CN109484214A - A kind of new energy vehicle charging robot - Google Patents

A kind of new energy vehicle charging robot Download PDF

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Publication number
CN109484214A
CN109484214A CN201811178898.6A CN201811178898A CN109484214A CN 109484214 A CN109484214 A CN 109484214A CN 201811178898 A CN201811178898 A CN 201811178898A CN 109484214 A CN109484214 A CN 109484214A
Authority
CN
China
Prior art keywords
fixedly installed
charging
driving
robot
new energy
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811178898.6A
Other languages
Chinese (zh)
Inventor
李罡
李昱
姜钧
汪川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Xinbang Intelligent Equipment Ltd By Share Ltd
Original Assignee
Guangzhou Xinbang Intelligent Equipment Ltd By Share Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Xinbang Intelligent Equipment Ltd By Share Ltd filed Critical Guangzhou Xinbang Intelligent Equipment Ltd By Share Ltd
Priority to CN201811178898.6A priority Critical patent/CN109484214A/en
Publication of CN109484214A publication Critical patent/CN109484214A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/14Plug-in electric vehicles

Abstract

The invention discloses a kind of new energy vehicle charging robots, including AGV trolley and mechanical arm, the mechanical arm to be fixedly installed in the upper end of AGV trolley.A kind of new energy vehicle charging robot of the present invention, equipped with No.1 motor, No. two motors, rod holding slot, Zig Bee wireless module and elastic foldable cable, No.1 driving wheel and No. two driving wheels can be driven respectively, when there is any motor to stop working, another group of motor, which works on, realizes transmission work, left-right rotary bull stick and charging gun can be subjected to folding storage, left-right rotary bull stick and charging gun are in connection status always, avoid cumbersome clamping process, it can turn ethernet gateway by Zig Bee to charging robot and send or receive instruction, Zig Bee wireless module receives or sends instruction, realize wireless control, complicated winding displacement can be reduced, convenient for carrying out storage arrangement to charging cable, with certain practicability, bring better prospect of the application.

Description

A kind of new energy vehicle charging robot
Technical field
The present invention relates to charging robot fields, in particular to a kind of new energy vehicle charging robot.
Background technique
Charging robot is the charging pile of machine person form, has overturned previous charging pile form, makes charging with more spirit Activity, brings more convenient and fast charging to experience, and existing charging robot has certain limitation when in use, is unable to satisfy People preferably use;
Chinese patent 201410718161.4 discloses 201510270851.2 and discloses a kind of robot charging method, machine Mode is obtained and is charged after charging unit allows to be charged to charging unit transmission charge request device people by wireless communication The position of device;Robot determines the route to be advanced, and be moved to and fill according to the position of self-position and charging unit It is docked at the position of electric installation with charging unit, so that charging unit charges to robot;In the unmanned feelings participated in The method that charging is automatically performed under condition is stringenter to the cruise positioning and the plug requirement of socket of robot, and charging connection is relatively more tired Difficulty, and it is possible to frequent malfunction;To guarantee accuracy, using Zig Bee wireless module, long-range ZigBee control sum number is realized According to the purpose of acquisition, support and AW5161P2CF series ZigBee module compatible communication.Equipment samples high-power ZigBee radio frequency Transceiver has higher receiving sensitivity, and sighting distance covering radius is up to 2.5Km.Working frequency 2400-2485MHz (16 RF Channel), have the characteristics that low-power consumption, high sensitivity and transmitting range are remote.It supports data transparent transmission, supports local and distributing in air It sets, relevant configured parameter can flexibly be set by configuration software user.
There are certain drawbacks in existing charging robot, firstly, can not be well to the charging machine when in use People carries out wireless control, and modification of orders is complex, secondly, left-right rotary bull stick and charging gun can not be subjected to folding storage, Take up space when not working larger, be unfavorable for storing, traditional charging gun be all using when just installed, clamping process is cumbersome It wastes time, in addition, internal drive motor is single, when there is any motor to stop working, another group of motor can not continue Work, influences normally to use it, is not easy to maintain to work normally, finally, charging cable winding displacement is complicated, be easy to cause Knotting wrapping phenomena is not easy to carry out storage arrangement to charging cable, certain influence is brought to the use process of people, is This, the robot it is proposed that a kind of new energy vehicle charges.
