CN109774510A - A kind of flexible terminal actuator of electric car automatic charging machine people - Google Patents
A kind of flexible terminal actuator of electric car automatic charging machine people Download PDFInfo
- Publication number
- CN109774510A CN109774510A CN201811640129.3A CN201811640129A CN109774510A CN 109774510 A CN109774510 A CN 109774510A CN 201811640129 A CN201811640129 A CN 201811640129A CN 109774510 A CN109774510 A CN 109774510A
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- China
- Prior art keywords
- electric car
- moving platform
- machine people
- automatic charging
- charging machine
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- 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
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- 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
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- 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
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- 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
Abstract
The present invention relates to the flexible terminal actuators of electric car automatic charging machine people a kind of, including the silent flatform (10) mutually fixed with electric car automatic charging machine people, the moving platform (5) being flexibly connected with silent flatform (10) by elastic parts, and it is fixed on the plug (2) on moving platform (5), the guidance set of guide plug (2) insertion socket is also connected on the moving platform (5).Compared with prior art, the present invention realizes the lesser posture in end and location error amendment using passive compliance structure, avoids the collision between charging plug and charging socket, structure is simple, adapts to the end of various electric car automatic charging machine people.
Description
Technical field
The present invention relates to a kind of actuators, hold more particularly, to the flexible end of electric car automatic charging machine people a kind of
Row device.
Background technique
With popularizing for electric car, electric car automatic charging machine people is also occurred gradually among the visual field of people.
The key technology of such robot is how to realize the automatic Plug Action for realizing that charging is required.It is more typical at present to solve
Scheme is the E-Smart of snakelike automatic electric automobile the automatic charging machine people and germany volkswagen company of Tesla (CS) Koncern, Podebradska 186, Praha 9, Czechoslovakia
Connect charging system.When realizing electric car automatic charging using mechanical arm, main there are two steps, first is that determination is filled
The position of electrical socket simultaneously drives charging plug close to insertion, second is that need to correct lesser posture that charging plug is likely to occur and
Location error collides to avoid with charging socket.
Therefore, this requires electric car automatic charging machine people to have a kind of end effector that can correct posture.Posture
It is modified to realize that the former is realized that the latter is then by power by passive smoothing mechanism comprising two methods of passive amendment and active correction
Feedback transducer and active servo control etc. are realized.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of electric car is automatic
The flexible terminal actuator of charging robot.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of flexible terminal actuator of electric car automatic charging machine people, including with electric car automatic charging machine
The silent flatform that people mutually fixes, the moving platform being flexibly connected with silent flatform by elastic parts, and it is fixed on inserting on moving platform
Head is also connected with the guidance set of guide plug insertion socket on the moving platform.
Further, the guidance set includes guide surface, and the pressure spring of connection guide surface and moving platform, the pressure spring
Inside be disposed with pressure spring guide rod, make pressure spring can only Uniaxial Deformation, the shape of the guide surface end face matches with socket shape, interior
Portion has the hole passed through for plug.
Further, the pressure spring is circumferentially uniformly distributed, and the angle of two neighboring pressure spring and axial connecting line is 60 °.
Further, pressure spring guide rod one end is mutually fixed with guide surface, what the other end was reserved on moving platform
Hole provides buffer damping.
Further, when original state, guide surface, moving platform and silent flatform keep concentric, have had centainly initial just
Degree.
Further, the elastic parts includes circumferentially equally distributed tension spring and gas spring, the gentle bullet of tension spring
Spring both ends are separately connected moving platform and silent flatform, and the tension spring provides initial tensile force and arranges in pairs or groups to form variation rigidity effect with gas spring
Fruit.
Further, the angle of two neighboring tension spring and axial connecting line is 60 °, two neighboring gas spring and axial connecting line
Angle be 60 °, the deformability of six degree of freedom is provided.
