CN114094420A

CN114094420A - Automatic charging robot

Info

Publication number: CN114094420A
Application number: CN202111233490.6A
Authority: CN
Inventors: 陈晓楠; 白鸥; 高宇; 孙琳琳; 仲宇璐; 包维林; 郑小娜
Original assignee: State Grid Electric Vehicle Service Co Ltd
Current assignee: State Grid Electric Vehicle Service Co Ltd
Priority date: 2021-10-22
Filing date: 2021-10-22
Publication date: 2022-02-25

Abstract

The invention relates to an automatic charging robot, which comprises a probe mounting rack (320) which is arranged on the automatic charging robot and can move along with the automatic charging robot, wherein a set of conductive probe groups (310) for detecting the position and the posture of an electric automobile socket component are fixedly arranged on the probe mounting rack, and each conductive probe group comprises at least three positioning probes (311, 312 and 313) which are positioned in two parallel planes, are parallel to each other and can point to the electric automobile socket component.

Description

Automatic charging robot

Technical Field

The embodiment of the invention relates to the technical field of electric vehicles, in particular to an automatic charging robot.

Background

In recent years, under the support of national policies and the rapid development of the electric automobile industry, the application of highly automatic driving automobiles is widely pursued by people, and meanwhile, the construction of supporting facilities such as charging stations, charging piles and the like in public areas is rapidly developed. At present many public charging stations, in order to practice thrift the human cost, all set up in unmanned parking area of unmanned on duty management, consequently, along with the quick rising of new energy automobile holding capacity, people can realize the demand of automatic function of charging in unmanned parking area to electric automobile increasing day by day.

In the related art, a technology that a robot (or a manipulator) grabs a charging plug and is plugged into a vehicle-mounted charging socket to realize charging exists, but in the technology, the quality of an execution tail end connected with the robot is large, and the plugging force required in the process of plugging and unplugging the charging plug is also large, so that the problems of plugging and unplugging difficulty and even plugging and unplugging failure caused by insufficient rigidity of a joint of the robot often occur in the plugging and unplugging process.

Therefore, it is desirable to provide an automatic charging robot for solving the above-mentioned difficult plugging/unplugging problem of the charging plug.

Disclosure of Invention

The embodiment of the invention provides an automatic charging robot, which is used for solving the problems that when the existing electric automobile is charged through the automatic charging robot, the robot is difficult to plug and unplug and plugging fails in the process of plugging and unplugging a charging plug.

In order to solve the above technical problems, an object of the present invention is to provide an automatic charging robot, which includes a probe mounting rack mounted on the automatic charging robot and movable therewith, wherein a set of conductive probe sets for detecting positions and postures of socket assemblies of electric vehicles is fixedly mounted on the probe mounting rack, and each conductive probe set includes at least three positioning probes which are located in two parallel planes, are parallel to each other, and can point to the socket assemblies of electric vehicles.

The invention achieves the following beneficial effects: this application carries on spacingly through setting up supplementary plug mechanism to plug subassembly and socket subassembly, makes the robot drive the in-process that plug subassembly inserted socket subassembly or extracted socket subassembly can the steady operation, has solved current electric automobile when carrying out the operation of charging through automatic charging robot, and the problem of plug difficulty, plug failure appears in plug subassembly's in-process easily in the robot.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic diagram of the overall structure of an automatic charging robot according to an embodiment of the present invention, in which arrows a-B indicate the moving directions of a driving mechanism driving a plug assembly and a positioning mechanism to exchange positions; arrows C-D in the figure indicate the moving direction of the driving mechanism when the driving mechanism drives the plug assembly to mate with the socket assembly, and the figure indicates the state when the plug assembly moves to the position corresponding to the socket assembly;

FIG. 2 is an enlarged view of a portion of FIG. 1 at F;

FIG. 3 is a perspective view of the receptacle assembly of the present invention;

FIG. 4 is a schematic view of the overall structure of an automatic charging robot according to an embodiment of the present invention, illustrating a state in which a positioning mechanism is moved to a position corresponding to a socket assembly;

