An end effector, a robot arm and a charging robot

Abstract

The utility model relates to a kind of end execution mechanism, mechanical arm and charging robot, end execution mechanism includes first shell and telescopic component, the side wall of first shell is connected with telescopic component, the first end of first shell is used for rotatable assembly, second end is free end, in the direction from the first end to the second end of first shell, the included angle of the telescoping direction of first shell and telescopic component is acute angle. First shell and telescopic component are L-shaped structure, this layout can realize space folding, so that the structure of end execution mechanism is more compact, and the space occupied is smaller.

Description

Technical Field

[0001] This utility model relates to the field of charging technology, specifically to an end effector, a robotic arm, and a charging robot. Background Technology

[0002] With the development of automotive technology, the number of electric vehicles is increasing. To improve charging efficiency and save labor costs, charging robots are often used to automatically charge electric vehicles. However, in related technologies, the end effector of the charging robot occupies a large space, which means that the charging robot still occupies a significant amount of space even when it is not in operation. Utility Model Content

[0003] One objective of this utility model is to provide an end effector to solve the problem that the end effector of the charging robot occupies a large space in the prior art; another objective is to provide a robotic arm; and a third objective is to provide a charging robot.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] An end effector includes a first housing and a telescopic assembly. The sidewall of the first housing is connected to the telescopic assembly. A first end of the first housing is rotatably mounted, and a second end is a free end. The angle between the first housing and the telescopic direction of the telescopic assembly in the direction from the first end to the second end of the first housing is an acute angle.

[0006] According to the aforementioned technical means, the first housing and the telescopic assembly have an L-shaped structure. This layout allows for spatial folding, making the end effector more compact and space-saving. Furthermore, after the telescopic assembly is connected to the automatic charging head, the automatic charging head is positioned along the telescopic direction. Compared to the direction perpendicular to the first end to the second end, and the direction along the first end to the second end, the automatic charging head is tilted. This results in a smaller space occupation for the automatic charging head in both the direction perpendicular to the first end to the second end and the direction along the first end to the second end. This makes it easier to store the end effector carrying the automatic charging head, requiring less space.

[0007] Furthermore, the end effector also includes an image acquisition unit, which is disposed on the side wall of the first housing. The image acquisition unit is located between the first end and the telescopic component, and the image acquisition unit and the telescopic component are located on the same side of the side wall of the first housing.

[0008] According to the above technical means, the telescopic component is tilted away from the first end, and the image acquisition unit is located between the first end and the telescopic component. The telescopic component reduces the obstruction of the field of view of the image acquisition unit, the image acquisition unit has a larger field of view, the visual recognition success rate is higher, and the image acquisition unit can better obtain the position of the charging port to improve the positioning accuracy of the charging port.

[0009] Furthermore, the first housing has a receiving cavity, and the side wall of the first housing has a first mounting hole, the receiving cavity and the first mounting hole are connected; the image acquisition unit includes a camera module and a protective cover, the camera module is disposed in the receiving cavity, the protective cover is disposed in the first mounting hole, and the surface of the protective cover facing away from the camera module is flush with the side wall of the first housing.

[0010] According to the above technical means, when the camera module is equipped with a housing cavity, the camera module is protected by the first housing and the protective cover, which can prevent accidental external impacts from damaging or recalibrating the camera module. The surface of the protective cover facing away from the camera module is flush with the side wall of the first housing, which gives the end effector a better appearance and further prevents accidental external impacts on the protective cover from affecting the camera module.

[0011] Furthermore, the side wall of the first housing is provided with an inwardly recessed mounting groove, and one end of the telescopic component is connected to the bottom of the mounting groove.

[0012] Based on the above technical means, the volume of the first housing and the telescopic component after connection can be reduced, and the end effector occupies less space, making it easier to store.

[0013] Furthermore, the telescopic assembly includes a second housing, a third housing, and a driving member; the second housing is connected to the side wall of the first housing, and an annular groove is provided on the side of the second housing opposite to the first housing; one end of the third housing is inserted into the annular groove, and the third housing is slidably connected to the second housing; the driving member is connected to the second housing and the third housing respectively, and the driving member pushes the third housing to move in the telescopic direction.

[0014] According to the above-mentioned technical means, when the telescopic component is in use, the extension of the driving component drives the third housing to move away from the second housing, thus extending the length of the telescopic component to meet the requirements of automatic charging gun insertion; when the driving component shortens, it drives the third housing to move towards the second housing, thus reducing the length of the telescopic component. This results in a smaller space occupied by the end effector and easier storage. The telescopic component achieves extension or shortening through the second housing, the third housing, and the driving component, and also has the advantage of simple structure.

