CN105691229A - Vehicle-mounted automatic charging mechanical arm and electric vehicle carried with same - Google Patents
Vehicle-mounted automatic charging mechanical arm and electric vehicle carried with same Download PDFInfo
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- CN105691229A CN105691229A CN201610120495.0A CN201610120495A CN105691229A CN 105691229 A CN105691229 A CN 105691229A CN 201610120495 A CN201610120495 A CN 201610120495A CN 105691229 A CN105691229 A CN 105691229A
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- automatic charging
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- 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
- B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- 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
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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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 invention relates to a vehicle-mounted automatic charging mechanical arm and an electric vehicle carried with the mechanical arm. The mechanical arm is arranged at the bottom of the electric vehicle, and automatic charging of the electric vehicle is achieved by plugging the mechanical arm into a socket automatically. The mechanical arm comprises a swing arm fixing plate, a first joint, a parallel joint unit, a plug and a camera, wherein one end of the swing arm fixing plate is fixed to the bottom of the electric vehicle; one end of the first joint is connected with the other end of the swing arm fixing plate; one end of the parallel joint unit is connected with the other end of the first joint; the parallel joint unit is parallel to a chassis of the vehicle when the electric vehicle is not charged, and is moved downwards when the electric vehicle needs to be charged; the plug is mounted at the tail end of the parallel joint unit; and the camera is mounted on one side face of the plug. Compared with the prior art, automatic charging is realized, a charging device is small in size, and using is convenient. The vehicle-mounted automatic charging mechanical arm fills up the blank in China and is of great significance on promoting the technological development of electric vehicles.
Description
Technical field
The present invention relates to the technical field of a kind of electric automobile automatic charging, especially relate to a kind of vehicle-mounted automatic charging mechanical arm and be loaded with the electric automobile of this mechanical arm。
Background technology
Popularization gradually and use along with electric automobile, the safety of charging electric vehicle and convenience become the problem must paid attention in electric automobile extension process, especially for lease or other special electric automobiles, in unattended site of returning the car, user is needed to do it yourself after stopping to operate, there is potential safety hazard in manual operation on the one hand, and on the other hand, many users are but without forming the custom of charging conveniently or being ignorant of how plugging charging plug。And it is excessive that existing electrically-charging equipment exists volume, lack unified management, and rely on manually-operated problem。
Therefore, for electric automobile, it is ensured that user returns the car or stops, and rear vehicle energy is safe, supplement electricity timely, is an important problem；It addition, electrically-charging equipment also should save space as far as possible, reduce floor space。
China Patent Publication No. CN104795868A discloses a kind of automatic charging system for electric vehicle, realize inserting or pull out in charging socket by electrical automobile charging plug by the charging plug automatic plug-pull device of freestanding mobile, solve manual mode plug charging plug and carry out the potential safety hazard of charging electric vehicle operation existence, the above-mentioned automatic charge device being installed on parking stall must solve waterproof, the problem such as antitheft, is also not easy to safeguard。Document is had to disclose electric automobile automatic charging device, but it is all be designed in conjunction with existing charging pile, charging device volume is bigger, floor space is also bigger, the utilization in space is abundant not, and the motility of charging device and practicality are not high, fail fully to realize the intellectuality of charging electric vehicle。
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and a kind of electric automobile realizing automatic charging, electrically-charging equipment volume vehicle-mounted automatic charging mechanical arm little, easy to use and being loaded with this mechanical arm is provided, for promoting electric vehicle engineering development significant。
The purpose of the present invention can be achieved through the following technical solutions:
A kind of vehicle-mounted automatic charging mechanical arm, it is characterised in that this mechanical arm is arranged on bottom electric automobile, realizes the automatic charging of electric automobile by being automatically inserted into socket, and described mechanical arm includes:
Pendulum arm restraining board: one end is fixed on bottom electric automobile；
First joint: one end is connected with the described pendulum arm restraining board other end；
Parallel joint unit: one end is connected with the first joint other end, when not charging, this parallel joint unit and automobile chassis be arranged in parallel, and during charging, parallel joint unit moves down；
Plug: be installed on the end of parallel joint unit；
Photographic head: be arranged on the one side of plug。
Described pendulum arm restraining board one end is embedded on the chassis of electric automobile, and the other end and the first joint connect。
The first described joint includes mechanical arm connecting plate, the first joint shaft bolster, the first joint rolling bearing, the first steering wheel, first described steering wheel one end is directly connected with pendulum arm restraining board, the other end is connected with mechanical arm connecting plate by the first joint rolling bearing, the first described joint rolling bearing is located on the first joint shaft bolster, and described mechanical arm connecting plate connects with parallel joint unit。
Described parallel joint unit includes the parallel joint of at least two being linked in sequence successively, each parallel joint includes joint motor gripper shoe, joint left end cap, joint shaft bolster, joint rolling bearing, steering wheel, joint right end cap, described joint motor gripper shoe is connected with steering wheel, joint left end cap is connected on the left of steering wheel, right side arranges rotation axle and connects joint right end cap by joint rolling bearing, and described joint left end cap and joint right end cap are connected to described motor support plate both sides。
Described parallel joint unit includes seven the parallel joints being linked in sequence successively。
Described plug includes plug bracket, plug base, plug dividing plate and contact pin, and described plug bracket is connected with the end of parallel joint unit；Described plug base and plug dividing plate are concentrically mounted on plug bracket；Described contact pin is arranged in plug base。
Described contact pin is distributed on the center of circle and eight concentric circulars of plug base, wherein, the contact pin in the center of circle is 1, and the pin count that 8 concentric circulars are respectively provided with from small to large according to diameter is 3,3,3,6,6,6,24 and 24, and the material of contact pin is yellow gold。
Also include the socket corresponding with described plug, this socket includes Socket casing and the jack being positioned on Socket casing, described jack includes the circular socket holes of 8 concentric ring-shaped jacks and 1 circle centre position, jack bottom conductive material is copper sheet, path is formed with contact pin after contacting, the setting of this annular, it is ensured that no matter contact pin is positioned at which orientation of plane all can correctly dock, is greatly improved docking speed and accuracy。This socket is connected with back-stage management overall control center by cable, available voltage is alternating current 220V, exchange 380V and/or direct current 380V, socket by docking as charging electric vehicle with charging plug, by the unified regulation and control at back-stage management center, substantially reduce floor space, and management is more intelligent, socket is with water-tight device and can automatically open up and close when preparing charging and after charging。
A kind of electric automobile being loaded with described vehicle-mounted automatic charging mechanical arm, it is characterised in that this electronic gas car includes car body and mechanical arm, and mechanical arm is embedded on the chassis of described car body, when not charging, drives mechanical arm to be retracted under chassis。
This electronic gas car includes controlling device, and this control device is controlled by ARM integrated manipulator, is connected by CAN with each steering wheel in photographic head and mechanical arm；
When described electric automobile electricity deficiency, the position of photographic head identification socket, control the motion of each steering wheel after controlling device computing, drive plug insertion socket, charging starts；After charging terminates, control device and control the motion of each steering wheel, drive plug to extract socket, and drive mechanical arm to be retracted under chassis。
The operation principle of this electric automobile is as follows:
(1) electric automobile is parked on appointment parking stall；
