CN108155700A - A kind of charging robot and its charging mechanical arm - Google Patents
A kind of charging robot and its charging mechanical arm Download PDFInfo
- Publication number
- CN108155700A CN108155700A CN201810134650.3A CN201810134650A CN108155700A CN 108155700 A CN108155700 A CN 108155700A CN 201810134650 A CN201810134650 A CN 201810134650A CN 108155700 A CN108155700 A CN 108155700A
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- China
- Prior art keywords
- arm
- charging
- connecting rod
- joint arm
- joint
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of charging robot and its charging mechanical arm, the mechanical arm that charges includes the moving arm and regulating arm that are connected with each other, moving arm includes at least two joint arms, each joint arm is located in same plane of motion, and joint arm can be rotated relative to joint arm adjacent thereto in the plane of motion, so that regulating arm is driven to be translatable in plane of motion；Regulating arm includes pedestal, mounting portion and regulating device, and for connecting charging pipette tips, regulating device is used to drive mounting portion relative to pedestal around the rotation of at least one of X-axis, Y-axis and Z axis mounting portion.The charging regulating arm can realize a wide range of movement of the charging pipette tips in plane of motion, it also is able to realize the spatial rotational of charging pipette tips, so that the charging pipette tips have larger activity space, the position of charging pipette tips can be adjusted as needed, it is at the position that can be adapted with electric vehicle, to realize its charging process, and charging process does not need to adjust position by electric automobile during traveling, facilitates realization.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of charging robot and its charging mechanical arm.
Background technology
Electric vehicle be using vehicle power supply as power, by motor drive wheels travel vehicle, meet road traffic,
The requirements such as security legislation, meanwhile, have the advantages that effect on environment is small compared with regular gasoline vehicle, therefore, application prospect compared with
It is good.
It needs to ensure that vehicle power supply has enough electricity for electric vehicle, in operational process, it is vehicle-mounted to realize
The charging of power supply, is usually provided with several charging piles on road surface, at electric automobile during traveling to charging pile, and coordinates with charging pile real
Now charge.
It but in electric vehicle charging process, need to travel to the position with charging pile precise match, and pass through electric vehicle
Traveling realizes that its process with charging pile cooperation is not easy to realize, causes charging process inconvenient for operation.
In view of this, how a kind of charging mechanical arm is provided, the charging process of electric vehicle can be conveniently realized, be
The technical issues of those skilled in the art are urgently to be resolved hurrily.
Invention content
In order to solve the above technical problems, the purpose of the present invention is to provide a kind of charging mechanical arm for the robot that charges, including
The moving arm and regulating arm of interconnection, the moving arm include at least two joint arms, and each joint arm is located at same plane of motion
It is interior, and the joint arm can be rotated relative to the joint arm adjacent thereto in the plane of motion, to drive the tune
Joint arm is translatable in the plane of motion；
The regulating arm includes pedestal, mounting portion and regulating device, and the mounting portion is for connection charging pipette tips, the tune
Regulating device is used to drive the mounting portion relative to the pedestal around the rotation of at least one of X-axis, Y-axis and Z axis.
In the present invention, the regulating arm of the charging mechanical arm is by setting regulating device so that the regulating arm can have around X
Axis, the degree of freedom of three direction rotations of Y-axis and Z axis, so as to realize rotation of the charging pipette tips along three directions, and pass through edge
The synthesis of three direction rotational motions can realize the rotation of any direction along space.Meanwhile moving arm is rotated by setting
Each joint arm of connection, each joint arm can be rotated relative to another joint arm in plane of motion, so that the moving arm being capable of band
Dynamic regulating arm and charging pipette tips are stretched in the plane of motion.
Therefore, the charging regulating arm in the present invention can realize a wide range of movement of the charging pipette tips in plane of motion, together
When, additionally it is possible to realize the spatial rotational of charging pipette tips so that the charging pipette tips have larger activity space, can be as needed
The position of adjustment charging pipette tips, is at the position that can be adapted with electric vehicle, to realize its charging process, and this is filled
Electric process does not need to adjust position by electric automobile during traveling, facilitates realization.
Optionally, the moving arm includes the first joint arm and the second joint arm of rotation connection, and the regulating arm is fixed on institute
The second joint arm is stated, further includes the first driving portion and the second driving portion, first driving portion can directly drive the first segment
Arm rotates in the plane of motion, and second joint arm is rotated with first joint arm, and second driving portion can be straight
Tape splicing moves second joint arm and is rotated in the plane of motion.
Optionally, first driving portion includes the first connecting rod and second connecting rod of rotation connection, the charging mechanical arm
Including rack, first joint arm and the second connecting rod are articulated with the rack, and are rotatably connected to described therebetween
One connecting rod, first joint arm is mutually parallel with the second connecting rod and equal length, and first joint arm, described first connect
Bar, the second connecting rod and the rack form the first parallelogram mechanism, between the first connecting rod and the regulating arm
It is connected by transmission mechanism；
First driving portion further includes the first motor, and first motor is used to drive first joint arm relative to institute
Rack is stated to rotate in the plane of motion.