[0015] Furthermore, the end effector also includes a thrust detection unit, which is connected to the drive component. The thrust detection unit is used to detect the thrust of the drive component and to output the thrust signal.

[0016] Based on the above technical means, when the automatic charging gun head collides or deflects too much, resulting in excessive propulsion force of the driving component, the propulsion force detection unit outputs a propulsion force signal to adjust the position and attitude of the automatic charging gun head in real time through the robotic arm and end effector, so as to improve the success rate of plugging in the gun.

[0017] Furthermore, the end effector also includes a flexible arm, which is connected to the end of the telescopic assembly away from the first housing, and the other end of the flexible arm is connected to the automatic charging gun head.

[0018] Based on the aforementioned technical means, the flexible arm is used to adapt the automatic charging gun head to the pitch and roll angle changes of the charging port of different electric vehicles, which can realize the passive and smooth insertion and removal of the automatic charging gun head during the process of inserting the automatic charging gun head into the charging port and during the process of pulling it out after charging.

[0019] Furthermore, the end effector also includes a pose sensor, which is disposed between the flexible arm and the automatic charging gun head. The pose sensor is used to detect the deflection angle of the automatic charging gun head and to output the deflection angle signal.

[0020] Based on the above technical means, the deflection angle of the automatic charging gun head can be detected by the posture sensor and the signal of the deflection angle can be output. Then, the movement of the robotic arm and the end effector can be controlled to actively compensate for errors, reduce the precision requirements of the robotic arm and the end effector, effectively increase the success rate of charging gun insertion, and avoid damage to the automatic charging gun head, robotic arm, electric vehicle, etc.

[0021] Furthermore, the first housing has a columnar structure, and the first housing is away from the sidewall of the telescopic assembly and parallel to the direction from the first end to the second end of the first housing.

[0022] According to the above technical means, the first housing occupies less space in the direction perpendicular to the first end to the second end because the side wall away from the telescopic component is smaller. In addition, when the first housing has a columnar structure, the space occupied by the end actuator in the direction perpendicular to the first end to the second end can be reduced, which makes it easier to store.

[0023] A robotic arm, comprising an end effector as described above.

[0024] A charging robot includes a mounting base, an automatic charging gun, and a robotic arm as described above; the robotic arm is connected to the mounting base, and the end effector of the robotic arm is connected to the automatic charging gun.

[0025] The beneficial effects of this utility model are:

[0026] (1) In the end effector of this utility model, the first housing and the telescopic component are in an L-shaped structure. This layout can realize spatial folding, making the end effector structure more compact and occupying less space.

[0027] (2) The telescopic component of this utility model is tilted away from the first end. The image acquisition unit is located between the first end and the telescopic component. The telescopic component reduces the obstruction of the field of view of the image acquisition unit. The image acquisition unit has a larger field of view and a higher visual recognition success rate. The image acquisition unit can better obtain the position of the charging port to improve the positioning accuracy of the charging port.

[0028] (3) When the automatic charging gun head of this utility model collides or deflects too much, resulting in excessive propulsion force of the driving component, the propulsion force detection unit outputs the propulsion force signal so as to adjust the position and attitude of the automatic charging gun head in real time through the robotic arm and end effector to improve the success rate of plugging in the gun.

[0029] (4) The present invention can detect the deflection angle of the automatic charging gun head through the posture sensor and output the deflection angle signal. Then, it can actively compensate for errors by controlling the movement of the robotic arm and the end effector, reduce the precision requirements of the robotic arm and the end effector, effectively increase the success rate of charging gun insertion, and avoid damage to the automatic charging gun head, robotic arm, electric vehicle, etc. Attached Figure Description

[0030] Figure 1 A schematic diagram of the structure of an end effector in an extended state, provided for some embodiments of this utility model;

[0031] Figure 2 A schematic diagram of the structure of an end effector in a retracted state, provided for some embodiments of this utility model;

[0032] Figure 3 A top view of an end effector is provided for some embodiments of this utility model.

[0033] Figure 4 for Figure 4 A schematic diagram of the structure in the A-A sectional view;

[0034] Figure 5 This is a structural schematic diagram of an exploded view of an end effector provided for some embodiments of the present invention;

[0035] Figure 6 This is a structural schematic diagram of a charging robot in a stowed state, provided for some embodiments of the present invention;

[0036] Figure 7 for Figure 6 A structural schematic diagram of the B-B sectional view;

[0037] Figure 8 Schematic diagram of the robotic arm in the rising or falling position provided in some embodiments of this utility model Figure 1 ;

[0038] Figure 9 Schematic diagram of the robotic arm in the rising or falling position provided in some embodiments of this utility model Figure 2 ;

[0039] Figure 10 This is a structural schematic diagram of the robotic arm in its deployed state, provided for some embodiments of this utility model.

