CN113829386A - Continuous type arm that charges with scalable degree of freedom - Google Patents
Continuous type arm that charges with scalable degree of freedom Download PDFInfo
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- CN113829386A CN113829386A CN202110987474.XA CN202110987474A CN113829386A CN 113829386 A CN113829386 A CN 113829386A CN 202110987474 A CN202110987474 A CN 202110987474A CN 113829386 A CN113829386 A CN 113829386A
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- telescopic
- telescopic module
- universal joint
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- 210000001503 joint Anatomy 0.000 claims abstract description 16
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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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
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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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to a continuous type charging mechanical arm with a telescopic degree of freedom, belonging to the field of robot research; the universal joint comprises n telescopic modules, n universal joints, 3n driving ropes and a butt joint disc; the n telescopic modules are sequentially and coaxially butted to realize a telescopic module group connected in series, and the adjacent 2 telescopic modules are connected through 1 universal joint; the last universal joint is arranged at the shaft end of the outermost telescopic module in the telescopic module groups connected in series, and the butt joint disc is arranged on the outer side of the universal joint; the external charging equipment is fixedly connected with the butt joint plate; 3n driving ropes extend into the telescopic module group from the shaft end of the innermost telescopic module in the telescopic module group, axially penetrate through the n telescopic modules and the n universal joints and are finally connected with the butt joint disc; the invention meets the requirements of flexible and quick charging of the electric automobile and realizes the whole rigidity variability and the flexible length variability of the charging robot.
Description
Technical Field
The invention belongs to the field of robot research, and relates to a continuous charging mechanical arm with a telescopic degree of freedom.
Background
With the development of new energy technology and intelligent robot industry, the development of electric vehicles is more and more rapid, the demand for automatic charging is more and more large, the construction of charging infrastructure plays a key role in solving the problem of electric vehicle charging, and the development of electric vehicle industry is a basic guarantee. Especially, for the stereo garage environment with narrow space, the automobile cannot be charged in a manual mode, and the traditional industrial robot is limited by the degree of freedom and the arm rod structure and is difficult to complete related charging operation and requirements. As an almost continuous and controllable deformation robot, the continuous mechanical arm has the obvious advantages of long acting distance, large tail end load, flexible movement and the like compared with the traditional joint type mechanical arm with the same quality, and can be used as a charger robot form to further solve the automatic charging problem of electric automobiles.
The existing continuous mechanical arm mostly adopts a universal joint pin as a connecting piece, each joint has two rotational degrees of freedom of pitching and yawing, and under the condition that a mechanical arm base is determined, the whole length of the mechanical arm is not variable, and the working space is determined accordingly.
The existing continuous mechanical arm has the defects that the automobile can only be charged under the distance limiting condition in the environment that the base cannot move freely, and the charging range is small.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the continuous charging mechanical arm with the telescopic freedom degree is provided, the flexible and quick charging of the electric automobile is met, and the variability of the integral rigidity and the flexibility of the length of the charging robot are realized.
The technical scheme of the invention is as follows:
a continuous charging mechanical arm with a telescopic degree of freedom comprises n telescopic modules, n universal joints, 3n driving ropes and a butt joint disc; the n telescopic modules are sequentially and coaxially butted to realize a telescopic module group connected in series, and the adjacent 2 telescopic modules are connected through 1 universal joint; the last universal joint is arranged at the shaft end of the outermost telescopic module in the telescopic module groups connected in series, and the butt joint disc is arranged on the outer side of the universal joint; the external charging equipment is fixedly connected with the butt joint plate; 3n driving ropes extend into the telescopic module group from the shaft end of the innermost telescopic module in the telescopic module group, axially penetrate through the n telescopic modules and the n universal joints and are finally connected with the butt joint disc; n is a positive integer not less than 2.
In the above continuous charging mechanical arm with a telescopic degree of freedom, each telescopic module comprises 2 connecting discs, 4 electric push rods and a telescopic support guide rail; wherein, 2 connecting discs are coaxially and oppositely arranged; the telescopic support guide rail is coaxially arranged between the 2 connecting discs and is positioned at the axis of the 2 connecting discs; 4 electric push rods are arranged between the 2 connecting discs; the axial of 4 electric putter is parallel with flexible support rail axial, and 4 electric putter encircle flexible support rail along circumference evenly distributed.
At foretell type in succession arm that charges with scalable degree of freedom, 4 electric putter and flexible support rail in every flexible module all realize along axial concertina movement, realize adjusting the distance that corresponds between 2 connection pads.
