CN111231711A - Automatic charging robot - Google Patents
Automatic charging robot Download PDFInfo
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- CN111231711A CN111231711A CN202010094622.0A CN202010094622A CN111231711A CN 111231711 A CN111231711 A CN 111231711A CN 202010094622 A CN202010094622 A CN 202010094622A CN 111231711 A CN111231711 A CN 111231711A
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- gripper
- charging gun
- charging
- mechanical arm
- robot
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- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000009471 action Effects 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims description 8
- 238000005286 illumination Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 1
- 239000000284 extract Substances 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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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
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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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
- B60L53/30—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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an automatic charging robot, it can insert the rifle that charges into the socket, charge automatically, stops to charge after the completion of charging, extracts the rifle that charges from the socket that charges and sends back and fill electric pile, is particularly useful for charging to electric bus. The automatic charging robot comprises a mechanical arm, a charging gun gripping mechanism and a charging gun driving mechanism, wherein the mechanical arm is used for driving the charging gun gripping mechanism to move; the charging gun gripping mechanism is arranged on the mechanical arm and used for clamping or loosening the charging gun; the charging gun unlocking mechanism is arranged on the mechanical arm or the charging gun gripping mechanism, and presses or releases a locking/unlocking button on the charging gun after the charging gun gripping mechanism grips the charging gun; the controller is electrically connected with the driving device for driving each joint of the mechanical arm to act so as to control the action of the mechanical arm, is electrically connected with the charging gun gripping mechanism so as to control the charging gun gripping mechanism to grip or release the charging gun, and is electrically connected with the charging gun unlocking mechanism so as to control the charging gun unlocking mechanism to press or release a locking/unlocking button on the charging gun.
Description
Technical Field
The patent relates to the technical field of robots, in particular to a charger robot for electric buses.
Background
Along with the urbanization process, the urban traffic problem is increasingly prominent, the government actively advocates green travel, the urban public transport is preferentially developed, and the demand of buses is increased. Meanwhile, in order to guarantee the urban air quality, the government sets up more and more strict national emission standards, more and more cities replace fuel buses with electric buses, and meanwhile, the great charging requirement is met.
The direct current conduction charging of the whole electric bus is a main electric energy supply mode at present, alternating current and direct current conversion is completed by an off-board charger, and the charging power is large and ranges from dozens of kilowatts to hundreds of kilowatts. Because the direct current charging current reaches hundreds of amperes, in order to ensure the reliable electrical connection of the positive electrode and the negative electrode of the charging gun and meet the requirement of temperature rise, the structural design needs to have very large holding power, the insertion and extraction force of the charging gun reaches more than hundreds of newtons, and the weight of the charging cable makes the charging operation very difficult.
Aiming at the problems, the charging robot is adopted to replace manual work to complete charging operation, so that the labor intensity can be reduced, and the charging of the electric bus is facilitated.
Disclosure of Invention
This patent is to the manual work operation of charging, and the problem that intensity of labour is big provides an automatic robot that charges, replaces artifical automatic rifle of getting from filling electric pile to the rifle that will charge inserts the socket that charges automatically, charges, stops to charge after the completion of charging, extracts the rifle that charges from the socket that charges and sends back and fill electric pile, and its action is reliable, and the operation is swift, is particularly useful for charging to electric bus.
This patent automatic charging robot, include:
the mechanical arm is used for driving the charging gun grasping mechanism to move;
the charging gun gripping mechanism is arranged on the mechanical arm and used for clamping or loosening the charging gun;
the charging gun unlocking mechanism is arranged on the mechanical arm or the charging gun gripping mechanism, and presses or releases a locking/unlocking button on the charging gun after the charging gun gripping mechanism grips the charging gun;
the controller is electrically connected with the driving device for driving each joint of the mechanical arm to act so as to control the action of the mechanical arm, is electrically connected with the charging gun gripping mechanism so as to control the charging gun gripping mechanism to grip or release the charging gun, and is electrically connected with the charging gun unlocking mechanism so as to control the charging gun unlocking mechanism to press or release a locking/unlocking button on the charging gun.
As an improvement to the automatic charging robot, the charging gun gripping mechanism comprises a mounting plate, a first gripper and a second gripper, wherein the first gripper and the second gripper are arranged on the mounting plate in a relatively moving manner; the first gripper and the second gripper are respectively connected with a first gripper driving device and a second gripper driving device which drive the first gripper and the second gripper to move relatively; the inner side of the front end of the first gripper or/and the second gripper is provided with a positioning block matched with an inner hole on a handle of the charging gun; when the first gripper driving device and the second gripper driving device drive the first gripper and the second gripper to move relatively, the inner sides of the front ends of the first gripper and the second gripper clamp the handle of the charging gun, and meanwhile, the positioning block extends into an inner hole in the handle of the charging gun.