Summary of the invention
The main purpose of the present invention is to provide a kind of new energy vehicle charging robots, can effectively solve in background technique The problem of.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of new energy vehicle charging robot, including AGV trolley and mechanical arm, the mechanical arm are fixedly installed in The upper end of AGV trolley, the AGV trolley include AGV car body, vehicle frame, wheel and driving device, and the wheel is installed on vehicle frame Two sides, the driving device are installed on the upper end of vehicle frame, and the AGV car body is located at the upper end of driving device, the AGV car body It is internally provided with Zig Bee wireless module.
Preferably, the wheel is installed on the two sides of vehicle frame, and the driving device includes drive rod, No.1 motor and No. two Motor, the AGV car body are fixedly installed in the upper end of vehicle frame, and the two sides upper end of the vehicle frame is fixedly installed with backplate, and two Group backplate is located at the two sides of AGV car body, and the front end of the vehicle frame is fixedly installed with cushion, the inside of the AGV car body It is fixedly installed with battery and support rod, and support rod is located at the side of battery, the upper end of the support rod is fixedly installed with Wiring board, the upper end of the wiring board is fixedly installed with single-chip microcontroller and driver, and Zig Bee wireless module is fixedly installed in line The upper end of road plate, the Zig Bee wireless module are located at the side of single-chip microcontroller, and the driver is located at the other side of single-chip microcontroller, The upper end side of the AGV car body is fixedly installed with mounting seat, and the upper end of the mounting seat is fixedly installed with rotating seat, institute The upper end for stating rotating seat is movably installed with camera.
Preferably, the wheel includes No.1 universal wheel, No. two universal wheels, No.1 driving wheel and No. two driving wheels, and one Number universal wheel and No. two universal wheels are installed on the front end two sides of vehicle frame, and the No.1 driving wheel and No. two driving wheels are installed on vehicle frame Rear end sides, the drive rod connect with No.1 driving wheel and No. two capstan drives, and the No.1 driving wheel is by No.1 electricity Machine driving, No. two driving wheels are by No. two motor drivens.
Preferably, the mechanical arm includes mechanical arm pedestal, swivel base, short actuating arm, long actuating arm, is rotated up and down Bar and left-right rotary bull stick, the mechanical arm pedestal are fixedly installed in the upper end other side of AGV car body, the mechanical arm pedestal it is upper End side is fixedly installed with elastic foldable cable, and the inside of the elastic foldable cable is fixedly installed with charging cable, and rotates Chassis is located at the side of elastic foldable cable, and the short actuating arm is movably installed in the upper end of swivel base, the short actuating arm Upper end inside be provided through No.1 rotary shaft, and short actuating arm is flexibly connected with long actuating arm by No.1 rotary shaft, institute The inside for stating long actuating arm offers rod holding slot, No. two rotary shafts is provided through inside the upper end of the long actuating arm, and long Actuating arm be rotated up and down bar and be flexibly connected by No. two rotary shafts, the bar that is rotated up and down is flexibly connected with left-right rotary bull stick, The front end of the left-right rotary bull stick is fixedly installed with charging supporting rod, and the inside of the charging supporting rod is provided through No. three rotations Shaft.
Preferably, one end of the elastic foldable cable is fixedly installed with charging gun, and the charging gun includes handle, charging Head and power connection, and handle is flexibly connected with charging supporting rod by No. three rotary shafts, the charging head is located at charging gun Front end, the power connection are located at the lower end of charging gun, and the power connection is fixedly connected with one end of elastic foldable cable.
Preferably, the input terminal of the output end of the Zig Bee wireless module and single-chip microcontroller is electrically connected, the single-chip microcontroller Output end and the input terminal of driver be electrically connected, the input terminal of the No.1 motor and No. two motors is defeated with driver Outlet is electrically connected.