(2) the internal electricity of electric automobile detection, electricity is not enough, sends instruction by vehicle to vehicle-mounted mechanical arm controller and carries out action, and simultaneously with floor socket outlet communication, receptacle cover plate is opened；
(3) photographic head that vehicle-mounted machine mechanical arm is installed by plug side, identify positioning socket position and be sent to controller, after controller computing, sending instruction action to each joint servo steering wheel, driving plug socket, socket power pack is energized, and charging starts；
(4) the internal electricity of electric automobile detection is sufficient, sends instruction to controller, and each joint servo servo driving mechanical arm pulls the plug out of the socket, and charges complete and drives mechanical arm to be retracted under chassis。
Compared with prior art, the invention have the advantages that
(1) present invention proposes vehicle type electric automobile automatic charging mechanical arm, it is achieved that the automatic charging of electric automobile and automatically powering off。Being installed on automobile by automatic charging mechanical arm, by the control of administrative center, the socket on mechanical arm energy Automatic-searching parking stall, for this charging electric vehicle；Auto power off after charging complete, is back to original position。Whole process is without manual operation, Portable safety: avoid artificial potential safety hazard that may be present and the faulty operation of charging on the one hand；Ensure the charge requirement of electric automobile on the other hand, will not cause that because user forgets charging electric automobile course continuation mileage is not enough；
(2) the vehicular automatic charging mechanical arm that the present invention proposes is eight articulated mechanical arm with six degree of freedom, movable flexible, can pass through precise control and finds the socket on ground and dock。
(3) the automatic charging mechanical arm of the present invention is embedded on automobile chassis, during off working state, mechanical arm may contract to flat form, locus is less, lightweight, both ensured the safety of charger mechanical arm, avoid largely non-vehicle-mounted type charging robot exist stolen, damage problem, do not affect again the traveling of vehicle, on the performance of vehicle itself almost without impact。
Accompanying drawing explanation
Fig. 1 is the structural representation of mechanical arm of the present invention；
Fig. 2 is the assembling explosive view of mechanical arm of the present invention；
Fig. 3 is the front view of floor socket outlet of the present invention；
Fig. 4 be floor socket outlet A-A face of the present invention sectional view；
Fig. 5 is the schematic diagram that the present invention is loaded with the electric automobile off working state of mechanical arm；
The mechanical arm plug that Fig. 6 is the electric automobile duty that the present invention is loaded with mechanical arm coordinates schematic diagram with floor socket outlet。
Fig. 7 is two kinds of mechanical arm installation site schematic diagrams；
Fig. 8 is scheme installing space sketch 1. in Fig. 7；
Fig. 9 is scheme installing space sketch 2. in Fig. 7；
Wherein 1, pendulum arm restraining board, 2, mechanical arm connecting plate, 3, second joint gripper shoe, 4, second steering wheel, 5, second joint left end cap, 6, 3rd steering wheel, 7, 3rd joint left end cap, 8, 4th steering wheel, 9, 4th joint left end cap, 10, 5th joint motor gripper shoe, 11, 5th steering wheel, 12, 5th joint left end cap, 13, 6th steering wheel, 14, 6th joint left end cap, 15, 7th steering wheel, 16, 7th joint left end cap, 17, 8th joint motor gripper shoe, 18, 8th steering wheel, 19, 8th joint left end cap, 20, plug base, 21, first steering wheel, 22, first joint shaft bolster, 23, second joint bearing bracket stand, 24, second joint right end cap, 25, 3rd joint motor gripper shoe, 26, three-knuckle bearing frame, 27, 3rd joint right end cap, 28, 4th joint motor gripper shoe, 29, 4th joint shaft bolster, 30, 4th joint right end cap, 31, 5th joint shaft bolster, 32, 5th joint right end cap, 33, 6th joint motor gripper shoe, 34, 6th joint shaft bolster, 35, 6th joint right end cap, 36, 7th joint motor gripper shoe, 37, 7th joint shaft bolster, 38, 7th joint right end cap, 39, 8th joint shaft bolster, 40, 8th joint right end cap, 41, plug bracket, 42, contact pin, 43, plug dividing plate, 44, first joint rolling bearing, 45, second joint rolling bearing, 46, 3rd joint rolling bearing, 47, 4th joint rolling bearing, 48, 5th joint rolling bearing, 49, 6th joint rolling bearing, 50, 7th joint rolling bearing, 51, 8th joint rolling bearing, 52, electric automobile, 53, vehicle-mounted machine mechanical arm, 54, charging socket, 55, Socket casing, 56, first jack, 57, second jack, 58, 3rd jack, 59, 4th jack, 60, 5th jack, 61, 6th jack, 62, 7th jack, 63, 8th jack, 64 the 9th jacks, 65, photographic head, A is electric automobile chassis, and S is ground, and I is region 1, and II is region 2, and III is region 3, and IV is region 4。