FIG. 5 is an enlarged view of a portion of FIG. 4 at G, with the direction of movement of the positioning mechanism indicated by the arrow M-N;

FIG. 6 is a schematic perspective view of another embodiment of the receptacle assembly of the present invention;

reference numerals: 100. a drive mechanism; 110. a terminal platform; 120. a drive arm; 130. a first telescoping member; 140. a second telescoping member; 121. a first drive arm; 122. a second drive arm; 200. a plug assembly; 300. a positioning mechanism; 310. a set of conductive probes; 311. a first planar alignment probe; 312. a second planar positioning probe; 313. a third planar alignment probe; 314. a first corner positioning probe; 315. a second corner positioning probe; 320. a probe mounting bracket; 400. a receptacle assembly; 600. an auxiliary plugging mechanism; 610. a first fixing member; 620. a second fixing member; 611. a connecting portion; 612. a clamping part; 621. a bearing part; 622. a limiting part; 410. a housing; 500. an attitude detection unit; 510. a first conductive member; 511. a first plane attitude detection point; 512. a second plane attitude detection point; 513. a third plane attitude detection point; 520. a second conductive member; 521. a first rotation angle posture detection point; 522. and a second corner posture detection point.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the descriptions relating to "first", "second", etc. in the embodiments of the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1 to 6, this embodiment provides a technical solution of an automatic charging robot, the automatic charging robot is used to control a plug assembly 200 connected with an external power source and a socket assembly 400 on an electric vehicle to be plugged in order to realize the purpose of charging the electric vehicle, the automatic charging robot includes: a drive mechanism 100 and a plug assembly 200 and an auxiliary plugging mechanism 600; the plug assembly 200 is connected with the driving mechanism 100; the auxiliary plug mechanism 600 is used for defining the positions of the plug assembly 200 and the socket assembly 400, and the driving mechanism 100 is used for driving the plug assembly 200 to move and driving the plug assembly 200 to realize the plug-in matching with the socket assembly 400.

Further, as shown in fig. 1 to 6, the auxiliary plugging mechanism 600 includes a first fixing member 610 connected to the driving mechanism 100 and a second fixing member 620 connected to the socket assembly 400; the driving mechanism 100 is used for driving the plug assembly 200 and the first fixing member 610 to move and enabling the first fixing member 610 to be clamped with the second fixing member 620, so that the driving mechanism 100 drives the plug assembly 200 to be in plug-in fit with the socket assembly 400.

Further, as shown in fig. 1 to 6, the driving mechanism 100 includes a terminal platform 110 and a driving arm 120 connected to the terminal platform 110, the plug assembly 200 is movably connected to the driving arm 120, and the first fixing member 610 is fixed to an end portion of the driving arm 120 far from the terminal platform 110; after the end platform 110 drives the driving arm 120 to drive the plug assembly 200 and the first fixing member 610 to move and fix the first fixing member 610 in a clamping manner with the second fixing member 620 disposed on the socket assembly 400, the end platform 110 controls the plug assembly 200 to be inserted into the socket assembly 400 through the driving arm 120. The driving mechanism 100 further includes a first telescopic member 130 disposed on the driving arm 120, and the plug assembly 200 is movably connected to the driving arm 120 through the first telescopic member 130. As shown in the direction C-D in fig. 1, which is the mating and plugging direction of the plug assembly 200 and the socket assembly 400, specifically, the first telescopic element 130 is used to drive the plug assembly 200 to move linearly, so that after the first fixing element 610 and the second fixing element 620 are clamped and fixed, the plug assembly 200 with the matched position can be inserted into the socket assembly 400 or pulled out of the socket assembly 400.