Preferably, the inner bottom of the mechanical arm pedestal is fixedly installed with rotating electric machine, the main shaft of rotating electric machine and rotation Turn chassis to be fixedly connected, the side of the rotating electric machine is fixedly installed with controller, the fixed peace in the side of the No.1 rotary shaft Equipped with No.1 driving motor, the side of No. two rotary shafts is fixedly installed with No. two driving motors, No. three rotary shafts Side is fixedly installed with No. two driving motors, and the No.1 rotary shaft is driven by No.1 driving motor, No. two rotary shafts It is driven by No. two driving motors, No. three rotary shafts pass through No. two driving motor drivings, the rotating electric machine, No.1 driving The input terminal of motor, No. two driving motors and No. three driving motors is electrically connected with the output end of controller, the single-chip microcontroller Output end and controller input terminal be electrically connected.
Preferably, the leading exterior surface of the battery offers charging jack and output socket, and charging jack is located at defeated The other end of the side of socket out, the elastic foldable cable is fixedly connected with output socket, and the side of the battery is fixed Charger is installed.
Preferably, the inner bottom of the mounting seat is fixedly installed with motor, and the main shaft and rotating seat of motor are solid Fixed connection.
Preferably, the inside of the Zig Bee wireless module is fixedly installed with Zig Bee RF transceiver, and Zig Bee is penetrated The sighting distance covering radius of frequency transceiver is up to .Km.
Compared with prior art, the invention has the following beneficial effects:
1, the No.1 motor and No. two motors being arranged, can respectively be driven No.1 driving wheel and No. two driving wheels, When there is any motor to stop working, another group of motor, which works on, realizes transmission work, convenient for maintaining to work normally, avoids just It can not work normally in the robot of work, maintain normal use;
2, left-right rotary bull stick and charging gun can be folded into rod holding slot to collect, convenient for saving space, when not working Convenient for carrying out folding and unfolding to it, left-right rotary bull stick and charging gun are in connection status always, avoid cumbersome clamping process, save Working time;
3, by the Zig Bee wireless module of setting, ethernet gateway hair can be turned by Zig Bee to charging robot Instruction is sent or receives, Zig Bee wireless module receives or sends instruction, realizes wireless control;
4, elastic foldable cable is attached charging gun and battery, can reduce the winding displacement of charging cable complexity, just In carrying out storage arrangement to charging cable, phenomena such as the winding that knot is avoided.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of new energy vehicle charging of present invention robot;
Fig. 2 is a kind of structural schematic diagram of the vehicle frame of new energy vehicle charging of present invention robot;
Fig. 3 is a kind of bottom view of the vehicle frame of new energy vehicle charging of present invention robot;
Fig. 4 is a kind of enlarged drawing of the AGV car body of new energy vehicle charging of present invention robot;
Fig. 5 is a kind of internal view of the AGV car body of new energy vehicle charging of present invention robot;
Fig. 6 is a kind of enlarged drawing of the mechanical arm of new energy vehicle charging of present invention robot;
Fig. 7 is a kind of structural schematic diagram of the charging gun of new energy vehicle charging of present invention robot;
Fig. 8 is a kind of circuit connection diagram of the wiring board of new energy vehicle charging of present invention robot;
Fig. 9 is a kind of system block diagram of the Zig Bee wireless module of new energy vehicle charging of present invention robot.
In figure: 1, AGV car body;2, backplate;3, mechanical arm pedestal;4, swivel base;5, elastic foldable cable;6, short driving Arm;7, long actuating arm;8, vehicle frame;9, cushion;10, No.1 universal wheel;11, No. two universal wheels;12, No.1 driving wheel;13, two Number driving wheel;14, No.1 motor;15, No. two motors;16, mounting seat;17, rotating seat;18, camera;19, battery; 20, support rod;21, wiring board;22, No.1 rotary shaft;23, rod holding slot;24, No. two rotary shafts;25, it is rotated up and down bar;26, left Dextrorotation bull stick;27, charge supporting rod;28, No. three rotary shafts;29, handle;30, charging gun;31, charging head;32, power connection; 33, Zig Bee wireless module;34, single-chip microcontroller;35, driver.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to Specific embodiment, the present invention is further explained.