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is a part of embodiment of the present invention, rather than whole embodiment。Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the premise not making creative work, all should belong to the scope of protection of the invention。
As illustrated in fig. 1 and 2, a kind of vehicular automatic charging mechanical arm, this mechanical arm is mainly made up of mechanical arm body, driving device (technical grade digital rudder controller) and control part。This mechanical arm adopts aluminum alloy materials to process。
The composition of mechanical arm:
Mechanical arm body is formed by putting arm restraining board 1, first joint, seven parallel joints, end plug and photographic head。
Mechanical arm connecting plate the 2, first joint shaft bolster the 22, first joint rolling bearing 44 constitutes the first joint, and the first intraarticular installs the first steering wheel 21, controls the first joint motions parts and rotates；
Second joint bracing frame 3, second joint left end cap 5, second joint bearing bracket stand 23, second joint rolling bearing 45, second joint right end cap 24 constitute second joint, install the second steering wheel 4 in second joint, control second joint moving component and rotate；
3rd joint bracing frame 25, second joint left end cap 7, three-knuckle bearing frame the 26, the 3rd joint rolling bearing the 46, the 3rd joint right end cap 27 constitute the 3rd joint, and the 3rd intraarticular installs the 3rd steering wheel 6, control the 3rd joint moving component and rotate；
4th joint motor gripper shoe the 28, the 4th joint left end cap the 9, the 4th joint shaft bolster the 29, the 4th joint rolling bearing the 47, the 4th joint right end cap 30 constitutes the 4th joint, and the 4th intraarticular installs the 4th steering wheel 8, controls the 4th joint motions parts and rotates；
5th joint motor gripper shoe the 10, the 5th joint left end cap the 12, the 5th joint shaft bolster the 31, the 5th joint rolling bearing the 48, the 5th joint right end cap 32 constitutes the 5th joint, and the 5th intraarticular installs the 5th steering wheel 11, controls the 5th joint motions parts and rotates；
6th joint motor gripper shoe the 33, the 6th joint left end cap the 14, the 6th joint shaft bolster the 34, the 6th joint rolling bearing the 49, the 6th joint right end cap 35 constitutes the 6th joint, and the 6th intraarticular installs the 6th steering wheel 13, controls the 6th joint motions parts and rotates；
7th joint motor gripper shoe the 36, the 7th joint left end cap the 16, the 7th joint shaft bolster the 37, the 7th joint rolling bearing the 50, the 7th joint right end cap 38 constitutes the 7th joint, and the 7th intraarticular installs the 7th steering wheel 15, controls the 7th joint motions parts and rotates；
8th joint motor gripper shoe the 17, the 8th joint left end cap the 19, the 8th joint shaft bolster the 39, the 8th joint rolling bearing the 51, the 8th joint right end cap 40, plug bracket 41 constitute the 8th joint, 8th intraarticular installs the 8th steering wheel 18, controls the 8th joint motions parts and rotates；
Photographic head 65 is arranged on the side of plug base 20。
Plug portion includes the plug base 20 of insulation, plug dividing plate 41 and contact pin 42, contact pin 42 is distributed on the center of circle and eight concentric circulars, could be arranged to 76, wherein, the contact pin in the center of circle is 1,8 concentric circulars are according to diameter order from small to large, and contact pin quantity is respectively set to 3,3,3,6,6,6,24,24, and ferrule material is yellow gold。
Socket part includes Socket casing 55 and the jack being positioned on housing to insert for plug, and jack bottom conductive material is copper sheet, formation path after contact with contact pin, described supply hub is divided into the circular socket holes of 8 concentric ring-shaped jacks and 1 circle centre position, i.e. the first jack 56, the second jack 57, the 3rd jack 58,4th jack 59,5th jack 60, the 6th jack 61, the 7th jack 62,8th jack 63, the 9th jack 64。
The annexation of each several part is as follows:
Pendulum arm restraining board 1 one end is embedded on the chassis of electric automobile, mechanical arm is made to be connected with electric automobile, the other end connects the first steering wheel 21, and directly connect 1 with pendulum arm restraining board on the left of the first steering wheel 21 and threaded, right side is rotated axle and is threadeded with mechanical arm connecting plate 2 by the first joint shaft bolster 22 and the first joint rolling bearing 44, is connected so that pendulum arm restraining board 1 is set up with the first joint；