Further, as shown in fig. 1 to 6, the first fixing member 610 includes a connection portion 611 for connecting with the driving arm 120 and a clamping portion 612 connected with the connection portion 611 for clamping with the second fixing member 620. Optionally, the connecting portion 611 is fixed at an end of the driving arm 120 away from the terminal platform 110 and facing the socket assembly 400, the latching portion 612 includes a first latching portion 612 and a second latching portion 612, and the first latching portion 612, the second latching portion 612 and the connecting portion 611 are disposed on a same plane, which is perpendicular to the driving arm 120. The first clip portion 612 and the second clip portion 612 are oppositely arranged, and a U-shaped clip interface is formed between the first clip portion 612 and the second clip portion 612. The second fixing element 620 includes a supporting portion 621 and a position-limiting portion 622 connected to the supporting portion 621, and both the supporting portion 621 and the position-limiting portion 622 are connected to the socket assembly 400. Optionally, the second fixing elements 620 are disposed in two sets, the two sets of second fixing elements 620 are disposed on two sides of the socket assembly 400 respectively, the two sets of second fixing elements 620 are disposed oppositely, and a connection line of the two sets of second fixing elements 620 passes through a central axis of the socket assembly 400. When the first fixing member 610 and the second fixing member 620 are clamped and fixed, the first clamping portion 612 and the second clamping portion 612 are respectively located in the two sets of second fixing members 620, the first clamping portion 612 and the second clamping portion 612 are respectively abutted to the supporting portion 621 and the limiting portion 622, and the U-shaped clamping interface is located above the socket assembly 400.

It can be understood that the function principle of the auxiliary plugging mechanism 600 in the present embodiment is as follows: the first fixing member 610 fixedly arranged on the driving arm 120 is clamped and fixed with the second fixing member 620 arranged on the socket assembly 400, so that the driving arm 120 and the socket assembly 400 are ensured to be in a relatively fixed state, and the bearing part 621 can effectively bear the driving arm 120; when the end platform 110 drives the first telescopic member 130 to insert the plug assembly 200 into the socket assembly 400, the first telescopic member 130 drives the plug assembly 200 to move toward the socket assembly 400, and the plug assembly 200 is inserted into the socket assembly 400, during the process of inserting the plug assembly 200 into the socket assembly 400, the plugging resistance is generated due to the plugging fit, and the plugging resistance is offset by the butting force generated by the butting of the first fixing member 610 and the second fixing member 620 which are butted against each other at the moment, so that the plugging resistance is prevented from being transmitted to the end platform 110 through the driving arm 120. Similarly, in the process of pulling the plug assembly 200 out of the socket assembly 400, the limiting portion 622 of the second fixing member 620 can also provide a fixing effect for the pulling operation, so as to avoid the situation that the socket assembly 400 moves due to too large pulling force in the process of driving the plug assembly 200 to pull out the socket assembly 400 by the first extensible member 130. In conclusion, the auxiliary removing mechanism effectively ensures the stability of the terminal platform 110, and further ensures the stability of the plugging and unplugging process of the plug assembly 200 and the socket assembly 400, and the overall size of the automatic charging robot can be properly reduced due to the stability improvement brought by the auxiliary removing mechanism, so as to achieve the purpose of saving the manufacturing cost.

Preferably, as shown in fig. 1 to 6, the plug connector further includes a positioning mechanism 300, the positioning mechanism 300 is connected to the driving mechanism 100, the positioning mechanism 300 is configured to detect whether the relative positions of the plug assembly 200 and the socket assembly 400 are matched and feed back the detection result to the driving mechanism 100, and the driving mechanism 100 drives the plug assembly 200 to move according to the detection result and enables the plug assembly 200 and the socket assembly 400 to be fixed in the mating and inserting manner.

Further, as shown in fig. 1 to 6, the socket assembly 400 is provided with a posture detecting part 500; when the driving mechanism 100 drives the positioning mechanism 300 to move to the position corresponding to the socket assembly 400, the positioning mechanism 300 can be connected to the posture detecting part 500 to position the posture of the socket assembly 400, and the driving mechanism 100 drives the plug assembly 200 to move to the position corresponding to the socket assembly 400 according to the posture of the socket assembly 400. When the positioning mechanism 300 moves to a position corresponding to the socket assembly 400, the positioning mechanism 300 can be connected to the posture detecting part 500 to position the posture of the socket assembly 400, and the driving mechanism 100 drives the plug assembly 200 to move to the position corresponding to the socket assembly 400 according to the posture of the socket assembly 400. It can be understood that the implementation process is as follows: before the plug assembly 200 and the socket assembly 400 need to be plugged and matched with each other, the positioning mechanism 300 positions the posture of the socket assembly 400 to obtain the current posture position of the socket assembly 400, the movement track of the plug assembly 200 moving to the corresponding position of the socket assembly 400 is calculated according to the current posture position of the socket assembly 400, and finally the plug assembly 200 is plugged onto the socket assembly 400.