Embodiment 1
As shown in figs 1-9, a kind of new energy vehicle charging robot, including AGV trolley and mechanical arm, mechanical arm are fixed It is installed on the upper end of AGV trolley, AGV trolley includes AGV car body 1, vehicle frame 8, wheel and driving device, and wheel is installed on vehicle frame 8 Two sides, driving device is installed on the upper end of vehicle frame 8, and AGV car body 1 is located at the upper end of driving device, and the inside of AGV car body 1 is set It is equipped with Zig Bee wireless module 33, driving device includes drive rod, No.1 motor 14 and No. two motors 15, and AGV car body 1 is fixed It is installed on the upper end of vehicle frame 8, the two sides upper end of vehicle frame 8 is fixedly installed with backplate 2, and two groups of backplates 2 are located at AGV car body 1 two sides, the front end of vehicle frame 8 are fixedly installed with cushion 9, and the inside of AGV car body 1 is fixedly installed with battery 19 and support rod 20, and support rod 20 is located at the side of battery 19, the upper end of support rod 20 is fixedly installed with wiring board 21, wiring board 21 it is upper End is fixedly installed with single-chip microcontroller 34 and driver 35, and Zig Bee wireless module 33 is fixedly installed in the upper end of wiring board 21, Zig Bee wireless module 33 is located at the side of single-chip microcontroller 34, and driver 35 is located at the other side of single-chip microcontroller 34, AGV car body 1 it is upper End side is fixedly installed with mounting seat 16, and the upper end of mounting seat 16 is fixedly installed with rotating seat 17, the upper end of rotating seat 17 It is movably installed with camera 18, the inside of Zig Bee wireless module 33 is fixedly installed with ZigBee RF transceiver, and ZigBee is penetrated The sighting distance covering radius of frequency transceiver passes through up to 2.5Km, the entire robot that charges by the Zig Bee wireless module 33 of itself Wireless transmission turns ethernet gateway with extraneous Zig Bee and carries out signal connection, and Zig Bee wireless module 33 receives Zig Bee Turn the instruction of ethernet gateway sending, or send instructions to Zig Bee and turn ethernet gateway, realizes wireless control, and then Zig Bee wireless module 33 transmits a signal to single-chip microcontroller 34, then is determined whether signal by single-chip microcontroller 34 and then handled, according to defeated The comprehensive analysis of control signal path out, driver 35 carries out the control mode of order, by reading the state of deposit, to electricity Machine implements control, and then realizes the automatic guidance of charging robot.
Embodiment 2
As shown in figs 1-9, wheel includes 10, No. two universal wheels 11 of No.1 universal wheel, No.1 driving wheel 12 and No. two actives Wheel 13, and No.1 universal wheel 10 and No. two universal wheels 11 are installed on the front end two sides of vehicle frame 8, No.1 driving wheel 12 and No. two actives Wheel 13 is installed on the rear end sides of vehicle frame 8, drive rod and No.1 driving wheel 12 and No. two driving wheels 13 are sequentially connected, and No.1 is actively Wheel 12 is driven by No.1 motor 14, and No. two driving wheels 13 are driven by No. two motors 15, the output end of Zig Bee wireless module 33 with The input terminal of single-chip microcontroller 34 is electrically connected, and the output end of single-chip microcontroller 34 and the input terminal of driver 35 are electrically connected, No.1 motor 14 and the input terminals of No. two motors 15 be electrically connected with the output end of driver 35, the No.1 motor 14 of setting and No. two motors 15 can respectively be driven No.1 driving wheel 12 and No. two driving wheels 13, when there is any motor to stop working, another group Motor, which works on, realizes transmission work, convenient for maintaining to work normally, avoids the robot to work from can not work normally, dimension Hold normal use.