First joint connects second joint gripper shoe 3 by mechanical arm connecting plate 2, is connected thus setting up with second joint；
In second joint, second joint gripper shoe 3 is connected with the second steering wheel 4, second joint left end cap 5 is connected on the left of second steering wheel 4, right side rotates axle and connects second joint right end cap 24 by second joint bearing bracket stand 23 and second joint rolling bearing 45, second joint left end cap 5 and second joint right end cap 24 connect the 3rd joint gripper shoe 25 jointly, are connected thus setting up with the 3rd joint；
3rd intraarticular, 3rd joint gripper shoe 25 is connected with the 3rd steering wheel 6, the 3rd joint left end cap 7 is connected on the left of 3rd steering wheel 6, right side rotates axle and connects the 3rd joint right end cap 27 by three-knuckle bearing frame 26 and the 3rd joint rolling bearing 46,3rd joint left end cap 7 and the 3rd joint right end cap 27 connect the 4th articular branches fagging 28 jointly, are connected thus setting up with the 4th joint；
4th intraarticular, 4th articular branches fagging 28 is connected with the 4th steering wheel 8, the 4th joint left end cap 9 is connected on the left of 4th steering wheel 8, right side rotates axle and connects the 4th joint right end cap 30 by the 4th joint shaft bolster 29 and the 4th joint rolling bearing 47,4th joint left end cap 9 and the 4th joint right end cap 30 connect the 5th articular branches fagging 10 jointly, are connected thus setting up with the 5th joint；
5th intraarticular, 5th articular branches fagging 10 is connected with the 5th steering wheel 11, the 5th joint left end cap 12 is connected on the left of 5th steering wheel 11, right side rotates axle and connects the 5th joint right end cap 32 by the 5th joint shaft bolster 31 and the 5th joint rolling bearing 48,5th joint left end cap 12 and the 5th joint right end cap 32 connect the 6th articular branches fagging 33 jointly, are connected thus setting up with the 6th joint；
6th intraarticular, 6th articular branches fagging 33 is connected with the 6th steering wheel 13, the 6th joint left end cap 14 is connected on the left of 6th steering wheel 13, right side rotates axle and connects the 6th joint right end cap 35 by the 6th joint shaft bolster 34 and the 6th joint rolling bearing 49,6th joint left end cap 14 and the 6th joint right end cap 35 connect the 7th articular branches fagging 36 jointly, are connected thus setting up with the 7th joint；
7th intraarticular, 7th articular branches fagging 36 connects the 7th steering wheel 15, the 7th joint left end cap 16 is connected on the left of 7th steering wheel 15, right side rotates axle and connects the 7th joint right end cap 38 by the 7th joint shaft bolster 37 and the 7th joint rolling bearing 50,7th joint left end cap 16 and the 7th joint right end cap 38 connect the 8th articular branches fagging 17 jointly, are connected thus setting up with the 8th joint；
8th intraarticular, 8th articular branches fagging 17 connects the 8th steering wheel 18, the 8th joint left end cap 19 is connected on the left of 8th steering wheel 18, right side rotates axle and connects the 8th joint right end cap 40 by the 8th joint shaft bolster 39 and the 8th joint rolling bearing 51,8th joint left end cap 19 and the 8th joint right end cap 40 connect plug bracket 41 jointly, and plug bracket 41 is connected with plug base 20 again；
Thus whole mechanical arm connects into as a whole。Above-mentioned connection is evenly arranged screwed hole each through on different parts, is attached by screw。
Drive part is made up of eight digital rudder controllers 21,4,6,8,11,13,15,18 being distributed on eight joints and mechanical arm internal wiring。
Control part is controlled by ARM integrated manipulator, is connected with drive part and photographic head by CAN, for the position of testing machine mechanical arm and action and respond and adjust in real time。
The charging socket 54 on ground is connected with back-stage management center by cable, available voltage is alternating current 220V, exchange 380V and/or direct current 380V, charging socket 54 charges for electric automobile 52 by docking with charging plug, and charging socket 54 is with water-tight device and can automatically open up and close when preparing charging and after charging。
The present invention mainly thes improvement is that:
(1) mechanical arm is arranged on electric automobile domain, and can be shrunk to flat, and volume is little, and the impact of car load is little；
(2) mechanical arm by the connection in eight joints with coordinate, motility is good, it is possible to achieve electric automobile is automatic charging in region, parking stall；
(3) receptacle sockets corresponding with mechanical arm plug is set to circular ring type, it is ensured that no matter contact pin is positioned at which orientation of plane all can correctly dock, and significantly mentions docking speed and accuracy。