Optionally, second driving portion includes the first pull rod, the second pull rod and the third pull rod that are rotatablely connected successively, institute
It states the first joint arm and first pull rod is articulated with the rack, the third pull rod is rotatablely connected with first joint arm, with
Second joint arm is fixed, and first pull rod is mutually parallel with the third pull rod and equal length, first pull rod, institute
It states the second pull rod, the third pull rod and first joint arm and forms the second parallelogram mechanism；
Second driving portion further includes the second motor, and second motor is used to drive first pull rod relative to institute
Rack is stated to rotate in the plane of motion.
Optionally, it is in running order when first motor and the second motor difference.
Optionally, the transmission mechanism includes the first drive link and the second drive link, described first drive link one end and institute
The connection of the second drive rod rotation is stated, the other end is rotatablely connected with second joint arm, and second joint arm is provided with to fix
The mounting bracket of the regulating arm, second joint arm and second drive link are articulated with the mounting bracket, and the two is mutually parallel
And equal length, it is parallel that the mounting bracket, second drive link, first drive link and second joint arm form third
Quadrangular mechanism；
First drive link is connected with the first connecting rod, and can be under the driving of the first connecting rod in the shifting
Dynamic rotation in surface.
Optionally, the first connecting rod is fixedly connected with first drive link by transiting rod, and three be connected after shape
Into plane triangle structure.
Optionally, the regulating device includes fixing axle and at least two groups of telescopic components, and the both ends of the fixing axle are distinguished
The pedestal and the mounting portion are fixed on, each telescopic component is all connected to the mounting portion, and can stretch along Z axis；
In the regulating arm course of work, each telescopic component is not exactly the same along the height of Z axis.
Optionally, the telescopic component includes the leading screw and slide unit that cooperate, further includes actuator, the slide unit and institute
Mounting portion is stated to be connected, the leading screw axially along Z axis, and can be rotated by the actuator, to drive the cunning
Axial linear movement of the platform along the leading screw.
Optionally, the telescopic component further includes connecting rod, the both ends of the connecting rod in an axial direction respectively with the slide unit
With the mounting portion be rotatablely connected, and between the connecting rod and the slide unit, between the connecting rod and the mounting portion
Form spherical pair；
The connecting rod is tilted relative to Z axis.
Optionally, the telescopic component further includes at least two leads extended along Z-direction, and the lead passes through
The slide unit, so that the slide unit can be lifted along the lead；
The regulating arm further includes several fixed plates being correspondingly arranged with the telescopic component, and the fixed plate passes through fixation
Frame is fixed with the pedestal, and the lead is fixed on the corresponding fixed plate, the leading screw and the corresponding fixed plate
Rotation connection.
Optionally, the mounting portion includes at least two mounting blocks being correspondingly arranged with the telescopic component, each peace
It is corresponding with the telescopic component connected to fill block；
The mounting platform for connecting external equipment is further included, each mounting blocks and the fixing axle are both secured to described
Mounting platform.
In addition, the present invention also provides a kind of charging robot, including fuselage and charging mechanical arm, the charging mechanical arm is
Above-described charging mechanical arm；
The one end of the moving arm far from the regulating arm is additionally provided with rotating basis, and the rotating basis bottom is connected with
Third motor, the output shaft of the third motor is perpendicular to the rotating basis, so that the rotating basis can be described
The charging mechanical arm is driven to rotate under the driving of three motors.
Description of the drawings
Fig. 1 is the structure diagram of charging mechanical arm provided by the present invention in a specific embodiment；
Fig. 2 is the positive structure schematic of Fig. 1；
Fig. 3 is the structure schematic diagram of Fig. 1；
Fig. 4 is the structure diagram of regulating arm in a specific embodiment in Fig. 1；
Fig. 5 is the structure diagram at another visual angle of Fig. 4；
Structure diagram when Fig. 6 is the regulating arm connection charging pipette tips in Fig. 4；
Fig. 7 is the structure diagram at another visual angle of Fig. 6；
Fig. 8 is the partial enlarged view of part in Fig. 6；
Fig. 9 is the front view of Fig. 4；
Figure 10 is the sectional view along A-A of Fig. 9；
Figure 11 is the B-B direction sectional view of Fig. 9.
In Fig. 1-11：
1 regulating arm, 11 pedestals, 12 mounting blocks, 13 telescopic components, 131 slide units, 132 connecting rods, 1,321 first spherical surfaces,
1322 second spherical surfaces, 133 leading screws, 134 stepper motors, 135 leads, 14 positioning components, 141 fixed plates, 142 fixed frames,
1421 positioning columns, 143 fixing axles, 144 fixed blocks, 1441 boss；
2 mounting platforms, 21 mounting holes, 22 locating pieces, 23 dowels, 3 charging pipette tips；
4 first joint arms, 41 first motors, 42 first connecting rods, 43 second connecting rods, 44 racks；
5 second joint arms, 51 second motors, 52 first pull rods, 53 second pull rods, 54 third pull rods；
6 transmission mechanisms, 61 first drive links, 62 second drive links, 63 transiting rods, 64 mounting brackets；
7 rotating basis, 71 third motors.
Specific embodiment
It is below in conjunction with the accompanying drawings and specific real in order to which those skilled in the art is made to more fully understand technical scheme of the present invention
Applying example, the present invention is described in further detail.