Embodiment 3
As shown in figs 1-9, mechanical arm include mechanical arm pedestal 3, swivel base 4, short actuating arm 6, long actuating arm 7, on Lower swingle 25 and left-right rotary bull stick 26, mechanical arm pedestal 3 are fixedly installed in the upper end other side of AGV car body 1, mechanical arm pedestal 3 upper end side is fixedly installed with elastic foldable cable 5, and swivel base 4 is located at the side of elastic foldable cable 5, short driving Arm 6 is movably installed in the upper end of swivel base 4, and No.1 rotary shaft 22, and short drive are provided through inside the upper end of short actuating arm 6 Swing arm 6 is flexibly connected with long actuating arm 7 by No.1 rotary shaft 22, and the inside of long actuating arm 7 offers rod holding slot 23, long driving No. two rotary shafts 24 are provided through inside the upper end of arm 7, and long actuating arm 7 passes through No. two rotary shafts 24 with bar 25 is rotated up and down It is flexibly connected, is rotated up and down bar 25 and is flexibly connected with left-right rotary bull stick 26, the front end of left-right rotary bull stick 26 is fixedly installed with charging Supporting rod 27, the inside of charging supporting rod 27 are provided through No. three rotary shafts 28, and charging gun 30 includes handle 29, charging head 31 With power connection 32, and handle 29 is flexibly connected with charging supporting rod 27 by No. three rotary shafts 28, and charging head 31, which is located at, to charge The front end of rifle 30, power connection 32 are located at the lower end of charging gun 30, the fixed company in one end of power connection 32 and elastic foldable cable 5 It connects, left-right rotary bull stick 26 can be folded into rod holding slot 23 with charging gun 30 and collected, convenient for saving space, when not working just In carrying out folding and unfolding to it, left-right rotary bull stick 26 and charging gun 30 are in connection status always, avoid cumbersome clamping process, save The about working time.
Embodiment 4
As shown in figs 1-9, the inner bottom of mechanical arm pedestal 3 is fixedly installed with rotating electric machine, the main shaft of rotating electric machine with Swivel base 4 is fixedly connected, and the side of rotating electric machine is fixedly installed with controller, and the side of No.1 rotary shaft 22 is fixedly installed with No.1 driving motor, the side of No. two rotary shafts 24 are fixedly installed with No. two driving motors, and the side of No. three rotary shafts 28 is fixed No. two driving motors are installed, No.1 rotary shaft 22 is driven by No.1 driving motor, and No. two rotary shafts 24 pass through No. two drivings Motor driven, No. three rotary shafts 28 pass through No. two driving motor drivings, rotating electric machine, No.1 driving motor, No. two driving motors Be electrically connected with the output end of controller with the input terminals of No. three driving motors, the output end of single-chip microcontroller 34 and controller it is defeated Enter end to be electrically connected, the leading exterior surface of battery 19 offers charging jack and output socket, and charging jack is located at output and inserts The side of mouth, the inside of elastic foldable cable 5 are fixedly installed with charging cable, and the other end of elastic foldable cable 5 and output are inserted Mouth is fixedly connected, and the side of battery 19 is fixedly installed with charger, and the inner bottom of mounting seat 16 is fixedly installed with electronic The main shaft of machine, motor is fixedly connected with rotating seat 17, and elastic foldable cable 5 is attached charging gun 30 and battery 19, The winding displacement of charging cable complexity can be reduced, convenient for carrying out storage arrangement to charging cable, avoids phenomena such as the winding that knot.