In the above continuous type charging mechanical arm with a telescopic degree of freedom, the maximum axial stroke of the electric push rod and the telescopic support guide rail is 100 mm.
In the above continuous charging mechanical arm with a telescopic degree of freedom, the 3n driving ropes extend from the shaft end of the innermost telescopic module in the series-connected telescopic module group, when reaching the 2 nd telescopic module, the 3 driving ropes are fixedly connected with the connecting disc of the 2 nd telescopic module, and the rest 3n-3 driving ropes continuously pass through the 2 nd telescopic module; when reaching the 3 rd telescopic module, 3 driving ropes are fixedly connected with a connecting disc of the 3 rd telescopic module, and the rest 3n-6 driving ropes continuously pass through the 3 rd telescopic module; … … and so on until the last 3 drive cords are secured to the docking tray.
In the continuous charging mechanical arm with the telescopic freedom degree, before reaching the next 1 telescopic module, 3 driving ropes transmitted backwards are decreased progressively, and the decreased 3 driving ropes are uniformly distributed along the circumferential direction of the connecting disc; and the swing of the corresponding universal joint cross is controlled by tensioning and releasing the 3 degressive driving ropes.
In the above continuous charging mechanical arm with a telescopic degree of freedom, each universal joint realizes a degree of freedom of swinging in 2 directions including a pitch direction and a horizontal direction.
In the continuous charging mechanical arm with the telescopic degree of freedom, the oscillating angle range of the universal joint of the cross shaft along the pitching direction in a single direction is 0-70 degrees; the swing angle of the universal joint cross along the horizontal direction is 0-70 degrees.
In the continuous charging mechanical arm with the telescopic freedom degree, the external charging equipment is driven to adjust the posture through the length adjustment of each telescopic module and the rotation adjustment of each universal joint, and the adjustment of the working space range of the external charging equipment is realized.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the charger robot with the telescopic freedom degree, the adjustability of the extension length of the working space at the tail end of the mechanical arm of the charger can be realized by adopting the telescopic module, so that the applicability of the charger robot is enhanced;
(2) in the invention, adjacent 2 telescopic modules are connected through 1 universal joint; the adaptability adjustment of the special-shaped turning space at the tail end of the charging mechanical arm is realized.
(3) The invention controls the rotation angle of 1 universal joint through every 3 driving ropes, and is safe and reliable
Drawings
FIG. 1 is a schematic view of a shortened charging robot of the present invention;
FIG. 2 is a schematic view of an elongated charging robot of the present invention;
fig. 3 presents a schematic view of the drive rope distribution according to the invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides a charger robot with a telescopic degree of freedom, which solves the problem that the axial working space of the charger robot is not adjustable, increases the working range of the charger robot and improves the applicability of the charger robot.
A continuous charging mechanical arm with a telescopic degree of freedom, as shown in fig. 1, specifically comprises n telescopic modules, n universal joints 1, 3n drive ropes 5 and a docking tray 6; the n telescopic modules are sequentially and coaxially butted to realize a telescopic module group connected in series, and the adjacent 2 telescopic modules are connected through 1 universal joint 1; the last universal joint cross shaft universal joint 1 is arranged at the shaft end of the outermost telescopic module in the telescopic module groups connected in series, and the butt joint disc 6 is arranged on the outer side of the universal joint cross shaft universal joint 1; the external charging equipment is fixedly connected with the butt joint plate 6; 3n driving ropes 5 extend into the telescopic module from the shaft end of the innermost telescopic module in the telescopic module groups connected in series, axially penetrate through the n telescopic modules and the n universal joints 1 and are finally connected with a butt joint disc 6; n is a positive integer not less than 2.
Each telescopic module comprises 2 connecting discs 4, 4 electric push rods 2 and a telescopic support guide rail 3; wherein, 2 connecting discs 4 are coaxially and oppositely arranged; the telescopic support guide rail 3 is coaxially arranged between the 2 connecting discs 4, and the telescopic support guide rail 3 is positioned at the axis of the 2 connecting discs 4; 4 electric push rods 2 are all arranged between 2 connecting discs 4; the axial direction of 4 electric putter 2 is parallel with flexible support rail 3 axial, and 4 electric putter 2 encircle flexible support rail 3 along circumference evenly distributed.
4 electric putter 2 in every flexible module and flexible support rail 3 all realize along axial concertina movement, realize adjusting the distance that corresponds between 2 connection pads 4. The maximum axial stroke of the electric push rod 2 and the telescopic support guide rail 3 is 100mm, and the electric push rod 2 and the telescopic support guide rail 3 are shown in figure 2 after being extended.