Further, the gas spring both ends pass through silent flatform flexural pivot and moving platform flexural pivot and silent flatform respectively and move flat
Platform is connected.
Further, the edge of the moving platform and silent flatform is uniformly provided with for installing moving platform flexural pivot and quiet flat
The notch of billiard ball hinge.
Further, the plug is equipped with the shaft shoulder, to limit maximum insertion depth.
The mechanical arm of driving mechanism driving electric car automatic charging machine people and when driving silent flatform mobile, plug and is inserted
Seat docking, after the guiding of guide surface, makes plug enter socket, is subsequently directed to face using compression press spring, pressure spring guide rod limit
Pressure spring single shaft processed is mobile, so that it is inserted into plug along guide surface always, and the component between moving platform and silent flatform is capable of providing
Certain initial stiffness, to keep the stability of end effector, in addition, tension spring and gas spring are capable of providing the change of six degree of freedom
The submissive deformation of rigidity, corrects the posture and location error of moving platform, to smoothly execute the charging action of plug.
Compared with prior art, the present invention realizes that the lesser posture in end and location error are repaired using passive compliance structure
Just, the collision between charging plug and charging socket is avoided, structure is simple, adapts to various electric car automatic charging machine people
End.
Detailed description of the invention
Fig. 1 is overall schematic of the invention；
Fig. 2 is the overall schematic of plug of the present invention；
Fig. 3 is left view of the invention；
Fig. 4 is the schematic diagram of butt-joint socket of the present invention.
Shown in figure label:
1- guide surface；2- plug；3- pressure spring；4- pressure spring guide rod；5- moving platform；6- moving platform flexural pivot；7- gas spring；8-
Tension spring；9- silent flatform flexural pivot；10- silent flatform.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
Pressure spring guide rod 4 in order to facilitate observation of conceals a pressure spring 3 in Fig. 1.
A kind of flexible terminal actuator of electric car automatic charging machine people, as shown in figures 1 and 3, including with it is electronic
The silent flatform 10 that automobile automatic charging machine people mutually fixes, the moving platform 5 being flexibly connected with silent flatform 10 by elastic parts, with
And it is fixed on the plug 2 on moving platform 5, the guidance set that guide plug 2 is inserted into socket, guiding group are also connected on moving platform 5
Part includes guide surface 1, and the pressure spring 3 of connection guide surface 1 and moving platform 5, is disposed with pressure spring guide rod 4 in pressure spring 3, makes pressure spring
3 can only Uniaxial Deformation, the shape of 1 end face of guide surface matches with socket shape, and inside has the hole passed through for plug 2.Pressure spring 3
It is circumferentially uniformly distributed, the angle of two neighboring pressure spring 3 and axial connecting line is 60 °, 4 one end of pressure spring guide rod and 1 phase of guide surface
Fixed, the other end passes through the hole reserved on moving platform 5, provides buffer damping.
Elastic parts includes that circumferentially equally distributed tension spring 8 and gas spring 7, tension spring 8 and 7 both ends of gas spring are separately connected
Moving platform 5 and silent flatform 10, tension spring 8 provide initial tensile force and form variation rigidity effect with the collocation of gas spring 7.Two neighboring tension spring
8 and the angle of axial connecting line are 60 °, and two neighboring gas spring 7 and the angle of axial connecting line are 60 °, provide the change of six degree of freedom
Shape ability.7 both ends of gas spring pass through silent flatform flexural pivot 9 respectively and moving platform flexural pivot 6 is connected with silent flatform 10 and moving platform 5.
The edge of moving platform 5 and silent flatform 10 is uniformly provided with the notch for installing moving platform flexural pivot 6 and silent flatform flexural pivot 9.Such as Fig. 2
Shown, plug 2 is equipped with the shaft shoulder, to limit maximum insertion depth.