Attached drawing 1-3 is please referred to, wherein, Fig. 1 is the knot of charging mechanical arm provided by the present invention in a specific embodiment
Structure schematic diagram；Fig. 2 is the positive structure schematic of Fig. 1；Fig. 3 is the structure schematic diagram of Fig. 1.
In a specific embodiment, the present invention provides a kind of charging mechanical arm for the robot that charges, as shown in Figure 1, should
The mechanical arm that charges includes the moving arm being connected with each other and regulating arm 1, wherein, regulating arm 1 includes pedestal 11, mounting portion and adjusts dress
It puts, for connecting charging pipette tips 3, regulating device is used to drive mounting portion relative to pedestal 11 in X-axis, Y-axis and Z axis mounting portion
At least one rotation.
Meanwhile in the charging mechanical arm, moving arm includes at least two joint arms, and each joint arm is located in same plane of motion, and
Each joint arm can be rotated relative to joint arm adjacent thereto in the plane of motion, i.e., is rotatablely connected between each adjacent joint arm, and
Rotational plane is above-mentioned plane of motion, so that regulating arm 1 and charging pipette tips 3 is driven to be moved in the plane of motion.
In the present invention, the regulating arm 1 of the charging mechanical arm is by setting regulating device so that the regulating arm 1 can have
Around X-axis, the degree of freedom of three direction rotations of Y-axis and Z axis, so as to realize rotation of the charging pipette tips 3 along three directions, and lead to
The rotation of any direction along space can be realized along the synthesis of three direction rotational motions by crossing.Meanwhile moving arm passes through setting
Each joint arm of rotation connection, each joint arm can be rotated relative to another joint arm in plane of motion, so that the moving arm energy
Regulating arm 1 and charging pipette tips 3 is enough driven to stretch in the plane of motion.
Therefore, the charging regulating arm in the present invention can realize a wide range of movement of the charging pipette tips 3 in plane of motion, together
When, additionally it is possible to realize the spatial rotational of charging pipette tips 3 so that the charging pipette tips 3 have larger activity space, can be according to need
The position of charging pipette tips 3 is adjusted, the position that can be adapted with electric vehicle is at, to realize its charging process.
Specifically, as shown in Figure 1, the moving arm includes the first joint arm 4 and the second joint arm 5 of rotation connection, the is further included
One driving portion and the second driving portion, and regulating arm 1 is fixedly connected with the second joint arm 5, wherein, the first driving portion and the first joint arm 4
It is connected, is rotated in plane of motion with directly driving the first joint arm 4, at this point, the second joint arm 5 is rotated with the first joint arm 4, i.e., first
It is not relatively rotated between 4 and second joint arm 5 of joint arm；Second driving portion is connected with the second joint arm 5, can directly drive second
Joint arm 5 is rotated relative to the first joint arm 4 in plane of motion.
Therefore, in the present embodiment, the first joint arm 4 and the first driving portion form moving parts, the second joint arm 5 and the second driving
Portion forms moving parts, is arranged in parallel between two moving parts, i.e. the movement of the two will not influence each other, so as to reduce the movement
The control difficulty of each component of arm.
Certainly, the quantity of joint arm is not necessarily two in the moving arm, can arbitrarily be set as needed.
Specifically, as shown in Fig. 2, first driving portion includes the first connecting rod 42 of rotation connection and second connecting rod 43, and
The charging mechanical arm further includes rack 44, and the first joint arm 4 and second connecting rod 43 are articulated with the rack 44, and also turn therebetween
Dynamic to be connected with first connecting rod 42, the first joint arm 4 is mutually parallel, and equal length with second connecting rod 43, and the first joint arm 4, first connects
Bar 42, second connecting rod 43 and rack 44 form the first parallelogram mechanism, wherein, in first parallelogram mechanism,
Rack 44 is fixed, and second connecting rod 43 and first joint arm 4 hinged with the rack 44 is crank, and first connecting rod 42 is connecting rod, meanwhile,
First driving portion further includes the first motor 41, for the first joint arm 4 to be driven to be rotated relative to rack 44.
Therefore, by setting the first parallelogram mechanism, the first joint arm 4 in the first motor 41 when being rotated by,
Second connecting rod 43 can be driven to be rotated also relative to rack 44, and the rotational angular velocity of the first joint arm 4 and second connecting rod 43 is always
It is equal, so that first connecting rod 41 is translatable in plane of motion.
Further, since the first joint arm 4 and the second joint arm 5 are parallel with one another, in order to realize that the first joint arm 4 directly drives tune
Movement of the joint arm 1 in plane of motion, setting is connected to the transmission mechanism 6 between first connecting rod 42 and regulating arm 1, so as to pass through
The translational motion of first connecting rod 42 is transferred to regulating arm 1 by the transmission mechanism 6, is made under its driving in the first joint arm 4 in movement
It is translatable in plane, translational motion herein refers to that rotation does not occur for component, the revolution around plane inner axis can occur.
