Robot Wrist and Linkage Motion for Automated EV Plug Positioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing charging systems for electric vehicles are inefficient and complex, particularly when it comes to autonomous charging robots, which are bulky and require manual intervention for efficient plug connection and positioning.
Innovation Solution
A motion system for robots that incorporates a linear actuation system, kinematic links, and a wrist element, allowing for coordinated movement and efficient tool positioning relative to a ground plate, thereby simplifying the charging process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If autonomous charging robots are used, then the charging process is automated, but the robot becomes bulky and complex
Solution Approach 1:
The robot is divided into modular subsystems: a mobile base unit and a detachable charging arm assembly. The charging arm can be separated from the base, allowing the robot to function as either a mobile charger or a stationary mounting structure, thereby reducing overall complexity while maintaining automation capability
Solution Approach 2:
The charging arm incorporates dynamically adjustable components including a rotatable wrist joint and extendable positioning mechanism. These dynamic elements allow the arm to adapt its configuration based on vehicle position and charging requirements, enabling automated charging without requiring a permanently complex rigid structure
2Extent of automation
If a robot arm is used to position the charging plug, then automated plug connection is achieved, but the technology becomes complex and time-consuming
Solution Approach 1:
The charging arm is pre-positioned in a retracted state within the robot body. Before charging begins, the arm rapidly extends and positions itself near the vehicle's charging inlet, eliminating the need for complex real-time positioning algorithms during the actual plug connection process
Solution Approach 2:
A simplified end effector with guide rails and alignment features acts as an intermediary between the charging plug and vehicle inlet. This intermediary mechanism automatically aligns and guides the plug into the correct position, reducing the complexity of precise robotic positioning while maintaining automated connection
3Measurement precision
If complex positioning technology is used for the charging plug, then precise positioning is achieved, but the system is not cost-efficient
Solution Approach 1:
Complex electronic sensors and active control systems for positioning are replaced with passive mechanical guidance features built into the charging arm and end effector. The mechanical guide rails and alignment slots provide precise positioning through their physical geometry alone, eliminating the need for expensive sensors, motors, and control algorithms while maintaining manufacturing cost efficiency
Data Source
Figure 1~1-2
Figure 2
Figure 3
AI summary
The present invention relates to motion system (100) comprising: - a linear actuation system (201, 202, 203) comprising a plurality of actuators of a first-type (50, 52, 54) and at least a first kinematic link (70, 72, 74) connected by an eighth joint (305, 306, 307) to the plurality of first-type actuators (50, 52, 54); - a first subsystem (300) comprising at least one linear actuation system (201, 203) connected to at least a fourth kinematic link (301) by at least a first revolute joint (303, 304) and interconnected between them by a second revolute joint (308); - a second subsystem (400) comprising the first subsystem (300) connected to a ground plate (60), wherein the linear actuation system (202) connected to the ground plate (60) by a third joint (401) and to a fifth kinematic link (402) by a fourth joint (403), and wherein the second kinematic link (402) is connected to the first subsystem (300); - a wrist element (80) connectable to at least one tool element (90), wherein the wrist element (80) is connected to the second subsystem (400), wherein the wrist element (80) and the second subsystem (400) are configured to generate a coordinated movement in such a way that the at least one tool element (90) is movable relative to the ground plate (60).