As an improvement of the automatic charging robot, a sliding rod is arranged on a mounting plate, a first sliding block and a second sliding block are arranged on the sliding rod in a sliding mode, a first gripper and a second gripper are fixed on the first sliding block and the second sliding block respectively, a first electric push rod and a second electric push rod are arranged on the mounting plate, and driving rods of the first electric push rod and the second electric push rod are connected with the first gripper and the second gripper respectively to drive the first gripper, the first sliding block, the second gripper and the second sliding block to move along the sliding rod relatively.
As an improvement to the automatic charging robot, the automatic charging robot further comprises a charging socket position detection device, wherein the charging socket position detection device comprises a camera, a distance sensor and an illumination light source which are arranged above the mounting plate; the camera, the distance sensor and the illumination light source are all electrically connected with the controller.
As an improvement on the automatic charging robot, the distance sensor comprises a first laser distance sensor and a second laser distance sensor which are arranged on two sides of the camera, and the illumination light source is a strip-shaped light source extending in a direction parallel to a straight line where the first laser distance sensor and the second laser distance sensor are located.
As an improvement on the automatic charging robot, the mounting plate is connected to the mechanical arm through a six-dimensional force sensor, and the six-dimensional force sensor is electrically connected with the controller.
As an improvement on the automatic charging robot, the unlocking mechanism of the charging gun is a push-pull electromagnet.
As an improvement on the automatic charging robot, the charging gun unlocking mechanism is arranged on the push-pull electromagnet on the upper part of the inner side of the front end of the first gripper or/and the second gripper.
As an improvement of the automatic charging robot, after the push-pull electromagnet is powered on, a push rod of the push-pull electromagnet extends downwards, a locking/unlocking button on the charging gun is pressed downwards, and after the push-pull electromagnet is powered off, the push rod of the push-pull electromagnet moves upwards to reset, and the locking/unlocking button is released.
As an improvement on the automatic charging robot, the mechanical arm is a six-shaft mechanical arm.
As is known, the charging gun has a lock/unlock button. When the rifle that charges is inserted and is filled on electric pile or inserted in the socket that charges on the charged equipment to being charged equipment, its locking/unblock button is in the locking position that is not pressed, and the buckle card of rifle front end that charges is in filling electric pile or a recess on the socket that charges, and the rifle that charges can not follow and fills electric pile or the socket that charges extracts this moment, and the rifle that charges is in locking condition. Only when the locking/unlocking button (in the unlocking position that is pressed) is pressed, the buckle can be lifted to be separated from the groove on the charging pile or the charging socket through the action of the linkage mechanism connected with the locking/unlocking button on the charging gun, and the charging gun can be pulled out from the charging pile or the charging socket at the moment, namely the charging gun is in the unlocking state. This patent adopts the rifle that charges release mechanism to press or loosen the locking/release button on the rifle that charges. When the locking/unlocking button on the rifle that charges is pressed to rifle unlocking mechanism, the rifle that charges is in the unblock state, just can drive through the arm and grab the rifle that charges and hold the rifle removal of charging that the mechanism presss from both sides tightly by the rifle that charges. When the charging gun unlocking mechanism loosens the locking/unlocking button on the charging gun, the charging gun is in a locking state, and the charging gun inserted into the charging pile or the charging socket can be reliably fixed.
A mechanical arm, also called a joint robot, a joint arm robot or a joint mechanical arm, belongs to the prior art and can move with multiple degrees of freedom. Adopt the arm to drive the rifle that charges and grab and hold the mechanism and grab the rifle that charges that the mechanism presss from both sides tightly and remove by the rifle that charges, can pull out the rifle that charges from filling electric pile fast and insert the socket that charges, can also pull out the rifle that charges from the socket that charges fast and insert and fill electric pile.
The handle of the charging gun can be clamped on the inner sides of the first gripper and the second gripper through the first gripper and the second gripper which move relatively, so that the charging gun can be reliably clamped; simultaneously, the positioning block extends into an inner hole on a handle of the charging gun, the charging gun is reliably positioned, and the charging gun is prevented from swinging.
The camera shoots the environment, reliably distinguishes the charging socket, the distance sensor detects the position of the charging socket, and the charging socket position detection device provides a basis for the action of the mechanical arm, so that the mechanical arm can accurately insert the charging gun into the charging socket.
Six-dimensional power that the rifle that charges received at plug and plug rifle charging process is gathered and is monitored to six-dimensional force sensor, and the rifle atress that charges is great time, stops the action immediately, can avoid damaging socket, the rifle and the arm of charging when the socket position detection error that charges is great.