More specifically, as shown in Fig. 2, the transmission mechanism 6 includes the first drive link 61 and the second drive link 62, the first transmission
61 one end of bar is rotatablely connected with the second drive link 62, and the other end is rotatablely connected with the second joint arm 5, and the second joint arm 5, which is provided with, to be used for
The mounting bracket 64 of the regulating arm 1 is fixed, and the pedestal 11 of regulating arm 1 is fixed on the mounting bracket 64, the second joint arm 5 and the second transmission
Bar 62 is articulated with the mounting bracket 64.
As shown in Fig. 2, the second drive link 62 and the second joint arm 5 is mutually parallel and equal length, therefore, mounting bracket 64,
Two drive links 62, the first drive link 61 and the second joint arm 5 form third parallelogram mechanism, and due to first drive link 61
It is connected with first connecting rod 42, so as to which first connecting rod 42 can drive the first drive link 61 to rotate, so as to drive mounting bracket 64 at this
It is moved in plane of motion.
Therefore, by setting the first connected parallelogram mechanism and third parallelogram mechanism so that first segment
When arm 4 moves, regulating arm 1 can be directly driven and moved, without passing through 5 indirect control of the second joint arm.
On the other hand, as shown in figure 3, the second driving portion includes the first pull rod 52, the second pull rod 53 that are rotatablely connected successively
With third pull rod 54, wherein, the first joint arm 4 and the first pull rod 52 are articulated with rack 44, and third pull rod 54 is rotated with the first joint arm 4
Connection, and the third pull rod 54 is also fixedly connected with the second joint arm 5 or the part for the second joint arm 5.Meanwhile first draws
Bar 52 is mutually parallel with third pull rod 54 and equal length, the second pull rod 53 and 4 parallel and equal length of the first joint arm, therefore,
First pull rod 52, the second pull rod 53,54 and first joint arm 4 of third pull rod form the second parallelogram mechanism.
Meanwhile second driving portion further includes the second motor 51, the second motor 51 for drive the first pull rod 52 relative to
Rack 44 rotates in plane of motion, so as to which third pull rod 54 is driven to be translatable in plane of motion, and then drives the second section
Arm 5 is translatable in plane of motion.
In conclusion the moving arm in the present invention can realize that regulating arm 1 exists by setting three parallelogram mechanisms
Translation in plane of motion, simultaneously as the first joint arm 4 and the second joint arm 5 are arranged in parallel, the first motor 41 and the second motor 51
The bottom of the charging mechanical arm can be set to, so as to reduce the weight of the charging mechanical arm motion parts, reduces each component
Load-carrying and two motors energy expenditure.
Meanwhile as shown in Fig. 2, in first connecting rod 42 and third parallelogram mechanism in the first parallelogram mechanism
The first drive link 61 be fixedly connected by transiting rod 63, and three be connected after formed plane triangle structure, the plane trigonometry
In three vertex of shape structure, a vertex is articulated with the articulated shaft of the first joint arm 4 and the second joint arm 5, other two vertex point
It is not articulated with the second drive link 62 and second connecting rod 43, so that in the charging mechanical arm motion process, the triangular structure
It can be rotated around the articulated shaft of the first joint arm 4 and the second joint arm 5, to realize the transmission of movement.
In addition, it is necessary to illustrate, in the charging mechanical arm, in order to realize accurate control, the first motor 41 and the second electricity
Machine 51 does not work at the same time, so as to which the movement for avoiding the first joint arm 4 and the second joint arm 5 interacts, and when the two does not work at the same time,
The control program of the charging mechanical arm is simpler.
In the above various embodiments, as shown in Figure 4 and Figure 5, which includes fixing axle 143 and at least two groups of groups of stretching
Part 13, the both ends difference connect base 11 and mounting portion of the fixing axle 143, so that the mounting portion is connected with fixing axle 143
Position be in stationary state；Meanwhile each telescopic component 13 is all connected to mounting portion, and can stretch towards the direction of Z axis, so as to
The position that the mounting portion is connected with extensible member is lifted with extensible member along the stretching motion of Z axis, and each flexible
Component 14, fixing axle 143 be not conllinear with the link position of mounting portion.
Therefore, by setting fixing axle 143 and telescopic component so that a part for the mounting portion is fixed, another part energy
It is enough to be lifted along Z axis.Meanwhile in 1 course of work of regulating arm, each telescopic component 13 is not exactly the same along the height of Z axis, so as to make
It is different along the height of Z-direction obtaining mounting portion, when telescopic component 13 is constantly flexible so that the mounting portion is in rotation status,
And the stroke by changing each telescopic component 13, mounting portion can be realized along different directions, the rotation of different angle.
It should be noted that the axial direction of above-mentioned fixing axle 143 and the telescopic direction of telescopic component 13 are not necessarily along Z axis
Direction, also can be along X-axis or Y direction.Meanwhile the height of telescopic component 13 along Z axis refers to the extensible member 13 and installation
Height of portion's connecting place along Z axis.
Certainly, other rotating mechanisms commonly used in the art can also be used in above-mentioned regulating device.For example, mounting portion can connect edge
Three X-axis, Y-axis and Z axis direction setting gear drives, turning for mounting portion is realized by the cooperation of three gear drives
It is dynamic；It is realized alternatively, may also set up hydraulic cylinder-connection linkage, when the piston rod of hydraulic cylinder is flexible, linkage can be drivingly connected
It swings, so as to which mounting portion be driven to rotate.