[0040] in,

[0041] 100. End effector;

[0042] 10. First housing; 101. Side wall; 102. First end; 103. Second end; 104. Receiving cavity; 105. First mounting hole; 106. Mounting groove; 107. Second mounting hole; 108. First end plate;

[0043] 11. Telescopic assembly; 111. Second housing; 112. Third housing; 113. Annular groove; 114. First mounting block; 115. Second mounting block; 116. Drive component; 117. Second end plate;

[0044] 12. Image acquisition unit; 121. Camera module; 122. Protective cover;

[0045] 13. Flexible arm;

[0046] 14. Pose sensor;

[0047] 200. Lifting mechanism; 21. Lifting power module; 22. Lead screw; 23. Slide table; 24. Lifting shaft; 25. Lifting housing; 26. Coupling;

[0048] 300. Robotic arm; 31. First rotating arm; 32. Second rotating arm;

[0049] 400. Mounting base; 41. First receiving cavity;

[0050] 500. Automatic charging gun head; 600. Control mechanism;

[0051] X: width direction; Y: thickness direction; Z: height direction. Detailed Implementation

[0052] The embodiments of this utility model will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be understood that the preferred embodiments are only for illustrating this utility model and not for limiting the scope of protection of this utility model.

[0053] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0054] With the increasing number of electric vehicles, their safety and convenience have become crucial issues to consider during their use. In related technologies, charging robots are commonly used to automatically charge these vehicles, offering advantages such as high charging efficiency and reduced labor costs. However, the robotic arm 300 of the charging robot is exposed without corresponding protective measures or structures, making it susceptible to damage from external impacts when not in operation. This affects the lifespan and control accuracy of the charging robot.

[0055] This application provides an end effector 100, a robotic arm 300, and a charging robot. The charging robot includes a robotic arm 300, which includes an end effector 100. The end effector 100 is rotatably mounted on the robotic arm 300. The end effector 100 has a compact structure and occupies little space, which allows the robotic arm 300 to be folded into a smaller size. This facilitates the storage of the robotic arm 300 and prevents it from being damaged by external collisions when not in use, thus affecting the service life and control accuracy of the charging robot.

[0056] The following is in conjunction with the appendix Figures 1-10 This application provides a detailed description of the end effector 100, robotic arm 300, and charging robot through specific embodiments and application scenarios. The charging robot is used to charge vehicles, including electric cars, two-wheeled / three-wheeled electric vehicles, electric excavators, electric forklifts, etc. The following description uses the example of a charging robot automatically charging an electric car.

[0057] In some embodiments, refer to Figure 1 As shown, the end effector 100 includes a first housing 10 and a telescopic assembly 11. The side wall 101 of the first housing 10 is connected to the telescopic assembly 11. The first end 102 of the first housing 10 is rotatably assembled, and the second end 103 is a free end. In the direction from the first end 102 to the second end 103 of the first housing 10, the angle between the telescopic direction of the first housing 10 and the telescopic direction of the telescopic assembly 11 is an acute angle.

[0058] In use, the end effector 100 is rotatably mounted on the robotic arm 300 via the first end 102 of the first housing 10. The end effector 100 is connected to the automatic charging gun head 500 via a telescopic assembly 11. The end effector 100 can rotate during use to align the automatic charging gun head 500 with the charging port of the charging vehicle, and to rotate the automatic charging gun head 500 to a suitable position for storage. Furthermore, referring to… Figure 1 As shown, the telescopic component 11 can also extend, allowing the automatic charging gun head 500 to be inserted into the charging port. Further reference... Figure 2 As shown, the telescopic component 11 can also be shortened. After the telescopic component 11 is shortened, the end effector 100 occupies less space, making it easier to store.

[0059] The end effector 100 of this application embodiment has an L-shaped structure for the first housing 10 and the telescopic component 11. This layout allows for spatial folding, making the end effector 100 more compact and space-saving. Furthermore, after the telescopic component 11 is connected to the automatic charging head 500, the automatic charging head 500 is positioned along the telescopic direction. Relative to the direction perpendicular to the first end 102 to the second end 103 and the direction along the first end 102 to the second end 103, the automatic charging head 500 is tilted. This results in a smaller space occupation in both the direction perpendicular to the first end 102 to the second end 103 and the direction along the first end 102 to the second end 103, further reducing the space occupied by the end effector 100 when carrying the automatic charging head 500 for storage, thus facilitating storage.