In the automatic charger robot, a controller is electrically connected with a driving device for driving each joint of a mechanical arm to act, is electrically connected with a first gripper driving device and a second gripper driving device in a charging gun gripping mechanism, and is electrically connected with a push-pull electromagnet to control the actions of the first gripper driving device and the second gripper driving device; the controller is electrically connected with the six-dimensional force sensor, the camera and the distance sensor so as to receive and process the information sent by the six-dimensional force sensor, the camera and the distance sensor.
In a word, this automatic robot that charges can insert the rifle that charges into the socket, charge automatically, stops to charge after the completion of charging, extracts the rifle that charges from the socket that charges and sends back and fill electric pile, can replace manual operation completely.
Drawings
FIG. 1 is an overall view of an automatic charging robot holding a charging gun prior to insertion into a charging receptacle on an electric bus;
FIG. 2 is a schematic view of an automatic charging robot gripping charging gun;
FIG. 3 is a schematic view of a gripper first, gripper second, gripping charging gun;
fig. 4 is a schematic view of a charging gun gripping mechanism and the like;
fig. 5 is a schematic view of a grip mechanism of the charging gun and the like (with the grip and the like removed);
FIG. 6 is a schematic view of a charge gun gripping mechanism (with grip one, grip two, camera, etc. removed);
FIG. 7 is a schematic view of an electric putter mounting plate, an electric putter I, an electric putter II, etc.;
FIG. 8 is a schematic view of a charging gun;
fig. 9 is a schematic view showing a state where a lock/unlock button of the charging gun is pressed;
fig. 10 is a schematic view showing a state where a locking/unlocking button of the charging gun is pressed (the second grip is removed);
FIG. 11 is a schematic view showing a state of releasing a lock/unlock button of the charging gun;
fig. 12 is a schematic view showing a state where a lock/unlock button of the charging gun is pressed;
FIG. 13 is a schematic view of an automatic charging robot gripping charging gun;
FIG. 14 is a schematic view of a charging gun gripping mechanism (with the electric push rod mounting plate, electric push rod one, electric push rod two, etc. removed);
FIG. 15 is a schematic view of a link plate, six-dimensional force sensor, etc.
In the figure, a push-pull electromagnet 1, a spring 1-1, a push rod 1-2, a first laser distance sensor 2-1, a second laser distance sensor 2-2, a camera 3, a strip light source 4, a six-axis mechanical arm 5, a first gripper 6, a second gripper 7, a positioning block 7-1, a first slider 8-1, a second slider 8-2, a sliding rod 9, a bolt 10, a sliding rail support 11, an electric push rod mounting plate 12, an electric push rod I13-1, an electric push rod II 13-2, a six-axis mechanical arm sixth flange 14, a coupling plate 15, a six-dimensional force sensor 16, a groove-shaped mounting plate 17, an I-shaped part 18L-shaped mounting support 19, a charging gun 20, a handle 20-1, a buckle 20-2, a locking/unlocking button 20-3, a, 20-4 inner holes and 20-5 cables.
Detailed Description
Referring to fig. 1 and 2, the automatic charging robot for the electric bus includes six mechanical arms, a coupling plate, a six-dimensional force sensor, a charging socket position detecting device, a charging gun grasping mechanism, a push-pull type electromagnet as a charging gun unlocking mechanism, a controller, and the like.
The charging socket position detection device comprises a camera, a first laser distance sensor, a second laser distance sensor and a strip-shaped light source.
The charging gun gripping mechanism comprises a first gripper, a second gripper, a sliding rail support, a first sliding block, a second sliding block, a positioning block, a first electric push rod, a second electric push rod and an electric push rod mounting plate.
Six arms adopt expansion bolts to fix on the terrace, and the connecting plate is installed on six arms sixth axle ring flange, and six-dimensional force transducer arranges between connecting plate and cell type mounting panel rear side back, and the upside of cell type mounting panel is equipped with L type installing support for fixed socket position detection device that charges, wherein, the camera is arranged on L type installing support top, and bar light source is arranged to L type installing support front side, uses the camera to arrange first laser distance sensor, second laser distance sensor as the center equidistant in bar light source's last side.