And the regulating device in the present embodiment realizes the rotation of mounting portion by the different telescopic component 13 of several strokes,
Have the advantages that it is simple in structure, take up space it is small.
More specifically, as shown in Fig. 4, Fig. 5 and Fig. 9, above-mentioned telescopic component 13 includes the leading screw 133 and slide unit that cooperate
131, actuator is further included, wherein, slide unit 131 is connected with mounting portion, and the axis of the leading screw 133, and can be in actuator along Z axis
Be rotated by, so as to which slide unit 131 be driven to move along a straight line along Z axis, so by slide unit 131 drive mounting portion lifted along Z axis.
It is appreciated that the stretching motion of above-mentioned telescopic component 13 is not necessarily realized by leading screw 133 and slide unit 131,
Other mechanisms that can realize straight line fortune work(commonly used in the art can be used, such as：Rack and pinion drive mechanism, tooth can also be used
Item is set along Z axis, and is connected with mounting portion, and gear is connected with actuator, and band carry-over bar is transported along Z axis straight line in gear rotation process
It is dynamic；Alternatively, above-mentioned telescopic component 13 may also comprise hydraulic cylinder, the piston rod of the hydraulic cylinder is set along Z axis, and with mounting portion phase
Even, when piston rod stretches, mounting portion is driven to be lifted along Z axis.
More specifically, the actuator of above-mentioned leading screw 133 is stepper motor 134, and in each telescopic component 13, each stepper motor
134 can accurately control the rotating speed and rotation time of each screw 133, so as to accurately control the rotation of mounting portion, and then improve and are somebody's turn to do
The degree of regulation of regulating arm 1.
In the present embodiment, stepper motor 134 controls the telescopic component 13 of screw 133 and slide unit 131 simple in structure, and is convenient for
Control.
Further, which further includes connecting rod 132, which connects 131 He of slide unit respectively
Mounting portion, so as to which the linear motion of slide unit 131 is transferred to mounting portion by connecting rod 132.
In the present embodiment, the connecting rod 132 of slide unit 131 and mounting portion is connected by setting, it is straight with slide unit 131 and mounting portion
It connects and compares, driving force can be saved.
Specifically, as shown in figure 9, the both ends of connecting rod 132 in an axial direction are respectively provided with the first spherical surface 1321 and the second ball
Face 1322, and 1321 and second spherical surface 1322 of the first spherical surface is convex spherical, slide unit 131 is provided with and first spherical surface 1321
The concave spherical surface of cooperation, mounting portion are provided with the concave spherical surface coordinated with the second spherical surface 1322, so that 131 and first spherical surface of slide unit
The first spherical pair is formed between 1321, the second spherical pair is formed between mounting portion and the second spherical surface 1322.
Therefore, the both ends of connecting rod 132 are rotatablely connected respectively with slide unit 131 and mounting portion, so that slide unit 131 and peace
It can be relatively rotated between dress portion, and the transmission moved therebetween is more flexible, and reduce each telescopic component 13 due to flexible
Amount is different and causes connecting rod 132 by larger torque, so as to play the role of protecting connecting rod 132, to improve each component
Service life.
More specifically, as shown in figure 9, connecting rod 132 is tilted relative to Z axis, so as to avoid connecting rod 132 in slide unit
Stuck phenomenon occurs when movement is transmitted between 131 and mounting portion.
Further, as shown in figure 9, the telescopic component 13 further comprises several leads 135 being extended along Z axis,
In, in same telescopic component 13, lead 135 passes through slide unit 131, so that slide unit 131 can be transported along 135 straight line of lead
It is dynamic.
In the present embodiment, which includes two leads 135, and the section of each lead 135 is circle, when
When two leads 135 are set, it can prevent slide unit 131 from rotating, so as to which ensure only can be along guiding in its course of work
Column 135 moves along a straight line.Certainly, a lead also can only be included, and the section of the lead is rectangular or polygon, at this point,
The lead equally can prevent slide unit 131 from rotating.But in the present embodiment, section is led for circular lead 135 playing
To while acting on and prevent rotation, the abrasion between lead in 131 linear motion of slide unit can be reduced.
In the above various embodiments, for mounting portion, the position being connected with each telescopic component 13 is first position, with consolidating
The connected position of dead axle 143 is the second position, and each first position is uniformly distributed on same circumference, and the second position is located at the circle
The circle centre position in week.Therefore, in the plane perpendicular to Z axis, the distance between fixing axle 143 and each telescopic component 13 are equal.
In the present embodiment, when each telescopic component 13 be uniformly distributed and it is identical with the distance between fixing axle 143 when so that
The rotation of the regulating arm 1 is more prone to control, and the high stability during each component working.
Embodiment as shown in Fig. 4-11, the regulating arm 1 include 3 telescopic components 13, and between each telescopic component 13 into
The distribution of 120 degree of angles, fixing axle 143 are set to the center of circle for the circumference that three telescopic components 13 surround, with each telescopic component 13 it
Between distance be the circumference radius.Certainly, which may also set up 4 groups of telescopic components 13 or more, the present invention
In the number of telescopic component 13 is not construed as limiting.