Specifically, the positioning mechanism 300 operates according to the following principle:

when the posture of the socket assembly 400 is positioned, the driving mechanism 100 moves the positioning mechanism 300 to a position corresponding to the socket assembly 400, the positioning mechanism 300 is connected with the posture detection part 500 on the socket assembly 400 to position the current position posture of the socket assembly 400, and the current position posture of the socket assembly 400 is transmitted to the terminal platform 110 of the driving mechanism 100, the terminal platform 110 of the driving mechanism 100 calculates a motion track of the plug assembly 200 moving to the position corresponding to the socket assembly 400 according to the current position posture of the socket assembly 400, and the driving mechanism 100 moves the plug assembly 200 according to the motion track, so that the plug assembly 200 can accurately reach the position corresponding to the socket assembly 400, and the plug assembly 200 and the socket assembly 400 can be smoothly matched in a plugging manner.

According to the positioning mechanism 300 arranged on the driving mechanism 100 and the posture detection part 500 arranged on the socket assembly 400 and connected with the positioning mechanism 300, the posture position of the socket assembly 400 is accurately positioned before the plug assembly 200 is in plug-in connection with the socket assembly 400. The accurate posture position of the socket assembly 400 can be obtained through the positioning mechanism 300, the accurate positioning of the socket assembly 400 is realized, and the success rate of the plug assembly 200 and the socket assembly 400 in plugging and matching is improved.

It should be noted that, in other embodiments, the automatic charging robot may also be provided with a visual positioning system to perform visual positioning on the plug assembly 200 and the socket assembly 400, but since the visual positioning system respectively obtains the position information of the plug assembly 200 and the socket assembly 400 based on the photographing results of the plug assembly 200 and the socket assembly 400, and then performs movement and position matching according to the position information, the positioning result inevitably has a deviation, and therefore, when the positioning system is used to perform positioning matching on the positions of the plug assembly 200 and the socket assembly 400, the plug assembly 200 may not necessarily be completely matched with the socket assembly 400. Therefore, before moving the plug assembly 200, the positioning mechanism 300 moves the positioning mechanism 300 to the corresponding position of the socket assembly 400, and the positioning mechanism 300 is connected to the posture detection unit 500 in a matching manner, so that the position information for realizing the connection is fed back to the driving mechanism 100, and the driving mechanism 100 moves the plug assembly 200 to the target position according to the feedback information, so that the plug assembly 200 is accurately inserted into the socket assembly 400.

Further, as shown in fig. 1 to 6, the positioning mechanism 300 includes a conductive probe group 310, the conductive probe group 310 is connected to the driving mechanism 100, the conductive probe group 310 can contact with the posture detecting part 500 to form an electrical connection so as to position the posture of the socket assembly 400, and the conductive probe group 310 is connected to the driving mechanism 100.

Specifically, as shown in fig. 1 to 6, when the conductive probe group 310 moves to a position corresponding to the posture detection unit 500, the conductive probe group 310 is electrically connected to the posture detection unit 500, the end platform 110 of the driving mechanism 100 detects that a current passes through the conductive probe group 310, and the posture position of the socket assembly 400 is determined by coordinates of the tip of the conductive probe group 310, so as to calibrate the posture position of the socket assembly 400. In the present embodiment, the conductive probe group 310 of the positioning mechanism 300 can be electrically connected to the posture detecting unit 500 when contacting the conductive probe group 310, so as to determine whether the conductive probe group 310 is moved in place.