As shown in fig. 3. 3n driving ropes 5 extend into the telescopic module from the shaft end of the innermost telescopic module in the series-connected telescopic module groups, when the telescopic module reaches the 2 nd telescopic module, 3 driving ropes 5 are fixedly connected with the connecting disc 4 of the 2 nd telescopic module, and the rest 3n-3 driving ropes 5 continuously pass through the 2 nd telescopic module; when reaching the 3 rd telescopic module, 3 driving ropes 5 are fixedly connected with the connecting disc 4 of the 3 rd telescopic module, and the rest 3n-6 driving ropes 5 continuously pass through the 3 rd telescopic module; … … and so on until the last 3 drive ropes 5 are secured to the docking tray 6.
Before reaching the next telescopic module, 3 driving ropes 5 transmitted backwards are reduced progressively, and the reduced 3 driving ropes 5 are uniformly distributed along the circumferential direction of the connecting disc 4; the swing of the corresponding universal joint cross 1 is controlled by the tension release of the 3 degressive drive ropes 5.
Each universal joint pin 1 realizes 2 swinging degrees of freedom in the pitch direction and the horizontal direction. The swing angle of the universal joint pin 1 along the pitching direction is 0-70 degrees; the swing angle of the universal joint pin 1 along the horizontal direction is 0-70 degrees.
Through the length adjustment of each telescopic module and the rotation adjustment of each universal joint pin 1, the external charging equipment is driven to adjust the posture, and the adjustment of the working space range of the external charging equipment is realized.
The invention consists of a universal joint pin, a telescopic module and a driving rope. The telescopic module mainly comprises a telescopic support guide rail and an electric push rod, the change of the length direction of the charging robot is realized through the stretching and releasing of a driving rope and the telescopic matching of the electric push rod, and the mechanical arm can flexibly switch the working length within a specified length range, so that the actual requirement is met, and the purpose of changing the working space range of the charging robot is achieved.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (9)
1. The utility model provides a continuous type arm that charges with scalable degree of freedom which characterized in that: the device comprises n telescopic modules, n universal joints (1), 3n driving ropes (5) and a butt joint disc (6); the n telescopic modules are sequentially and coaxially butted to realize a telescopic module group connected in series, and the adjacent 2 telescopic modules are connected through 1 universal joint (1); the last universal joint cross (1) is arranged at the shaft end of the outermost telescopic module in the series-connected telescopic module groups, and the butt joint disc (6) is arranged on the outer side of the universal joint cross (1); the external charging equipment is fixedly connected with the butt joint plate (6); 3n driving ropes (5) extend into the telescopic modules from the shaft ends of the innermost telescopic modules in the telescopic module groups connected in series, axially penetrate through the n telescopic modules and the n universal joints (1) and are finally connected with a butt joint disc (6); n is a positive integer not less than 2.
2. A continuous type charging robot arm with retractable degree of freedom according to claim 1, characterized in that: each telescopic module comprises 2 connecting discs (4), 4 electric push rods (2) and a telescopic support guide rail (3); wherein, 2 connecting discs (4) are coaxially and oppositely arranged; the telescopic support guide rail (3) is coaxially arranged between the 2 connecting discs (4), and the telescopic support guide rail (3) is positioned at the axis of the 2 connecting discs (4); 4 electric push rods (2) are arranged between the 2 connecting discs (4); the axial direction of 4 electric putter (2) is parallel with flexible supporting guide (3) axial, and 4 electric putter (2) along circumference evenly distributed around flexible supporting guide (3).
3. A continuous type charging robot arm with retractable degree of freedom according to claim 2, characterized in that: 4 electric putter (2) in every flexible module and flexible supporting rail (3) all realize along axial concertina movement, realize adjusting the distance that corresponds between 2 connection pads (4).
4. A continuous type charging robot arm with retractable degree of freedom according to claim 3, characterized in that: the axial maximum stroke of the electric push rod (2) and the telescopic support guide rail (3) is 100 mm.
5. A continuous type charging robot arm with retractable degree of freedom according to claim 4, characterized in that: the 3n driving ropes (5) extend into the telescopic module from the shaft end of the innermost telescopic module in the telescopic module groups connected in series, when the telescopic module reaches the 2 nd telescopic module, the 3 driving ropes (5) are fixedly connected with the connecting disc (4) of the 2 nd telescopic module, and the rest 3n-3 driving ropes (5) continuously pass through the 2 nd telescopic module; when the 3 rd telescopic module is reached, 3 driving ropes (5) are fixedly connected with a connecting disc (4) of the 3 rd telescopic module, and the rest 3n-6 driving ropes (5) continuously pass through the 3 rd telescopic module; … … and so on, until the last 3 drive ropes (5) are fixedly connected with the butt joint disc (6).