On the other hand, as shown in Fig. 4-11, above-mentioned regulating device further includes positioning component 14, for positioning telescopic component 13
Each component.Specifically, as shown in fig. 6, the positioning component 14 includes several fixed plates 141 and fixed frame 142, each fixed plate
141 quantity is no less than the quantity of telescopic component 13, and each fixed plate 141 is fixed by fixed frame 142 and pedestal 11, each to be oriented to
Column 135 is fixed on corresponding fixed plate 141, meanwhile, each leading screw 133 is rotatablely connected with corresponding fixed plate 141, so that should
Leading screw 133 can be freely rotated.
Meanwhile as shown in figure 9, each fixed plate 141 between mounting portion and pedestal 11, and along Z axis between mounting portion
Direction has preset distance, i.e. the height of fixed plate 141 is less than mounting portion.
Specifically, as shown in Figure 4 and Figure 5, it is each in order to improve it since above-mentioned telescopic component 13 is larger along the size of Z axis
The mounting stability of component, which includes three-decker, and passes through positioning column 1421 and pedestal 11 between each layer structure
It is connected.Meanwhile the fixed frame 142 further includes the motor fixing frame for fixing motor 143, which is used for motor
143 are fixed on pedestal 11.
In the various embodiments described above, as shown in Figure 6 and Figure 7, which further includes the installation for installing external equipment
Platform 2, so that external equipment can adjust operating position by the adjusting arm 1.
Meanwhile as shown in Figure 4 and Figure 5, above-mentioned mounting portion include at least two mounting blocks 12, each mounting blocks 12 with flexible group
Part 13 is correspondingly arranged, and is corresponded and be connected, so that each mounting blocks 12 have under the driving of telescopic component 13 along Z-direction
There is different height, and the mounting platform 2 is fixedly connected with each mounting blocks 12, so as to when each 12 height of mounting blocks is different, be somebody's turn to do
Mounting platform 2 can rotate.
Specifically, as shown in Figure 7 and Figure 8, which concretely offers the platy structure of mounting hole 21, and
21 middle part of mounting hole is provided with locating piece 22, passes through several 23 phases of dowel between the locating piece 22 and 21 side wall of mounting hole
Even, so that the mounting hole 21 includes several apertures divided by dowel 23.
Meanwhile as shown in figure 8, above-mentioned each mounting blocks 12 are fixed on the entity part in 21 outside of mounting hole, above-mentioned fixing axle
143 tops are connected with fixed block 144, which has several boss 1441 radially protruded, and this is fixed
Block 144 is adapted and is fixedly connected with the locating piece 22 of mounting platform 2, meanwhile, each boss 1441 and corresponding 23 phase of dowel
It supports and is fixedly connected, so as to fulfill the fixation between fixing axle 143 and mounting platform 2.
In embodiment shown in Fig. 6-10 of the present invention, the mounting platform 2 is for connection charging pipette tips 3,3 energy of charging pipette tips
The charging of electrical equipment is enough in, particularly moves electrical equipment, such as electric vehicle etc., by being connected with the regulating arm 1, energy
Enough adjustment that 3 position of charging pipette tips is realized by rotating, to facilitate the charging process for realizing electrical equipment.
In addition, the present invention also provides a kind of charging robot, including fuselage and charging mechanical arm, wherein, charging machinery
Arm is the charging mechanical arm described in any of the above embodiment；Since the charging mechanical arm has above-mentioned technique effect, including this
The charging robot of charging mechanical arm should also have corresponding continuation effect, and details are not described herein again.
Meanwhile as shown in Figure 1, the one end of the moving arm of the charging mechanical arm far from regulating arm 1 is additionally provided with rotating basis
7, the bottom of the rotating basis 7 is connected with third motor 71, the output shaft of the third motor 71 perpendicular to rotating basis 7, so as to
The rotating basis 7 can drive charger tool arm to rotate under the driving of third motor 71.
Therefore, the charging mechanical arm in the present invention can be by the driving of third motor 71 relative to the machine for the robot that charges
Body rotates, and the first step position adjustment of charging pipette tips 3 is moved so as to fulfill the mechanical armband of charging, additionally it is possible to by respectively being saved in moving arm
Relative rotation of the arm in plane of motion realizes that regulating arm 1 drives second step position tune of the charging pipette tips 3 in the plane of motion
It is whole, meanwhile, by regulating device, rotation of the charging pipette tips 3 relative to the pedestal 11 of regulating arm 1 can be realized, so as to further
Adjust its position.
A kind of charging robot provided by the present invention and its charging mechanical arm are described in detail above.Herein
In apply specific case the principle of the present invention and embodiment be expounded, the explanation of above example is only intended to sides
Assistant solves the method and its core concept of the present invention.It should be pointed out that for those skilled in the art, not
Be detached from the principle of the invention under the premise of, can also to the present invention some improvement and modification can also be carried out, these improvement and modification are also fallen into
In the protection domain of the claims in the present invention.