It should be noted that the present invention is a kind of new energy vehicle charging robot, when in use, firstly, giving AGV car body 1 Internal battery 19 charges, other than it can work to itself and provide electricity, additionally it is possible to carry out a point friendship to extraneous vehicle Current charge trickle charge and DC charging fast charge two ways, AC charging mode do not need charger, only to electric vehicle supply two Phase or three-phase alternating current give storage battery to charge by charger on vehicle, and DC charging mode needs charger, provide 200- to electric vehicle 750V direct current, electric current act directly on the positive and negative anodes of battery of electric vehicle up to 100A, and then realize quick charge, AGV vehicle The Zig Bee wireless module 33 of 1 internal circuit board of body, 21 upper end receives the instruction that extraneous Zig Bee turns ethernet gateway sending, Or send instructions to Zig Bee and turn ethernet gateway, realize wireless control, and then Zig Bee wireless module 33 passes signal Single-chip microcontroller 34 is given, then is determined whether signal by single-chip microcontroller 34 and then is handled, according to the comprehensive of the control signal path of output Analysis is closed, driver 35 carries out the control mode of order, by reading the state of deposit, implements to control to motor, and then realize The automatic guidance of charging robot, driver 35 controls No.1 motor 14 and No. two motors 15 operate, right respectively by drive rod No.1 driving wheel 12 and No. two driving wheels 13 are driven, and when there is any motor to stop working, another group of motor works on It realizes transmission work, convenient for maintaining to work normally, avoids the robot to work from can not work normally, maintain normal use, The No.1 universal wheel 10 of 8 front end two sides of vehicle frame and No. two universal wheels 11 can carry out the control in direction, Jin Ergen to the AGV trolley According to the stroke trend of the signal control AGV trolley of wireless transmission, cushion 9 can play the role of buffer protection to AGV trolley, The camera 18 of 1 upper end of AGV car body setting can photograph to ambient enviroment, and turn ether by radioing to ZigBee Net gateway, and then its stroke is controlled to adjust, shock external object, effective avoiding barrier, mechanical arm bottom can be placed Rotating electric machine inside seat 3 can control swivel base 4 and be rotated, and the face direction of mechanical arm be adjusted, short drive Swing arm 6 can carry out being rotated up and down movement relative to swivel base 4, and No.1 driving motor drives No.1 rotary shaft 22 to rotate, into And control long actuating arm 7 and rotated relative to short actuating arm 6, No. two driving motors drive No. two rotary shafts 24 to rotate, in turn Control is rotated up and down bar 25 and is rotated up and down movement relative to long actuating arm 7, and left-right rotary bull stick 26 is left relative to bar 25 is rotated up and down Right rotation campaign, No. three driving motors drive No. three rotary shafts 28 to rotate, and then control charging gun 30 relative to left-right rotary bull stick The charging supporting rod 27 of 26 one end moves up and down, and left-right rotary bull stick 26 can be folded into rod holding slot 23 with charging gun 30 and received Hiding, convenient for saving space, convenient for carrying out folding and unfolding to it when not working, left-right rotary bull stick 26 and charging gun 30 are always in connection shape State avoids cumbersome clamping process, saves the working time, and mechanical arm can be realized flexible fortune by the control of each motor It is dynamic, it is attached charging with the electric vehicle of charging to control charging head 31 and the external world, electricity, which passes through elastic foldable cable 5, to carry out Transmission flows into charging gun 30 by power connection 32 and realizes charging, and elastic foldable cable 5 carries out charging gun 30 and battery 19 Connection, can reduce the winding displacement of charging cable complexity, convenient for carrying out storage arrangement to charging cable, avoid the winding etc. that knots Phenomenon, it is more practical.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent thereof.

Claims (10)

  1. The robot 1. a kind of new energy vehicle charges, including AGV trolley and mechanical arm, it is characterised in that: the mechanical arm is solid Dingan County is loaded on the upper end of AGV trolley, and the AGV trolley includes AGV car body (1), vehicle frame (8), wheel and driving device, the vehicle Wheel is installed on the two sides of vehicle frame (8), and the driving device is installed on the upper end of vehicle frame (8), and the AGV car body (1) is located at driving The upper end of device, the AGV car body (1) are internally provided with Zig Bee wireless module (33).