6. A continuous type charging robot arm with retractable degree of freedom according to claim 5, characterized in that: before reaching the next telescopic module, 3 driving ropes (5) transmitted backwards are decreased progressively each time, and the decreased 3 driving ropes (5) are uniformly distributed along the circumferential direction of the connecting disc (4); the swing of the corresponding universal joint cross (1) is controlled by tensioning and releasing the 3 degressive driving ropes (5).
7. A continuous type charging robot arm with retractable degree of freedom according to claim 6, characterized in that: each universal joint cross (1) realizes the swinging freedom degrees in 2 directions including the pitching direction and the horizontal direction.
8. A continuous type charging robot arm with retractable degree of freedom according to claim 7, characterized in that: the swing angle range of the universal joint cross (1) along the pitching direction in one direction is 0-70 degrees; the swing angle of the universal joint cross (1) along the horizontal direction is 0-70 degrees.
9. A continuous type charging robot arm with retractable degree of freedom according to claim 1, characterized in that: through the length adjustment of each telescopic module and the rotation adjustment of each universal joint (1), the external charging equipment is driven to adjust the posture, and the adjustment of the working space range of the external charging equipment is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110987474.XA CN113829386A (en) | 2021-08-26 | 2021-08-26 | Continuous type arm that charges with scalable degree of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110987474.XA CN113829386A (en) | 2021-08-26 | 2021-08-26 | Continuous type arm that charges with scalable degree of freedom |
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| Publication Number | Publication Date |
|---|---|
| CN113829386A true CN113829386A (en) | 2021-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110987474.XA Pending CN113829386A (en) | 2021-08-26 | 2021-08-26 | Continuous type arm that charges with scalable degree of freedom |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170014998A1 (en) * | 2015-07-17 | 2017-01-19 | Deka Products Limited Partnership | Robotic Surgery System, Method, and Apparatus |
| CN106737628A (en) * | 2017-02-14 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible charging robot driven based on rope |
| CN107486849A (en) * | 2017-08-30 | 2017-12-19 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
| CN109531561A (en) * | 2018-12-19 | 2019-03-29 | 汕头大学 | A kind of super redundant robot under Coupled Rigid-flexible rope, bar, spring immixture |
| CN110154010A (en) * | 2019-07-04 | 2019-08-23 | 哈尔滨迅动科技有限责任公司 | A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement |
| CN110757441A (en) * | 2019-10-21 | 2020-02-07 | 中山大学 | Flexible mechanical arm driving device with multi-joint combined motion |
| CN110900592A (en) * | 2019-12-17 | 2020-03-24 | 北京化工大学 | Reconfigurable redundant mechanical arm based on rope driving |
| CN113125441A (en) * | 2019-12-31 | 2021-07-16 | 安萨尔多能源公司 | Device and method for inspecting a burner |
-
2021
- 2021-08-26 CN CN202110987474.XA patent/CN113829386A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170014998A1 (en) * | 2015-07-17 | 2017-01-19 | Deka Products Limited Partnership | Robotic Surgery System, Method, and Apparatus |
| CN106737628A (en) * | 2017-02-14 | 2017-05-31 | 深圳源创智能机器人有限公司 | A kind of flexible charging robot driven based on rope |
| CN107486849A (en) * | 2017-08-30 | 2017-12-19 | 享奕自动化科技（上海）有限公司 | A kind of snakelike arm |
| CN109531561A (en) * | 2018-12-19 | 2019-03-29 | 汕头大学 | A kind of super redundant robot under Coupled Rigid-flexible rope, bar, spring immixture |
| CN110154010A (en) * | 2019-07-04 | 2019-08-23 | 哈尔滨迅动科技有限责任公司 | A kind of rope drive Snakelike mechanical arm carrying out rope pull measurement |
| CN110757441A (en) * | 2019-10-21 | 2020-02-07 | 中山大学 | Flexible mechanical arm driving device with multi-joint combined motion |
| CN110900592A (en) * | 2019-12-17 | 2020-03-24 | 北京化工大学 | Reconfigurable redundant mechanical arm based on rope driving |
| CN113125441A (en) * | 2019-12-31 | 2021-07-16 | 安萨尔多能源公司 | Device and method for inspecting a burner |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211224 |
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| RJ01 | Rejection of invention patent application after publication |