[0060] In some possible implementations, refer to Figure 1 and Figure 2 As shown, the end effector 100 also includes an image acquisition unit 12, which is disposed on the side wall 101 of the first housing 10. The image acquisition unit 12 is located between the first end 102 and the telescopic component 11, and the image acquisition unit 12 and the telescopic component 11 are located on the same side of the side wall 101 of the first housing 10.

[0061] In this embodiment, the first housing 10 and the telescopic component 11 have an L-shaped structure, and the telescopic component 11 is inclined away from the first end 102. The image acquisition unit 12 is located between the first end 102 and the telescopic component 11. The telescopic component 11 reduces the obstruction of the field of view of the image acquisition unit 12, giving the image acquisition unit 12 a larger field of view and a higher visual recognition success rate. The image acquisition unit 12 can better acquire the position of the charging port to improve the positioning accuracy of the charging port. Moreover, referring to... Figure 1 As shown, the image acquisition unit 12 does not protrude from the first housing 10, which is beneficial for the first housing 10 to protect the image acquisition unit 12, avoid damage or recalibration of the image acquisition unit 12 caused by accidental collisions from the outside, and reduce the later maintenance cost.

[0062] Compared to the current technology where the image acquisition unit 12 and the end effector 100 are set separately, in this embodiment of the application, the image acquisition unit 12 and the telescopic component 11 are respectively integrated on the first housing 10 of the end effector 100. The positional relationship between the image acquisition unit 12 and the telescopic component 11 is more accurate, with better positioning accuracy and integration, which is conducive to later maintenance and calibration. Moreover, the end effector 100 is more compact, which is conducive to the storage of the end effector 100 and its application in more scenarios.

[0063] In some possible implementations, refer to Figure 3 and Figure 4 As shown, the first housing 10 has a receiving cavity 104 inside, and the side wall 101 of the first housing 10 has a first mounting hole 105. The receiving cavity 104 and the first mounting hole 105 are connected. The image acquisition unit 12 includes a camera module 121 and a protective cover 122. The camera module 121 is disposed in the receiving cavity 104, and the protective cover 122 is disposed in the first mounting hole 105. The surface of the protective cover 122 facing away from the camera module 121 is flush with the side wall 101 of the first housing 10.

[0064] In this embodiment, the camera module 121 is used to acquire image information, and the protective cover 122 is used to protect the camera module 121. When the camera module 121 is provided with the accommodating cavity 104, the camera module 121 is protected by the first housing 10 and the protective cover 122, preventing damage or recalibration of the camera module 121 due to accidental external impacts. The surface of the protective cover 122 facing away from the camera module 121 is flush with the side wall 101 of the first housing 10, giving the end effector 100 a better appearance and further preventing accidental external impacts on the protective cover 122 from affecting the camera module 121.

[0065] It is understandable that the protective cover 122 is made of a transparent material, such as acrylic.

[0066] In some possible implementations, refer to Figure 1 As shown, the side wall 101 of the first housing 10 has an inwardly recessed mounting groove 106, and one end of the telescopic component 11 is connected to the bottom of the mounting groove 106. In this way, the volume of the first housing 10 and the telescopic component 11 after connection is reduced, and the end effector 100 occupies less space, making it easier to store.

[0067] In some possible implementations, refer to Figure 4 and 5 As shown, the telescopic assembly 11 includes a second housing 111, a third housing 112, and a drive member 116. The second housing 111 is connected to the side wall 101 of the first housing 10. An annular groove 113 is provided on the side of the second housing 111 away from the first housing 10 to serve as a guide. One end of the third housing 112 is inserted into the annular groove 113, and the third housing 112 and the second housing 111 are slidably connected in the telescopic direction. The drive member 116 is connected to the second housing 111, and the driving end of the drive member 116 is connected to the third housing 112. The drive member 116 drives the third housing 112 to move in the telescopic direction.

[0068] In use, the telescopic component 11 of this embodiment extends, driving the third housing 112 away from the second housing 111, thus lengthening the telescopic component 11 to meet the insertion requirements of the automatic charging gun head 500; conversely, when the driving component 116 shortens, it drives the third housing 112 towards the second housing 111, reducing the length of the telescopic component 11. This results in a smaller space occupied by the end effector 100, making it easier to store. The telescopic component 11 achieves extension or shortening through the second housing 111, the third housing 112, and the driving component 116, offering the advantage of a simple structure.