  2. The robot 2. a kind of new energy vehicle according to claim 1 charges, it is characterised in that: the driving device includes passing Lever, No.1 motor (14) and No. two motors (15), the AGV car body (1) are fixedly installed in the upper end of vehicle frame (8), the vehicle The two sides upper end of frame (8) is fixedly installed with backplate (2), and two groups of backplates (2) are located at the two sides of AGV car body (1), described The front end of vehicle frame (8) is fixedly installed with cushion (9), and the inside of the AGV car body (1) is fixedly installed with battery (19) and branch Strut (20), and support rod (20) is located at the side of battery (19), the upper end of the support rod (20) is fixedly installed with route Plate (21), the upper end of the wiring board (21) are fixedly installed with single-chip microcontroller (34) and driver (35), and Zig Bee wireless module (33) it is fixedly installed in the upper end of wiring board (21), the Zig Bee wireless module (33) is located at the side of single-chip microcontroller (34), institute The other side that driver (35) is located at single-chip microcontroller (34) is stated, the upper end side of the AGV car body (1) is fixedly installed with mounting seat (16), the upper end of the mounting seat (16) is fixedly installed with rotating seat (17), the upper end activity installation of the rotating seat (17) There are camera (18).
  3. The robot 3. a kind of new energy vehicle according to claim 1 charges, it is characterised in that: the wheel includes No.1 ten thousand To wheel (10), No. two universal wheels (11), No.1 driving wheel (12) and No. two driving wheels (13), and No.1 universal wheel (10) and No. two Universal wheel (11) is installed on the front end two sides of vehicle frame (8), and the No.1 driving wheel (12) and No. two driving wheels (13) are installed on vehicle The rear end sides of frame (8), the drive rod and No.1 driving wheel (12) and No. two driving wheels (13) are sequentially connected, the No.1 master Driving wheel (12) is driven by No.1 motor (14), and No. two driving wheels (13) are driven by No. two motors (15).
  4. The robot 4. a kind of new energy vehicle according to claim 1 charges, it is characterised in that: the mechanical arm includes machine Tool arm pedestal (3), short actuating arm (6), long actuating arm (7), is rotated up and down bar (25) and left-right rotary bull stick at swivel base (4) (26), the mechanical arm pedestal (3) is fixedly installed in the upper end other side of AGV car body (1), the mechanical arm pedestal (3) it is upper End side is fixedly installed with elastic foldable cable (5), and the inside of the elastic foldable cable (5) is fixedly installed with charging cable, And swivel base (4) is located at the side of elastic foldable cable (5), the short actuating arm (6) is movably installed in swivel base (4) Upper end is provided through No.1 rotary shaft (22) inside the upper end of the short actuating arm (6), and short actuating arm (6) and long is driven Arm (7) is flexibly connected by No.1 rotary shaft (22), and the inside of the long actuating arm (7) offers rod holding slot (23), the length No. two rotary shafts (24) are provided through inside the upper end of actuating arm (7), and long actuating arm (7) passes through with bar (25) is rotated up and down No. two rotary shafts (24) are flexibly connected, and the bar (25) that is rotated up and down is flexibly connected with left-right rotary bull stick (26), the left-right rotary The front end of bull stick (26) is fixedly installed with charging supporting rod (27), and the inside of charging supporting rod (27) is provided through No. three Rotary shaft (28).
  5. The robot 5. a kind of new energy vehicle according to claim 1 charges, it is characterised in that: the elastic foldable cable (5) one end is fixedly installed with charging gun (30), and the charging gun (30) includes handle (29), charging head (31) and power connection (32), and handle (29) is flexibly connected with charging supporting rod (27) by No. three rotary shafts (28), and the charging head (31) is located at The front end of charging gun (30), the power connection (32) are located at the lower end of charging gun (30), the power connection (32) and elasticity One end of accordion cable (5) is fixedly connected.
  6. The robot 6. a kind of new energy vehicle according to claim 1 charges, it is characterised in that: the wireless mould of Zig Bee The output end of block (33) and the input terminal of single-chip microcontroller (34) are electrically connected, the output end of the single-chip microcontroller (34) and driver (35) Input terminal be electrically connected, output end of the input terminal of the No.1 motor (14) and No. two motors (15) with driver (35) It is electrically connected.