(4) ground only needs mounting receptacle, by the unified regulation and control at back-stage management center, substantially reduces floor space, and management is more intelligent。
The operation principle of the present invention is as follows:
The present invention devises a kind of vehicle-mounted automatic charging mechanical arm, and automatic charging mechanical arm 53 is arranged on electric automobile chassis lower end。Automatic charging mechanical arm 53 one end is fixed, and the other end is movable。Fixing end is arranged on below electric automobile 52 chassis by putting arm restraining board 1 connection。The other end is charging plug, floor socket outlet 54 position, autonomous location。
Except the first joint, other articulate axis of institute are parallel to each other and vertical with the axis of the first cradle head, each joint is respectively provided with a digital rudder controller, drives each joint motions parts to be rotated about axis。
The first steering wheel 21 on first joint, drives the first joint motions parts mechanical arm connecting plate 2 rotatable around its axis around the first joints axes rotation and joint after by the first joint rolling bearing 44；
The second steering wheel 4 on second joint, drives second joint moving component second joint left end cap 5, second joint right end cap 24 and joint after rotatable around its axis by second joint rolling bearing 45；
The 3rd steering wheel 6 on 3rd joint, drives the 3rd joint moving component the 3rd joint left end cap the 7, the 3rd joint right end cap 27 and joint after rotatable around its axis by the 3rd joint rolling bearing 46；
The 4th steering wheel 8 on 4th joint, drives the 4th joint motions parts the 4th joint left end cap the 9, the 4th joint right end cap 30 and joint after rotatable around its axis by the 4th joint rolling bearing 47；
The 5th steering wheel 11 on 5th joint, drives the 5th joint motions parts the 5th joint left end cap the 12, the 5th joint right end cap 32 and joint after rotatable around its axis by the 5th joint rolling bearing 48；
The 6th steering wheel 13 on 6th joint, drives the 6th joint motions parts the 6th joint left end cap the 14, the 6th joint right end cap 35 and joint after rotatable around its axis by the 6th joint rolling bearing 49；
The 7th steering wheel 16 on 7th joint, drives the 7th joint motions parts the 7th joint left end cap the 16, the 7th joint right end cap 38 and joint after rotatable around its axis by the 7th joint rolling bearing 50；
The 8th steering wheel 18 on 8th joint, drives the 8th joint motions parts the 8th joint left end cap the 19, the 8th joint right end cap 40, plug bracket 41 and plug rotatable around its axis by the 8th joint rolling bearing 51。
The present invention devises a kind of electric automobile being loaded with automatic charging mechanical arm, and automatic charging mechanical arm is embedded on automobile chassis, and during off working state, mechanical arm may contract to flat form and is close to chassis。
The job step of the present invention is:
(1) electric automobile is parked on appointment parking stall；
(2) the internal electricity of electric automobile detection, electricity is not enough, sends instruction by vehicle to vehicle-mounted mechanical arm controller and carries out action, and simultaneously with floor socket outlet communication, receptacle cover plate is opened；
(3) photographic head that vehicle-mounted machine mechanical arm is installed by plug side, identify positioning socket position and be sent to controller, after controller computing, sending instruction action to each joint servo steering wheel, driving plug socket, socket power pack is energized, and charging starts；
(4) the internal electricity of electric automobile detection is sufficient, sends instruction to controller, and each joint servo servo driving mechanical arm pulls the plug out of the socket, and charges complete and drives mechanical arm to be retracted under chassis。
Installation site (be installed on electric automobile central axis 200mm to the left):
In Fig. 7, A is electric automobile chassis, is 1. the first installation site of mechanical arm, and mechanical arm has 90 ° of rotating ranges；2. being mechanical arm the second installation site, mechanical arm has 180 ° of rotating ranges。Mechanical arm is each parallel to vehicle traveling direction when mechanical arm does not work for two schemes, namely parallel with X-axis。
I regional extent that should be able to arrive at for 400mm × 400mm Design Theory mechanical arm immediately below chassis；II is regional extent that 1. 2. two kinds of mount schemes can additionally arrive at jointly except 400mm × 400mm region immediately below chassis；III is the 1. plant the regional extent that mount scheme individually can arrive at；IV is the 2. plant the regional extent that mount scheme individually can arrive at。