[0069] Reference Figure 4 and 5 As shown, the second housing 111 has an elliptical cylindrical structure. The end of the second housing 111 connected to the first housing 10 is inclined relative to the centerline of the second housing 111. An annular groove 113 is provided on the side of the second housing 111 away from the first housing 10. After the third housing 112 is inserted into the annular groove 113, the second end plate 117 covers the annular groove 113 to prevent the third housing 112 from falling out of the second housing 111. It can be understood that corresponding structures can also be provided between the second housing 111 and the third housing 112 to ensure smooth and precise relative movement between the second housing 111 and the third housing 112.

[0070] The shape of the third housing 112 can be set according to the usage requirements. For example, the third housing 112 is a sleeve-shaped structure, with one end of the third housing 112 inserted into the second housing 111 and the other end of the third housing 112 connected to the flexible arm 13.

[0071] In some possible implementations, the end effector further includes a thrust detection unit [not shown in the figure], which is connected to the drive member 116. The thrust detection unit is used to detect the thrust of the drive member 116 and to output a thrust signal.

[0072] In this embodiment, the driving component 116 is used to push the automatic charging gun head 500 into the charging port. When the automatic charging gun head 500 collides or deflects too much, causing the driving force of the driving component 116 to be too large, the driving force detection unit outputs the driving force signal so as to adjust the position and attitude of the automatic charging gun head 500 in real time through the robotic arm 300 and the end effector 100 to improve the success rate of insertion.

[0073] It is understandable that the thrust detection unit can be a variety of structures that can directly or indirectly detect the thrust of the drive component 116. For example, if the drive component 116 is an electric cylinder, when the thrust of the electric cylinder exceeds the safety threshold, the insertion state recognition and collision detection can be achieved by detecting the stall current fluctuation of the electric cylinder.

[0074] In some possible implementations, the drive component 116 is a linearly driven component such as an electric cylinder or a linear motor, which can provide precise axial thrust.

[0075] In some possible implementations, the end effector 100 further includes a flexible arm 13, which is connected to the end of the telescopic assembly 11 opposite to the first housing 10, and the other end of the flexible arm 13 is connected to the automatic charging head 500. Moreover, the drive member 116, the flexible arm 13, and the automatic charging head 500 are coaxially designed, which helps to reduce the installation error of the end effector 100 and also reduces the difficulty of calibrating the end effector 100.

[0076] In this embodiment, the flexible arm 13 serves as the output end of the end effector 100. The flexible arm 13 is used to adapt the automatic charging gun head 500 to the pitch and roll angles of different electric vehicle charging ports. This allows for passive and compliant insertion and removal of the automatic charging gun head 500 during insertion into the charging port and after charging. It is understood that this embodiment does not specifically limit the flexible arm 13; it can be any conventional structure capable of three-dimensional movement and possessing a certain rigidity. Thus, when there is a slight deviation between the automatic charging gun head 500 and the charging port, the flexible arm 13 can compensate for this deviation through its own deformation, ensuring that the automatic charging gun head 500 can be accurately and stably inserted into the charging port. Furthermore, after the automatic charging gun head 500 is removed, the flexible arm 13 can automatically return to its original position.

[0077] In some possible implementations, the end effector 100 also includes a pose sensor 14, which is disposed between the flexible arm 13 and the automatic charging head 500. The pose sensor 14 is used to detect the deflection angle of the automatic charging head 500 and to output a signal of the deflection angle.

[0078] The posture sensor 14 in this embodiment can detect the deflection angle of the automatic charging gun head 500 and output the deflection angle signal. In turn, error compensation can be performed by controlling the actions of the robotic arm 300 and the end effector 100, reducing the accuracy requirements of the robotic arm 300 and the end effector 100, effectively increasing the success rate of charging gun insertion, and avoiding damage to the automatic charging gun head 500, the robotic arm 300, electric vehicles, etc.

[0079] Understandably, the flexible arm 13 can provide a certain range of error compensation [for example, achieving ±1mm offset / ±5° deflection compensation]. When the compensation range is exceeded, the end effector 100 can detect the deflection angle of the automatic charging gun head 500 through the pose sensor 14 and output the signal of the deflection angle. The robotic arm 300 and the end effector 100 actively compensate for this, thereby improving the success rate of charging gun insertion.

[0080] In some possible implementations, the pose sensor 14 can be either an inertial measurement unit (IMU) or a strain gauge, whichever meets the usage requirements.