As shown in fig. 1 to 6, as a further aspect of the present invention, the posture detecting unit 500 of the present embodiment includes a first conductive member 510, a first plane posture detecting point 511, a second plane posture detecting point 512 and a third plane posture detecting point 513 are disposed on the first conductive member 510, the first plane posture detecting point 511, the second plane posture detecting point 512 and the third plane posture detecting point 513 are disposed on the same plane, a connecting line between the first plane posture detecting point 511 and the third plane posture detecting point 513 and a connecting line between the first plane posture detecting point 511 and the third plane posture detecting point 513 form a right angle, but may form other angles.

The conductive probe set 310 comprises a first plane positioning probe 311, a second plane positioning probe 312 and a third plane positioning probe 313 which are respectively in one-to-one correspondence with a first plane attitude detection point 511, a second plane attitude detection point 512 and a third plane attitude detection point 513, wherein the first plane positioning probe 311, the second plane positioning probe 312 and the third plane positioning probe 313 are all installed on the driving mechanism 100, the first plane positioning probe 311 can be connected with a conductive piece through the first plane attitude detection point 511, the second plane positioning probe 312 can be connected with the conductive piece through the second plane attitude detection point 512, and the third plane positioning probe 313 can be connected with a first conductive piece 510 through the third plane attitude detection point 513.

In this embodiment, when the first flat positioning probe 311 contacts and connects with the first flat attitude detecting point 511, the tip coordinates of the first flat positioning probe 311 are equivalent to the coordinates of the first flat attitude detecting point 511. When the second planar positioning probe 312 contacts and connects with the second planar gesture detection point 512, the tip coordinates of the second planar positioning probe 312 are equivalent to the coordinates of the second planar gesture detection point 512. When the third flat alignment probe 313 is in contact with and connected to the third flat posture detection point 513, the tip coordinates of the third flat alignment probe 313 correspond to the coordinates of the third flat posture detection point 513.

As shown in fig. 6, the first planar attitude detection point 511, the second planar attitude detection point 512, and the third planar attitude detection point 513 are distributed in a right triangle. It can be understood that the connection line of the first planar attitude detection point 511 and the second planar attitude detection point 512 is parallel to the horizontal line (e.g., a straight line on the X-axis), the connection line of the first planar attitude detection point 511 and the third planar attitude detection point 513 is parallel to the vertical line (e.g., a straight line on the Z-axis), and by detecting the position coordinates of the first planar attitude detection point 511, the second planar attitude detection point 512 and the third planar attitude detection point 513, the plane on which the socket assembly 400 is located can be determined, so as to locate the planar attitude of the socket assembly 400. In short, it is a three-point plane-fixing principle.

In this embodiment, the first planar positioning probe 311 is connected to a power supply, and the second planar positioning probe 312 and the third planar positioning probe 313 are both connected to a current detection device. Specifically, the first planar positioning probe 311 is connected to a low voltage power supply through a power supply, and when the first planar positioning probe 311 is connected to the first conductive member 510 and the current detection device on the second planar positioning probe 312 does not detect a current, the driving mechanism 100 controls the positioning mechanism 300 to move, so that the second planar positioning probe 312 contacts with the first conductive member 510 to form an electrical connection; when the first flat probe 311 is connected to the first conductive member 510 and the current detecting device on the third flat probe 313 does not detect the current, the driving mechanism 100 controls the positioning mechanism 300 to move so that the third flat probe contacts with the first conductive member 510 to form an electrical connection. The drive mechanism 100 stops moving only when the current detection devices on the second planar alignment probe 312 and the third planar alignment probe 313 detect current, and the planar attitude of the receptacle assembly 400 can be determined by the first planar alignment probe 311, the second planar alignment probe 312, and the third planar alignment probe 313.

Of course, in other embodiments, to further improve the positioning accuracy, the number of flat positioning probes and correspondingly the number of flat positioning detection points on the first conductor may be increased.

As shown in fig. 1 to fig. 6, as a further solution of the present invention, the posture detecting part 500 of this embodiment further includes a second conductive member 520, the second conductive member 520 is provided with at least two corner

posture detecting points

521 and 522 spaced in an arc shape, the conductive probe group 310 further includes at least two corner positioning probes 314 and 315, the corner positioning probes are mounted on the driving mechanism 100, the corner positioning probes are disposed in one-to-one correspondence with the corner posture detecting points, and the corner positioning probes can be connected to the second conductive member 520 through the corner posture detecting points. One of the corner positioning probes is connected with a power supply, and the other corner positioning probes are connected with current detection devices.