Claims (13)
1. a kind of charging mechanical arm for the robot that charges, which is characterized in that moving arm and regulating arm (1) including interconnection,
The moving arm includes at least two joint arms, and each joint arm is located in same plane of motion, and the joint arm can relative to
Its adjacent described joint arm rotates in the plane of motion, so that the regulating arm (1) is driven to be put down in the plane of motion
It is dynamic；
The regulating arm (1) includes pedestal (11), mounting portion and regulating device, and the mounting portion is used to connect charging pipette tips (3),
The regulating device is used to that the mounting portion to be driven relative to the pedestal (11) around at least one of X-axis, Y-axis and Z axis to turn
It is dynamic.
2. charging mechanical arm according to claim 1, which is characterized in that the moving arm includes the first segment of rotation connection
Arm (4) and the second joint arm (5), the regulating arm (1) are fixed on second joint arm (5), further include the first driving portion and second
Driving portion, first driving portion can drive first joint arm (4) to be rotated in the plane of motion, and second section
Arm (5) is rotated with first joint arm (4), and second driving portion can drive second joint arm (5) to be put down in the movement
Rotation in surface.
3. charging mechanical arm according to claim 2, which is characterized in that first driving portion includes the of rotation connection
One connecting rod (42) and second connecting rod (43), the charging mechanical arm include rack (44), first joint arm (4) and described second
Connecting rod (43) is articulated with the rack (44), and is rotatably connected to the first connecting rod (42) therebetween, first joint arm
(4) it is mutually parallel and equal length with the second connecting rod (43), it is first joint arm (4), the first connecting rod (42), described
Second connecting rod (43) and the rack (44) form the first parallelogram mechanism, the first connecting rod (42) and the regulating arm
(1) it is connected between by transmission mechanism (6)；
First driving portion further includes the first motor (41), and first motor (41) is for driving first joint arm (4)
It is rotated in the plane of motion relative to the rack (44).
4. charging mechanical arm according to claim 3, which is characterized in that second driving portion includes being rotatablely connected successively
The first pull rod (52), the second pull rod (53) and third pull rod (54), first joint arm (4) and first pull rod (52) hinge
The rack (44) is connected to, the third pull rod (54) is rotatablely connected with first joint arm (4), with second joint arm (5)
Fixed, first pull rod (52) is mutually parallel with the third pull rod (54) and equal length, first pull rod (52), institute
It states the second pull rod (53), the third pull rod (54) and first joint arm (4) and forms the second parallelogram mechanism；
Second driving portion further includes the second motor (51), and second motor (51) is for driving first pull rod (52)
It is rotated in the plane of motion relative to the rack (44).
5. charging mechanical arm according to claim 3, which is characterized in that first motor (41) and second motor
(51) it is in running order when different.
6. charging mechanical arm according to claim 3, which is characterized in that the transmission mechanism (6) includes the first drive link
(61) and the second drive link (62), described first drive link (61) one end is rotatablely connected with second drive link (62), another
End is rotatablely connected with second joint arm (5), and second joint arm (5) is provided with the installation for fixing the regulating arm (1)
Frame (64), second joint arm (5) and second drive link (62) are articulated with the mounting bracket (64), the two be mutually parallel and
Equal length, the mounting bracket (64), second drive link (62), first drive link (61) and second joint arm
(5) third parallelogram mechanism is formed；
First drive link (61) is connected with the first connecting rod (42), and can be under the driving of the first connecting rod (42)
It is rotated in the plane of motion.
7. charging mechanical arm according to claim 6, which is characterized in that the first connecting rod (42) and first transmission
Bar (61) is fixedly connected by transiting rod (63), and three be connected after formed plane triangle structure.
8. the charging mechanical arm according to any one of claim 1-7, which is characterized in that the regulating device includes fixing
Axis (143) and at least two groups of telescopic components (13), the both ends of the fixing axle (143) are individually fixed in the pedestal (11) and institute
Mounting portion is stated, each telescopic component (13) is all connected to the mounting portion, and can stretch along Z axis；
In regulating arm (1) course of work, each telescopic component (13) is not exactly the same along the height of Z axis.
9. charging mechanical arm according to claim 8, which is characterized in that the telescopic component (13) is including mutual cooperation
Leading screw (133) and slide unit (131) further include actuator, and the slide unit (133) is connected with the mounting portion, the leading screw (133)
Axially along Z axis, and can be rotated by the actuator, to drive the slide unit (131) along the leading screw (133)
Axial linear movement.
10. charging mechanical arm according to claim 9, which is characterized in that the telescopic component (13) further includes connecting rod
(132), the both ends of the connecting rod (132) in an axial direction are rotatablely connected respectively with the slide unit (131) and the mounting portion, and institute
It states between connecting rod (132) and the slide unit (131), be respectively formed spherical pair between the connecting rod (132) and the mounting portion；
The connecting rod (132) tilts relative to Z axis.
11. charging mechanical arm according to claim 9, which is characterized in that the telescopic component (13) further includes at least two
A lead (135) extended along Z-direction, the lead (135) is across the slide unit (131), so that the slide unit
(131) it can be lifted along the lead (135)；
The regulating arm (1) further includes several fixed plates (141) being correspondingly arranged with the telescopic component (13), the fixed plate
(141) fixed by fixed frame (142) and the pedestal (11), the lead (135) is fixed on the corresponding fixed plate
(141), the leading screw (133) is rotatablely connected with the corresponding fixed plate (141).