As shown in figure 4, driving mechanism drives the mechanical arm of electric car automatic charging machine people and silent flatform 10 is driven to move
When dynamic, plug 2 is docked with socket, after the guiding by guide surface 1, plug 2 is made to enter socket, is subsequently directed to face 1 using compression
Pressure spring 3, it is uniaxial mobile that pressure spring guide rod 4 limits pressure spring 3, so that plug 2 be made to be inserted into always along guide surface 1, and moving platform 5 and quiet
Component between platform 10 is capable of providing certain initial stiffness, to keep the stability of end effector, in addition, 8 He of tension spring
Gas spring 7 is capable of providing the submissive deformation of variation rigidity of six degree of freedom, the posture and location error of moving platform 5 is corrected, thus smoothly
Execute the charging action of plug.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be of the invention
Within protection scope.
Claims (10)
1. a kind of flexible terminal actuator of electric car automatic charging machine people, which is characterized in that including with electric car from
The silent flatform (10) that dynamic charging robot is mutually fixed, the moving platform (5) being flexibly connected with silent flatform (10) by elastic parts, with
And it is fixed on the plug (2) on moving platform (5), the guiding of guide plug (2) insertion socket is also connected on the moving platform (5)
Component.
2. the flexible terminal actuator of electric car automatic charging machine people according to claim 1 a kind of, feature exist
In the guidance set includes guide surface (1), and the pressure spring (3) of connection guide surface (1) and moving platform (5), the pressure spring
(3) it is disposed with pressure spring guide rod (4) in, the shape of guide surface (1) end face matches with socket shape, and inside has for inserting
The hole that head (2) passes through.
3. the flexible terminal actuator of electric car automatic charging machine people according to claim 2 a kind of, feature exist
In the pressure spring (3) is circumferentially uniformly distributed, and the angle of two neighboring pressure spring (3) and axial connecting line is 60 °.
4. the flexible terminal actuator of electric car automatic charging machine people according to claim 2 a kind of, feature exist
In described pressure spring guide rod (4) one end is mutually fixed with guide surface (1), and the other end passes through the hole reserved on moving platform (5).
5. the flexible terminal actuator of electric car automatic charging machine people according to claim 1 a kind of, feature exist
When, original state, guide surface (1), moving platform (5) and silent flatform (10) keep concentric.
6. the flexible terminal actuator of electric car automatic charging machine people according to claim 1 a kind of, feature exist
In the elastic parts includes circumferentially equally distributed tension spring (8) and gas spring (7), the tension spring (8) and gas spring (7)
Both ends are separately connected moving platform (5) and silent flatform (10).
7. the flexible terminal actuator of electric car automatic charging machine people according to claim 6 a kind of, feature exist
In the angle of two neighboring tension spring (8) and axial connecting line is 60 °, and two neighboring gas spring (7) and the angle of axial connecting line are
60°。
8. the flexible terminal actuator of electric car automatic charging machine people according to claim 6 a kind of, feature exist
In gas spring (7) both ends pass through silent flatform flexural pivot (9) and moving platform flexural pivot (6) and silent flatform (10) and moving platform respectively
(5) it is connected.
9. the flexible terminal actuator of electric car automatic charging machine people according to claim 6 a kind of, feature exist
In the edge of the moving platform (5) and silent flatform (10) is uniformly provided with for installing moving platform flexural pivot (6) and silent flatform flexural pivot
(9) notch.