[0081] In some possible implementations, the first housing 10 has a columnar structure, and the first housing 10 is parallel to the direction from the first end 102 to the second end 103 of the first housing 10, away from the side wall 101 of the telescopic assembly 11. In this way, the first housing 10 occupies less space in the direction perpendicular to the first end 102 to the second end 103, and when the first housing 10 has a columnar structure, the space occupied by the end effector 100 in the direction perpendicular to the first end 102 to the second end 103 can be reduced, making it easier to store.

[0082] Reference Figure 5As shown, the first housing 10 includes a main housing and a first end plate 108. A mounting groove 106 is provided on the main housing, and a second mounting hole 107 is provided on the side of the main housing opposite to the mounting groove 106. The first end plate 108 is connected to the main housing by screws or other fasteners to seal the second mounting hole 107. A through hole is provided at the upper end of the main housing for installing wire harnesses, etc. In this application example, a wire harness can be installed inside the main housing. This wire harness is led out through the through hole for connection to the control mechanism 600. The wire harness is also connected to the automatic charging gun head 500, the drive component 116, etc. The first housing 10 is connected to the second housing 111 by screws. The drive component 116 is mounted on the second housing 111 by a second mounting block 115, and the drive component 116 is mounted on the third housing 112 by a first mounting block 114.

[0083] The end effector 100, image acquisition unit 12, and telescopic component 11 disclosed in this application are all mounted on a first housing 10. The first housing 10 acts as a mounting bracket for support and installation, and also serves as a connection structure for rotatable assembly onto the robotic arm 300. The end effector 100 is rotatably mounted onto the robotic arm 300 via the first housing 10. When the charging robot is in a retracted state, the drive component 116 is in a retracted state, such as... Figure 2 As shown. When the charging robot starts working, it obtains the pose information of the charging port through the image acquisition unit 12 installed on the first housing 10. The robotic arm 300 moves to the front of the charging port according to the trajectory planning, and the end effector 100 performs the insertion action, such as... Figure 1 As shown.

[0084] The end effector 100 disclosed in this application, when the charging robot begins the charging gun insertion action, the drive component 116 pushes the third housing 112 to move axially, and the third housing 112 and the second housing 111 slide relative to each other. The drive component 116 can provide precise propulsion force during insertion. When the automatic charging gun head 500 collides or deviates too much during insertion, the insertion status can be determined by the propulsion force detection unit that detects the stall current value of the drive component 116. When the current value exceeds the threshold, it indicates an insertion failure. At this time, the drive component 116 stops the insertion action and begins to retract. When the automatic charging gun head 500 deviates slightly from the charging port, it can be corrected by the flexible arm 13 behind the automatic charging gun head 500. The flexible arm 13 can provide a certain range of error compensation, reducing the requirements of the end effector and the robotic arm 300 for gun insertion accuracy, and can effectively reduce costs. Meanwhile, a pose sensor 14 is installed between the flexible arm 13 and the automatic charging gun head 500, which can detect the deflection of the automatic charging gun head 500 in real time. When the deflection angle of the automatic charging gun head 500 exceeds the threshold, the robotic arm 300 can adjust its position in real time according to the information output by the pose sensor 14 to achieve position compensation, which can effectively improve the success rate of charging gun insertion.

[0085] The end effector 100 disclosed in this application has a high degree of integration, the image acquisition unit 12 is not obstructed, and it has a pose sensor 14 that can actively compensate for errors. Therefore, it can reduce the active degree of freedom required by the robotic arm 300 using the end effector 100, better control costs, and strongly facilitate the wide application of the robotic arm 300.

[0086] In some embodiments, a robotic arm 300 is provided, comprising an end effector 100, a first rotating arm 31, and a second rotating arm 32 as described above. A charging robot is also provided, comprising a mounting base 400, a lifting mechanism 200, an automatic charging gun 500, and the robotic arm 300 as described above; the robotic arm 300 is connected to the mounting base 400, and the end effector 100 of the robotic arm 300 is connected to the automatic charging gun 500.

[0087] Reference Figure 7 As shown, when the charging robot is in its stowed state, the extension directions of the first rotating arm 31 and the second rotating arm 32 are parallel to the width direction X of the charging robot. In the width direction X, the lower side of the first end of the first rotating arm 31 is rotatably connected to the upper side of the first end of the lifting housing 25 of the lifting mechanism 200; the upper side of the second end of the first rotating arm 31 is rotatably connected to the lower side of the second end of the second rotating arm 32; and the lower side of the first end of the second rotating arm 32 is rotatably connected to the upper end of the end effector 100. Figure 7 As an example, the right side of the lifting mechanism 200 is the first end and the left side is the second end; the right side of the first rotating arm 31 is the first end and the left side is the second end; the right side of the second rotating arm 32 is the first end and the left side is the second end.