Fig. 8 is the installing space sketch 1. planting scheme, and A is electric automobile domain plane, and S is ground, and H point installs some projection on the S of ground for mechanical arm, and O point is the midpoint of the regional extent that 400mm × 400mm Design Theory mechanical arm should be able to arrive at immediately below chassis。
Mechanical arm is installed on electric automobile chassis central axis 400mm distance to the left or to the right, mechanical arm has 90-degree rotation scope, scope includes the region that design mechanical arm should be able to arrive at, sweep limits is the sector region in Fig. 7, contains the square area scope that immediately below chassis, 400mm × 400mm Design Theory mechanical arm should be able to arrive in region。
Fig. 9 is the installing space sketch 2. planting scheme, and A is electric automobile domain plane, and S is ground, and H point installs some projection on the S of ground for mechanical arm, and O point is the midpoint of the regional extent that 400mm × 400mm Design Theory mechanical arm should be able to arrive at immediately below chassis。
Mechanical arm is installed and electric automobile chassis central axis place, mechanical arm has rotation turnback scope, scope includes the region that design mechanical arm should be able to arrive at, sweep limits is the semicircular area in Fig. 9, contains the square area scope that immediately below chassis, 400mm × 400mm Design Theory mechanical arm should be able to arrive in region。
Restriction range:
(1) close joint number to determine:
If the first joint length is L1, parallel joint length below is followed successively by L2、L3…Ln。
Chassis height H0At 120mm～170mm, difference according to different parking spots, mechanical arm in the square area of 400mm × 400mm, should remove end plug joint in the range of activity of X/Y plane, consider the bending coordinated with socket, the parallel joint total length (L of mechanical arm2+L3+…+Ln-1) it is approximately 550mm～600mm。
Because space, chassis is minimum for 120mm, mechanical arm needs bending, form the superposition of two mechanical arm thickness, being more difficult to owing to the thickness of mechanical arm is more little on the one hand realize, suspension chassis space limited thickness is also unsuitable big on the other hand, and design mechanical arm thickness is 50mm～60mm, also due to the bending limit of mechanical arm, the length often saving mechanical arm should be greater than thickness, at more than 50mm, i.e. and Ln50mm, (n >=2)。
Mechanical arm tail end plug needs to inject underground socket, and the height of socket is at about 20mm, and the height of plug portion is approximately 30mm, and insert ends joint length is 50mm～60mm。Thus plus end joint, the parallel joint total length (L of mechanical arm2+L3+…+Ln) for 600mm～660mm。
The average length in row joint of making even is approximately 80mm, and total length is 600mm, 600 ÷ 80 ≈ 7, thus has 7 parallel joints, adds first totally eight joints, joint。
(2) joint size range:
Considering bending according to mechanical arm design, in the process inserting socket, it is more big that mechanical arm more arrives end bending degree, thus end plug place mechanical arm length should be minimum, cannot be greater than the mechanical arm length away from mechanical arm tail end by subterminal mechanical arm length, i.e. Ln+1≤Ln。
It is readily obtained by analysis above:
L2≥L3≥L4≥L5≥L6≥L7≥L8；
And insert ends joint length L8For: 50mm～60mm。
Remove six parallel joints of socket part, it is considered to mechanical arm length, have:
L2+L3+L4+L5+L6+L7≈ 550mm～600mm；
Consider chassis height H0:
L2sinθ2+ L3sinθ3+ L4sinθ4+ L5sinθ5+ L6sinθ6+L7sinθ7≤ 120mm；
Consider X/Y plane extreme position:
L2cosθ2+L3cosθ3+L4cosθ4+L5cosθ5+L6cosθ6+L7cosθ7>=500mm；
Consider the situation of limit bending:
L2+L3≤L5+L6+L7；
So L2Length range is: 90mm～120mm, L3Length range is: 90mm～120mm, L4Length range is: 60mm～90mm, L5Length range is: 60mm～90mm, L6Length range is: 60mm～90mm, L7Length range is: 60mm～90mm。
L1Length determine according to pendulum arm restraining board and activity space and the size of the first joint motor, be approximately 60mm～70mm；
L8Above have determined as: 50mm～60mm。
The above; it is only the specific embodiment of the present invention; but protection scope of the present invention is not limited thereto; any those familiar with the art is in the technical scope that the invention discloses; can readily occurring in amendment or the replacement of various equivalence, these amendments or replacement all should be encompassed within protection scope of the present invention。Therefore, protection scope of the present invention should be as the criterion with scope of the claims。
Claims (10)
1. a vehicle-mounted automatic charging mechanical arm, it is characterised in that this mechanical arm is arranged on bottom electric automobile, realizes the automatic charging of electric automobile by being automatically inserted into socket, and described mechanical arm includes:
Pendulum arm restraining board: one end is fixed on bottom electric automobile；
First joint: one end is connected with the described pendulum arm restraining board other end；
Parallel joint unit: one end is connected with the first joint other end, when not charging, this parallel joint unit and automobile chassis be arranged in parallel, and during charging, parallel joint unit moves down；
Plug: be installed on the end of parallel joint unit；
Photographic head: be arranged on the one side of plug。
2. the vehicle-mounted automatic charging mechanical arm of one according to claim 1, it is characterised in that described pendulum arm restraining board one end is embedded on the chassis of electric automobile, and the other end and the first joint connect。
3. the vehicle-mounted automatic charging mechanical arm of one according to claim 1, it is characterized in that, the first described joint includes mechanical arm connecting plate, the first joint shaft bolster, the first joint rolling bearing, the first steering wheel, first described steering wheel one end is directly connected with pendulum arm restraining board, the other end is connected with mechanical arm connecting plate by the first joint rolling bearing, the first described joint rolling bearing is located on the first joint shaft bolster, and described mechanical arm connecting plate connects with parallel joint unit。
4. the vehicle-mounted automatic charging mechanical arm of one according to claim 1, it is characterized in that, described parallel joint unit includes the parallel joint of at least two being linked in sequence successively, each parallel joint includes joint motor gripper shoe, left end cap, joint shaft bolster, joint rolling bearing, steering wheel, joint right end cap, described joint motor gripper shoe is connected with steering wheel, joint left end cap is connected on the left of described steering wheel, right side arranges rotation axle and connects joint right end cap by joint rolling bearing, described joint left end cap and joint right end cap are connected to described motor support plate both sides。
5. the vehicle-mounted automatic charging mechanical arm of one according to claim 4, it is characterised in that described parallel joint unit includes seven the parallel joints being linked in sequence successively。
6. the vehicle-mounted automatic charging mechanical arm of one according to claim 1, it is characterised in that described plug includes plug bracket, plug base, plug dividing plate and contact pin, and described plug bracket is connected with the end of parallel joint unit；Described plug base and plug dividing plate are concentrically mounted on plug bracket；Described contact pin is arranged in plug base。
7. the vehicle-mounted automatic charging mechanical arm of one according to claim 6, it is characterized in that, described contact pin is distributed on the center of circle and eight concentric circulars of plug base, wherein, the contact pin in the center of circle is 1, and the pin count that 8 concentric circulars are respectively provided with from small to large according to diameter is 3,3,3,6,6,6,24 and 24。
8. the vehicle-mounted automatic charging mechanical arm of one according to claim 6, it is characterized in that, also including the socket corresponding with described plug, this socket includes Socket casing and the jack being positioned on Socket casing, and described jack includes the circular socket holes of 8 concentric ring-shaped jacks and 1 circle centre position。
9. one kind is loaded with the electric automobile of vehicle-mounted automatic charging mechanical arm as described in claim 1～8, it is characterised in that this electronic gas car includes car body and mechanical arm, and mechanical arm is embedded on the chassis of described car body, when not charging, drives mechanical arm to be retracted under chassis。
10. the electric automobile of vehicle-mounted automatic charging mechanical arm according to claim 9, it is characterised in that this electronic gas car includes controlling device, and this control device is controlled by ARM integrated manipulator, is connected by CAN with each steering wheel in photographic head and mechanical arm；
When described electric automobile electricity deficiency, the position of photographic head identification socket, control the motion of each steering wheel after controlling device computing, drive plug insertion socket, charging starts；After charging terminates, control device and control the motion of each steering wheel, drive plug to extract socket, and drive mechanical arm to be retracted under chassis。
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| CN109318735A (en) * | 2018-11-29 | 2019-02-12 | 上海上汽安悦充电科技有限公司 | A kind of floating type charging connecting device |
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