The groove-shaped mounting plate is characterized in that slide rail supports are mounted on two sides in the groove-shaped mounting plate, the slide rail supports fix the slide rail, a first slide block and a second slide block which can slide along the slide rail are arranged on the slide rail, and the rear portions of the first gripper and the second gripper are fixedly mounted on the first slide block and the second slide block through bolts respectively. The electric push rod mounting plate is fixed in the middle of the opening side of the groove-shaped mounting plate, and the first gripper and the second gripper are separated on two sides; the electric push rod I and the electric push rod II are reversely fixed on the electric push rod mounting plate, and the driving rod of the electric push rod I is hinged to an I-shaped part fixed at the middle rear part of the gripper I. The driving rod of the electric push rod II is hinged with the other I-shaped piece fixed at the middle rear part of the hand grip II (shown in figure 5). A push-pull electromagnet is arranged on the upper portion of the front end of the first gripper, and a positioning block is arranged on the inner side face of the front end of the second gripper, opposite to the first gripper.
Push-pull electromagnet belongs to the prior art and is provided with a return spring, a push rod capable of moving up and down and the like.
After the push-pull type electromagnet is electrified, a large attractive force can be generated, so that the push rod moves downwards, a locking/unlocking button on the charging gun clamped by the first gripper and the second gripper is pressed, a buckle at the front end of the charging gun is lifted, the buckle is separated from a groove on the charging pile or the charging socket, and the action of unlocking the charging gun is completed. After the push-pull type electromagnet is powered off, the push rod moves upwards (in a reset state) due to the elastic action of the reset spring, the locking/unlocking button is loosened, and the buckle extends into the groove, so that the charging gun is locked and cannot be plugged.
Before the automatic charging robot is used for the first time, the automatic charging robot is installed near a certain charging pile, then the power is switched on, the automatic charging robot is in a standby state, the driving rod of the electric push rod I and the driving rod of the electric push rod II extend out, the hand grip I and the hand grip II move relatively and are separated, and the push-pull electromagnet resets under the action of a reset spring of the push-pull electromagnet.
The user firstly demonstrates the six-axis mechanical arm according to the installation position of the automatic charging robot, the position of the charging gun on the charging pile and the position of the charging socket of the electric bus to be charged, and the six-axis mechanical arm stores the coordinates of the characteristic points in the motion trail after the demonstration.
During the use, after electric bus parks in appointed charging area, the controller received get the rifle and charge the start command after, six arms drive the rifle of charging and hold the mechanism and move to filling electric pile, and the actuating lever of electric putter one and the actuating lever retraction of electric putter two drive tongs one and fold with tongs two, press from both sides the handle of tight rifle of charging, and the hole on the locating piece embedding rifle of charging is held the mechanism simultaneously, prevents that the rifle that charges from rocking. Then the push-pull electromagnet is electrified, the push rod of the push-pull electromagnet extends out to unlock the charging gun, the six mechanical arms drive the charging gun to grab the mechanism to move, the charging gun is pulled out from the charging pile, then the push-pull electromagnet is powered off, and the push rod resets and retracts under the action of the reset spring.
The six-axis mechanical arm moves according to the taught track and is adjusted according to the distance from the camera, the first laser distance sensor, the second laser distance sensor and the like to the electric bus to be charged. Then the six-axis robotic arm drives the charging gun gripping mechanism to insert the charging gun into the charging socket of the electric bus. The power supply charges the electric bus through the cable of the charging gun.
In the gun inserting process, the six-dimensional force sensor detects the six-dimensional force at the tail end of the six-axis mechanical arm in real time, the safety of the automatic charger robot and the charging socket is guaranteed, and after the charging gun is inserted in place, the driving rod of the electric push rod I and the driving rod of the electric push rod II extend out to drive the gripper I and the gripper II to be separated. The six-axis robot arm drives the charging gun gripping mechanism to return to the standby position.
After charging is completed, the controller receives a gun charging starting command, and the six-axis mechanical arm drives the charging gun grasping mechanism to move to a charging socket of the electric bus. And the electric push rod I and the electric push rod II retract to drive the gripper I and the gripper II to fold, a handle of the charging gun is clamped, and meanwhile, the positioning block is embedded into an inner hole in the clamping mechanism of the charging gun. Then the push-pull electromagnet is electrified, a push rod of the push-pull electromagnet extends out to unlock the charging gun, the six mechanical arms drive the charging gun holding mechanism to move, the charging gun is pulled out from the charging socket, then the push-pull electromagnet is powered off, and the push rod resets and retracts under the action of the reset spring.
Six arms drive the rifle of charging and grab the mechanism and hold the motion and fill electric pile, will charge the rifle and insert and fill electric pile. In the gun inserting process, the six-dimensional force sensor detects the six-dimensional force at the tail end of the six-axis mechanical arm in real time, the safety of the automatic charger robot and the charging socket is guaranteed, and after the charging gun is inserted in place, the driving rod of the electric push rod I and the driving rod of the electric push rod II extend out to drive the gripper I and the gripper II to be separated. The six-axis robot arm drives the charging gun gripping mechanism to retreat to the standby position, and a working cycle is completed.
