arm. The other end of the third arm is rotatably connected to one end of the third link, and the other end of the third link is rotatably connected to the fifth arm.

4. The robotic arm for a box-type power charging station for electric cargo ships according to claim 3, characterized in that, One end of the second link is rotatably connected to the second arm, the other end of the second link is rotatably connected to one end of the fourth arm, the other end of the fourth arm is rotatably connected to one end of the fifth arm, the other end of the fifth arm is rotatably connected to one end of the third hydraulic cylinder, the other end of the third hydraulic cylinder is rotatably connected to the plug platform, one end of the fourth link is rotatably connected to the fourth arm, the other end of the fourth link is rotatably connected to one end of the sixth arm, and the other end of the sixth arm is rotatably connected to the plug platform.

5. A robotic arm for a box-type power charging station for electric cargo ships according to claim 4, characterized in that, There are two of each of the first, second, third, and fourth links. The two second links are located inside the two first links. The fourth arm passes through the third arm and is rotatably connected to the inner wall of the third arm. The sixth arm passes through the fifth arm and is rotatably connected to the inner wall of the fifth arm.

6. A robotic arm for a containerized power charging station for electric cargo ships according to claim 5, characterized in that, The first, second, third, fourth, fifth, and sixth arms are all letter H-shaped frame structures.

7. A robotic arm for a containerized power charging station for electric cargo ships according to claim 6, characterized in that, The plug platform is equipped with a plug rotating shaft, a vertical slide rail, a horizontal slide rail, and a plug. The plug platform is rotatably connected to the sixth arm and the third hydraulic cylinder. The plug rotating shaft is rotatably connected to the plug platform. The plug rotating shaft is slidably connected to the vertical slide rail. The vertical slide rail is slidably connected to the horizontal slide rail. The plug is fixed on the horizontal slide rail.

8. A robotic arm for a containerized power charging station for electric cargo ships according to claim 7, characterized in that, The plug platform is compatible with the plug locking mechanism.

9. A robotic arm for a box-type power charging station for electric cargo ships according to claim 8, characterized in that, One end of the adapter cable is connected to the input cable, and the other end of the adapter cable is connected to the plug platform. The body of the adapter cable is distributed along the extension assembly.

10. A robotic arm for a containerized power charging station for electric cargo ships according to claim 9, characterized in that, The plug contains a gyroscope and an accelerometer.

Images