10. the flexible terminal actuator of electric car automatic charging machine people according to claim 1 a kind of, feature exist
In the plug (2) is equipped with the shaft shoulder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640129.3A CN109774510A (en) | 2018-12-29 | 2018-12-29 | A kind of flexible terminal actuator of electric car automatic charging machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640129.3A CN109774510A (en) | 2018-12-29 | 2018-12-29 | A kind of flexible terminal actuator of electric car automatic charging machine people |
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| Publication Number | Publication Date |
|---|---|
| CN109774510A true CN109774510A (en) | 2019-05-21 |
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ID=66499096
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811640129.3A Pending CN109774510A (en) | 2018-12-29 | 2018-12-29 | A kind of flexible terminal actuator of electric car automatic charging machine people |
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| Country | Link |
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| CN (1) | CN109774510A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111619376A (en) * | 2020-05-18 | 2020-09-04 | 库卡机器人(广东)有限公司 | Flexible mechanism and charging device |
| CN111668658A (en) * | 2020-08-10 | 2020-09-15 | 大连理工江苏研究院有限公司 | Flexible charging terminal of electric automobile charging pile |
| CN111976528A (en) * | 2020-09-16 | 2020-11-24 | 中建材创新科技研究院有限公司 | Automatic charging pile for laser navigation forklift |
| CN112644308A (en) * | 2020-12-03 | 2021-04-13 | 江苏理工学院 | Ground-plug lifting type electric automobile charging pile and working method |
| CN112644309A (en) * | 2020-12-03 | 2021-04-13 | 江苏理工学院 | Electric automobile socket subassembly that charges |
| CN113548487A (en) * | 2021-07-22 | 2021-10-26 | 佛山市海天(高明)调味食品有限公司 | Bag unstacking clamp |
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| US20130076902A1 (en) * | 2011-09-26 | 2013-03-28 | Universite Laval | Robotically operated vehicle charging station |
| CN207000207U (en) * | 2017-07-19 | 2018-02-13 | 杭州海康机器人技术有限公司 | Aligning guide, charging equipment and charging system for automatic charging |
| CN108155700A (en) * | 2018-02-09 | 2018-06-12 | 遨博（北京）智能科技有限公司 | A kind of charging robot and its charging mechanical arm |
| CN108436887A (en) * | 2018-02-27 | 2018-08-24 | 上海交通大学 | The multivariant compliance device in parallel in space |
| CN108858273A (en) * | 2018-07-17 | 2018-11-23 | 东北大学 | A kind of submissive joint of six degree of freedom of pneumatic muscles driving |
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2018
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Patent Citations (5)
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| US20130076902A1 (en) * | 2011-09-26 | 2013-03-28 | Universite Laval | Robotically operated vehicle charging station |
| CN207000207U (en) * | 2017-07-19 | 2018-02-13 | 杭州海康机器人技术有限公司 | Aligning guide, charging equipment and charging system for automatic charging |
| CN108155700A (en) * | 2018-02-09 | 2018-06-12 | 遨博（北京）智能科技有限公司 | A kind of charging robot and its charging mechanical arm |
| CN108436887A (en) * | 2018-02-27 | 2018-08-24 | 上海交通大学 | The multivariant compliance device in parallel in space |
| CN108858273A (en) * | 2018-07-17 | 2018-11-23 | 东北大学 | A kind of submissive joint of six degree of freedom of pneumatic muscles driving |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111619376A (en) * | 2020-05-18 | 2020-09-04 | 库卡机器人(广东)有限公司 | Flexible mechanism and charging device |
| CN111668658A (en) * | 2020-08-10 | 2020-09-15 | 大连理工江苏研究院有限公司 | Flexible charging terminal of electric automobile charging pile |
| CN111976528A (en) * | 2020-09-16 | 2020-11-24 | 中建材创新科技研究院有限公司 | Automatic charging pile for laser navigation forklift |
| CN111976528B (en) * | 2020-09-16 | 2021-07-16 | 中建材创新科技研究院有限公司 | Automatic charging pile for laser navigation forklift |
| CN112644308A (en) * | 2020-12-03 | 2021-04-13 | 江苏理工学院 | Ground-plug lifting type electric automobile charging pile and working method |
| CN112644309A (en) * | 2020-12-03 | 2021-04-13 | 江苏理工学院 | Electric automobile socket subassembly that charges |
| CN113548487A (en) * | 2021-07-22 | 2021-10-26 | 佛山市海天(高明)调味食品有限公司 | Bag unstacking clamp |
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