[0088] When in use, the telescopic component 11 of the end effector 100 can extend, allowing the automatic charging gun head 500 to be inserted into the charging port of the electric vehicle, giving the charging robot a high degree of flexibility. In the retracted state, the telescopic component 11 retracts to its shortest length, saving space occupied by the end effector 100. Thus, in the retracted state, the charging robot has the advantage of a small size.

[0089] When in its stowed state, the charging robot can be folded by the relative rotation of the lifting mechanism 200, the first rotating arm 31, the second rotating arm 32, and the end effector 100. (Refer to...) Figure 8As shown, the automatic charging gun head 500 is positioned facing the lifting mechanism 200, which can make full use of the space between the lower side of the second rotating arm 32 and the lifting mechanism 200. The gap between the automatic charging gun head 500 and the lifting mechanism 200 can be smaller. In this way, the space occupied by the robotic arm 300 is smaller, which is conducive to the robotic arm 300 being stored in the first accommodating cavity 41 of the mounting base 400. This also makes the space occupied by the charging robot smaller, and the charging robot has lower requirements for site layout, which is conducive to the application of the charging robot in more scenarios.

[0090] In the working state, the lifting mechanism 200 moves upward, with its upper end extending out of the first receiving cavity 41, and the first rotating arm 31, the second rotating arm 32, the end effector 100, and the automatic charging gun head 500 are moved out of the first receiving cavity 41. During the extension process, the robotic arm 300 remains in a folded state, as... Figure 8 and Figure 9 As shown. After the first rotating arm 31, the second rotating arm 32, the end effector 100, and the automatic charging gun head 500 are completely removed from the first receiving cavity 41, the first rotating arm 31, the second rotating arm 32, and the end effector 100 can be controlled to rotate relative to each other to unfold, as shown. Figure 10 As shown, the lifting mechanism 200, the first rotating arm 31, the second rotating arm 32, and the end effector 100 are arranged in a straight line away from each other, and the telescopic component 11 is extended to its maximum length. The robotic arm 300 is at its longest length after being unfolded, and the charging robot can be used in a variety of scenarios.

[0091] In this embodiment of the charging robot, the lifting mechanism 200 is parallel to the direction from the first end 102 to the second end 103 of the first housing 10, and the side wall of the first housing 10 is arranged along the lifting direction. Thus, when the automatic charging gun head 500 faces the lifting mechanism 200, the end effector 100 and the automatic charging gun head 500 will not occupy additional space in the width direction X, and the charging robot occupies less space. Moreover, in the stored state, the distance between the side wall of the first housing 10 and the cavity wall of the first accommodating cavity 41 can be set to be smaller, so as to further save the volume of the charging robot.

[0092] In some possible implementations, refer to Figure 7As shown, the lifting mechanism 200 includes a lifting power module 21, a lifting shaft 24, a lifting housing 25, at least two lead screws 22, and at least two slides 23. The lifting power module 21 is fixedly connected to the mounting base 400; the lead screws 22 are connected to the output end of the lifting power module 21 via a coupling 26 or other components, and the lead screws 22 are rotatably connected to the mounting base 400. Each lead screw 22 is rotatably connected to one slide 23, and all lead screws 22 are connected to the lifting shaft 24 via the slides 23. The lifting shaft 24 is fixedly connected to the lifting housing 25. In use, the lifting mechanism 200 of this embodiment drives the lead screws 22 to rotate, and the rotation of the lead screws 22 transmits torque to the slides 23. The sliding surfaces 23 move up and down, causing the lifting shaft 24 to move up and down, which in turn causes the lifting housing 25 to move up and down. The lifting housing 25 is connected to the robotic arm 300, and the lifting housing 25 drives the robotic arm 300 to move up and down.

[0093] In this application example, the lifting mechanism 200 is equipped with at least two lead screws 22, and all lead screws 22 are respectively connected to the lifting shaft 24 for transmission. This allows for a more precise movement path of the lifting shaft 24, resulting in a more precise lifting path for the robotic arm 300. This avoids situations where the robotic arm 300 and the automatic charging gun head 500 cannot move into the mounting base 400 due to skewness during lifting, or damage to the robotic arm 300 and the automatic charging gun head 500 due to collisions with the mounting base 400. The more precise lifting path of the robotic arm 300 also allows for a smaller distance between the robotic arm 300 and the cavity wall of the first accommodating cavity 41 of the mounting base 400. This makes the structure of the charging robot more compact in its stored state, resulting in a smaller size and making the charging robot suitable for use in various environments, thus broadening its application range.