Claims (10)
1. Automatic charging robot, characterized by: it includes:
the mechanical arm is used for driving the charging gun grasping mechanism to move;
the charging gun gripping mechanism is arranged on the mechanical arm and used for clamping or loosening the charging gun;
the charging gun unlocking mechanism is arranged on the mechanical arm or the charging gun gripping mechanism, and presses or releases a locking/unlocking button on the charging gun after the charging gun gripping mechanism grips the charging gun;
the controller is electrically connected with the driving device for driving each joint of the mechanical arm to act so as to control the action of the mechanical arm, is electrically connected with the charging gun gripping mechanism so as to control the charging gun gripping mechanism to grip or release the charging gun, and is electrically connected with the charging gun unlocking mechanism so as to control the charging gun unlocking mechanism to press or release a locking/unlocking button on the charging gun.
2. The automatic charging robot of claim 1, wherein: the charging gun gripping mechanism comprises a mounting plate, a first gripper and a second gripper, wherein the first gripper and the second gripper are arranged on the mounting plate in a relatively moving manner; the first gripper and the second gripper are respectively connected with a first gripper driving device and a second gripper driving device which drive the first gripper and the second gripper to move relatively; the inner side of the front end of the first gripper or/and the second gripper is provided with a positioning block matched with an inner hole on a handle of the charging gun; when the first gripper driving device and the second gripper driving device drive the first gripper and the second gripper to move relatively, the inner sides of the front ends of the first gripper and the second gripper clamp the handle of the charging gun, and meanwhile, the positioning block extends into an inner hole in the handle of the charging gun.
3. The automatic charging robot of claim 2, wherein: the mounting plate is provided with a sliding rod, the first sliding block and the second sliding block are arranged on the sliding rod in a sliding mode, the first gripper and the second gripper are fixed to the first sliding block and the second sliding block respectively, the mounting plate is provided with a first electric push rod and a second electric push rod, and driving rods of the first electric push rod and the second electric push rod are connected with the first gripper and the second gripper respectively to drive the first gripper, the first sliding block, the second gripper and the second sliding block to move along the sliding rod relatively.
4. The automatic charging robot of claim 1, wherein: the device also comprises a charging socket position detection device, wherein the charging socket position detection device comprises a camera, a distance sensor and an illumination light source which are arranged above the mounting plate; the camera, the distance sensor and the illumination light source are all electrically connected with the controller.
5. The automatic charging robot of claim 4, wherein: the distance sensor comprises a first laser distance sensor and a second laser distance sensor which are arranged on two sides of the camera, and the illumination light source is a strip-shaped light source which extends in the direction parallel to the straight line where the first laser distance sensor and the second laser distance sensor are located.
6. The automatic charging robot of claim 1, wherein: the mounting panel passes through six-dimensional force transducer to be connected on the arm, and six-dimensional force transducer is connected with the controller electricity.
7. The automatic charging robot of claim 1, wherein: the unlocking mechanism of the charging gun is a push-pull electromagnet.
8. The automatic charging robot of claim 2, wherein: the unlocking mechanism of the charging gun is arranged on the push-pull electromagnet on the upper part of the inner side of the front end of the first gripper or/and the second gripper.
9. The automatic charging robot according to claim 7 or 8, wherein: after the push-pull electromagnet is powered on, a push rod of the push-pull electromagnet extends downwards to press a locking/unlocking button on the charging gun downwards, and after the push-pull electromagnet is powered off, the push rod of the push-pull electromagnet moves upwards to reset and the locking/unlocking button is released.
10. The automatic charging robot of claim 1, wherein: the mechanical arm is a six-shaft mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010094622.0A CN111231711A (en) | 2020-02-16 | 2020-02-16 | Automatic charging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010094622.0A CN111231711A (en) | 2020-02-16 | 2020-02-16 | Automatic charging robot |
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| CN111231711A true CN111231711A (en) | 2020-06-05 |
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| CN202010094622.0A Pending CN111231711A (en) | 2020-02-16 | 2020-02-16 | Automatic charging robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949159A (en) * | 2019-12-30 | 2020-04-03 | 上海德创海洋环境科技有限公司 | Fill and trade integrative automatic bank electricity supporting device of electricity |
| CN112046325A (en) * | 2020-09-01 | 2020-12-08 | 国网天津市电力公司 | Control system for automatic charging station |
| CN112060961A (en) * | 2020-09-01 | 2020-12-11 | 国网天津市电力公司 | Control method of automatic charging station control system |
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