12. charging mechanical arm according to claim 8, which is characterized in that the mounting portion includes and the telescopic component
(13) at least two mounting blocks (12) being correspondingly arranged, each mounting blocks (12) are corresponding with the telescopic component (13) to be connected；
The mounting platform (2) for connecting external equipment is further included, each mounting blocks (12) and the fixing axle (143) are solid
Due to the mounting platform (2).
13. a kind of charging robot, including fuselage and charging mechanical arm, which is characterized in that the charging mechanical arm will for right
Seek the charging mechanical arm described in any one of 1-12；
The one end of the moving arm far from the regulating arm (1) is additionally provided with rotating basis (7), rotating basis (7) bottom
Third motor (71) is connected with, the output shaft of the third motor (71) is perpendicular to the rotating basis (7), so as to the rotation
Pedestal (7) can drive the charging mechanical arm to rotate under the driving of the third motor (71).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810134650.3A CN108155700A (en) | 2018-02-09 | 2018-02-09 | A kind of charging robot and its charging mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810134650.3A CN108155700A (en) | 2018-02-09 | 2018-02-09 | A kind of charging robot and its charging mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN108155700A true CN108155700A (en) | 2018-06-12 |
Family
ID=62459798
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810134650.3A Pending CN108155700A (en) | 2018-02-09 | 2018-02-09 | A kind of charging robot and its charging mechanical arm |
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| CN108127646A (en) * | 2018-02-09 | 2018-06-08 | 遨博（北京）智能科技有限公司 | A kind of regulating arm |
| CN108725252A (en) * | 2018-07-28 | 2018-11-02 | 共享智能铸造产业创新中心有限公司 | charging bracket |
| CN108891296A (en) * | 2018-08-09 | 2018-11-27 | 杭州迪洛智能设备有限公司 | A kind of automatic alignment apparatus for unmanned plane charging |
| CN108923495A (en) * | 2018-08-15 | 2018-11-30 | 享奕自动化科技（上海）有限公司 | Steel rope drive biasing mechanism and automatic charge device |
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| CN108994194A (en) * | 2018-07-02 | 2018-12-14 | 塞伯睿机器人技术（长沙）有限公司 | Plane parallel robot for punching press loading and unloading |
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| CN108923495A (en) * | 2018-08-15 | 2018-11-30 | 享奕自动化科技（上海）有限公司 | Steel rope drive biasing mechanism and automatic charge device |
| CN109080490A (en) * | 2018-09-01 | 2018-12-25 | 金杨杨 | A kind of charging gun rack of new-energy automobile |
| CN109080490B (en) * | 2018-09-01 | 2020-05-29 | 何莹莹 | A charging gun placement rack for a new energy vehicle |
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| CN110091313B (en) * | 2019-04-25 | 2022-02-18 | 南京理工大学 | Gear shifting manipulator based on parallel execution mechanism |
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| CN110152108A (en) * | 2019-06-27 | 2019-08-23 | 青岛大学附属医院 | An automatic connection device for radiation-enhanced infusion interface |
| CN112304041A (en) * | 2019-07-31 | 2021-02-02 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | Drying and dehumidifying system of chassis charging device |
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| CN110949159A (en) * | 2019-12-30 | 2020-04-03 | 上海德创海洋环境科技有限公司 | Fill and trade integrative automatic bank electricity supporting device of electricity |
| CN111244691A (en) * | 2020-03-04 | 2020-06-05 | 上海电气集团股份有限公司 | Charging plug-in end actuating mechanism |
| CN111469121A (en) * | 2020-06-28 | 2020-07-31 | 中国科学院苏州生物医学工程技术研究所 | Hybrid five-degree-of-freedom robotic arm |
| CN111660302A (en) * | 2020-07-13 | 2020-09-15 | 华东理工大学 | Intelligent dining table cleaning robot based on Internet of things |
| WO2022086320A1 (en) * | 2020-10-20 | 2022-04-28 | Rocsys B.V. | Device and method for moving a connector of an electric vehicle charger |
| CN112798340A (en) * | 2020-12-14 | 2021-05-14 | 应急管理部四川消防研究所 | Typical flammable, explosive and hazardous liquid intelligent sampling device |
| CN113003523A (en) * | 2021-04-30 | 2021-06-22 | 江阴市富仁高科股份有限公司 | A moving platform and refuel robot for refuel robot |
| CN113003523B (en) * | 2021-04-30 | 2025-01-10 | 江阴市富仁高科股份有限公司 | Mobile platform for refueling robot and refueling robot |
| CN114766972A (en) * | 2022-03-09 | 2022-07-22 | 深圳市无限动力发展有限公司 | Charging device, sweeper and sweeping system |
| CN115922776A (en) * | 2023-02-06 | 2023-04-07 | 湖南深拓智能设备股份有限公司 | A five-axis palletizing robot |
| CN115922776B (en) * | 2023-02-06 | 2023-08-18 | 湖南深拓智能设备股份有限公司 | A five-axis palletizing robot |
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