[0094] Each slide 23 is connected to a lead screw 22 to form a lead screw module structure, which has the advantages of simple structure and stability. When all slides 23 are fixedly connected to the lifting shaft 24, all slides 23 can only move along the height direction Z and cannot rotate. Therefore, the rotation of the lead screw 22 can drive the slides 23 to move.

[0095] It is understandable that the number of lead screws 22 can be set according to the usage requirements. For example, there can be two or three lead screws 22. Of course, there can also be only one lead screw 22. In the case of only one lead screw 22, a corresponding structure to restrict the rotation of the slide table 23 needs to be set.

[0096] In some other embodiments, the lifting mechanism 200 can also be configured as an electric telescopic rod, a cylinder, a hydraulic cylinder, etc., and other devices that can achieve lifting can also be selected according to the actual situation, such as a gear and rack combination, a lifting platform, etc.

[0097] In the charging robot, the width direction X is greater than the thickness direction Y. When in the storage state, the robotic arm 300 is set along the width direction X, so the charging robot has a small size and can be used in a variety of scenarios.

[0098] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this utility model are not limited to the described order of actions, because according to the embodiments of this utility model, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to the embodiments of this utility model.

[0099] The above embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model are all within the protection scope of the present utility model.

Claims

1. An end effector, characterized in that, The end effector includes a first housing (10) and a telescopic assembly (11), wherein the sidewall (101) of the first housing (10) is connected to the telescopic assembly (11). The first end (102) of the first housing (10) is rotatably assembled, and the second end (103) is a free end. In the direction from the first end (102) to the second end (103) of the first housing (10), the angle between the first housing (10) and the telescopic assembly (11) telescopic direction is an acute angle.

2. The end effector according to claim 1, characterized in that, The end effector further includes an image acquisition unit (12), which is disposed on the side wall (101) of the first housing (10). The image acquisition unit (12) is located between the first end (102) and the telescopic component (11), and the image acquisition unit (12) and the telescopic component (11) are located on the same side of the side wall (101) of the first housing (10).

3. The end effector according to claim 2, characterized in that, The first housing (10) has a receiving cavity (104) inside, and the side wall (101) of the first housing (10) has a first mounting hole (105). The receiving cavity (104) and the first mounting hole (105) are connected. The image acquisition unit (12) includes a camera module (121) and a protective cover (122). The camera module (121) is disposed in the accommodating cavity (104), and the protective cover (122) is disposed in the first mounting hole (105). The surface of the protective cover (122) facing away from the camera module (121) is flush with the side wall (101) of the first housing (10).

4. The end effector according to claim 1, characterized in that, The sidewall (101) of the first housing (10) is provided with an inwardly recessed mounting groove (106), and one end of the telescopic component (11) is connected to the bottom of the mounting groove (106).

5. The end effector according to claim 1, characterized in that, The telescopic assembly (11) includes a second housing (111), a third housing (112), and a drive component (116); The second housing (111) is connected to the side wall (101) of the first housing (10). An annular groove (113) is provided on the side of the second housing (111) away from the first housing (10). One end of the third housing (112) is inserted into the annular groove (113). The third housing (112) is slidably connected to the second housing (111). The drive member (116) is connected to the second housing (111) and the third housing (112) respectively, and the drive member (116) pushes the third housing (112) to move in the telescopic direction.

6. The end effector according to claim 5, characterized in that, The end effector further includes a thrust detection unit, which is connected to the drive member (116). The thrust detection unit is used to detect the thrust of the drive member (116) and to output the thrust signal.

7. The end effector according to claim 1, characterized in that, The end effector also includes a flexible arm (13), which is connected to the end of the telescopic assembly (11) away from the first housing (10), and the other end of the flexible arm (13) is used to connect to the automatic charging gun head (500).

8. The end effector according to claim 7, characterized in that, The end effector also includes a pose sensor (14), which is located between the flexible arm (13) and the automatic charging gun head (500). The pose sensor (14) is used to detect the deflection angle of the automatic charging gun head (500) and to output the deflection angle signal.

9. The end effector according to claim 1, characterized in that, The first housing (10) has a columnar structure. The first housing (10) is away from the side wall (101) of the telescopic assembly (11) and is parallel to the direction from the first end (102) to the second end (103) of the first housing (10).

10. A robotic arm, characterized in that, Includes the end effector as described in any one of claims 1-9.

11. A charging robot, characterized in that, It includes a mounting base (400), an automatic charging gun head (500), and a robotic arm as described in claim 10; the robotic arm is connected to the mounting base (400), and the end effector of the robotic arm is connected to the automatic charging gun head (500).

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