  7. The robot 7. a kind of new energy vehicle according to claim 1 charges, it is characterised in that: the mechanical arm pedestal (3) Inner bottom be fixedly installed with rotating electric machine, the main shaft of rotating electric machine is fixedly connected with swivel base (4), the rotating electric machine Side be fixedly installed with controller, the side of the No.1 rotary shaft (22) is fixedly installed with No.1 driving motor, described two The side of number rotary shaft (24) is fixedly installed with No. two driving motors, and the side of No. three rotary shafts (28) is fixedly installed with two Number driving motor, the No.1 rotary shaft (22) are driven by No.1 driving motor, and No. two rotary shafts (24) pass through No. two Driving motor driving, No. three rotary shafts (28) pass through No. two driving motor drivings, the rotating electric machine, No.1 driving electricity The input terminal of machine, No. two driving motors and No. three driving motors is electrically connected with the output end of controller, the single-chip microcontroller (34) input terminal of output end and controller is electrically connected.
  8. The robot 8. a kind of new energy vehicle according to claim 1 charges, it is characterised in that: before the battery (19) End outer surface offers charging jack and output socket, and charging jack is located at the side of output socket, the elastic foldable cable (5) the other end is fixedly connected with output socket, and the side of the battery (19) is fixedly installed with charger.
  9. The robot 9. a kind of new energy vehicle according to claim 1 charges, it is characterised in that: the mounting seat (16) Inner bottom is fixedly installed with motor, and the main shaft of motor is fixedly connected with rotating seat (17).
  10. The robot 10. a kind of new energy vehicle according to claim 1 charges, it is characterised in that: the wireless mould of Zig Bee The inside of block (33) is fixedly installed with Zig Bee RF transceiver, and the sighting distance covering radius of Zig Bee RF transceiver is reachable 2.5Km。
CN201811178898.6A 2018-10-10 2018-10-10 A kind of new energy vehicle charging robot Pending CN109484214A (en)

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CN110077259A (en) * 2019-04-28 2019-08-02 西安唯电电气技术有限公司 It is a kind of can folding and unfolding cable AGV wheeled robot
CN110576759A (en) * 2019-09-25 2019-12-17 泛亚汽车技术中心有限公司 Method and device for realizing mobile charging of parking lot based on AGV
CN111244728A (en) * 2020-04-26 2020-06-05 大连理工江苏研究院有限公司 Charging gun clamping seat for charger robot
CN112757932A (en) * 2020-12-31 2021-05-07 浙江同济科技职业学院 Intelligent charging system
WO2021175063A1 (en) * 2020-03-03 2021-09-10 远景能源有限公司 Mobile charging device
CN113928146A (en) * 2021-11-09 2022-01-14 武汉科技大学 Moving double-arm robot for automatic charging of electric automobile
CN116587905A (en) * 2023-06-28 2023-08-15 山东星卡互联网科技有限公司 Intelligent new energy charging pile and implementation method thereof

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110077259A (en) * 2019-04-28 2019-08-02 西安唯电电气技术有限公司 It is a kind of can folding and unfolding cable AGV wheeled robot
CN110576759A (en) * 2019-09-25 2019-12-17 泛亚汽车技术中心有限公司 Method and device for realizing mobile charging of parking lot based on AGV
WO2021175063A1 (en) * 2020-03-03 2021-09-10 远景能源有限公司 Mobile charging device
CN111244728A (en) * 2020-04-26 2020-06-05 大连理工江苏研究院有限公司 Charging gun clamping seat for charger robot
CN112757932A (en) * 2020-12-31 2021-05-07 浙江同济科技职业学院 Intelligent charging system
CN113928146A (en) * 2021-11-09 2022-01-14 武汉科技大学 Moving double-arm robot for automatic charging of electric automobile
CN113928146B (en) * 2021-11-09 2024-01-26 武汉科技大学 Mobile double-arm robot for automatic charging of electric automobile
CN116587905A (en) * 2023-06-28 2023-08-15 山东星卡互联网科技有限公司 Intelligent new energy charging pile and implementation method thereof

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Application publication date: 20190319