It will be appreciated that the positioning principle of the corner positioning probe is the same as that of the planar positioning probe described above. Specifically, when one of the corner positioning probes is connected to the power supply and the low voltage is applied, when the corner positioning probe is connected to the second conductive member 520 through the corner attitude detection point, the driving mechanism 100 adjusts the position so that the other corner positioning probes are connected to the second conductive member 520 through the corner attitude detection point, and thus the current detection devices connected to the other corner positioning probes detect the current, and at this time, the corner attitude of the socket assembly 400 can be determined by the positions of all the corner positioning probes.

Of course, the above-mentioned energizing through one planar positioning probe, detecting the current by the other planar positioning probes, and energizing through one corner positioning probe, detecting the current by the other corner positioning probes are one of the embodiments of the present application for determining whether the planar positioning probe and the corner positioning probe are in place, so as to position the posture of the socket assembly 400 through the planar positioning probe and the corner positioning probe. In other embodiments, the first conductive member 510 may be connected to a power supply to supply low voltage, and the first planar positioning probe 311, the second planar positioning probe 312, and the third planar positioning probe 313 are connected to a current detection device; the second conductive member 520 is connected to a power supply to supply low voltage, and all the corner positioning probes are connected to current detection devices to determine whether the plane positioning probes and the corner positioning probes are in place. It is understood that, there are various embodiments for achieving the contact of the conductive probe set 310 and the posture detecting part 500 to form an electrical connection, thereby determining whether the conductive probe set 310 is in place, and positioning the posture of the socket assembly 400 by the position of the conductive probe set 310 after being in place, and the embodiments are not limited to the embodiments provided in this application.

In this embodiment, the second conductive member 520 is provided with a first corner gesture detection point 521 and a second corner gesture detection point 522, and the first corner gesture detection point 521 and the second corner gesture detection point 522 are located on the same plane. The conductive probe set 310 includes a first corner positioning probe 314 and a second corner positioning probe 315, the first corner positioning probe 314 and the first corner gesture detection point 521 are disposed correspondingly, and the second corner positioning probe 315 and the second corner gesture detection point 522 are disposed correspondingly. The first corner attitude detection point 521 and the second corner attitude detection point 522 are arc-shaped respectively.

As can be appreciated, the first planar attitude detection point 511, the second planar attitude detection point 512, and the third planar attitude detection point 513 are respectively matched with the first planar alignment probe 311, the second planar alignment probe 312, and the third planar alignment probe 313 to position the planar attitude of the socket assembly 400; the first and second angular position detection points 521 and 522 are respectively matched with the first and second angular position probes 314 and 315 to position the angular position of the socket assembly 400. On the basis of the attitude of the positioning plane, the positioning of the corner attitude is increased, and the accuracy of the attitude positioning of the socket assembly 400 is improved.

In some embodiments, the size of the area covered by the first, second, and third planar gesture detection points 511, 512, and 513 may be set according to the requirement of positioning accuracy.

In other embodiments, the first, second and third flat-posture detection points 511, 512 and 513 may be configured to cover areas corresponding to tip cross-sections of the first, second and third flat-

positioning probes

311, 312 and 313. Since the angle formed by the connecting line of the first planar attitude detection point 511 and the third planar attitude detection point 513 and the connecting line of the first planar attitude detection point 511 and the third planar attitude detection point 513 is a right angle, the angle formed by the connecting line of the first planar attitude detection point 511 and the third planar attitude detection point 513 and the connecting line of the first planar attitude detection point 511 and the third planar attitude detection point 513 is already limited. When the first, second and third flat alignment probes 311, 312 and 313 are simultaneously connected to the first, second and third flat attitude detection points 511, 512 and 513, the rotational angle attitude of the socket assembly 400 can also be determined by determining the positions of the second and third flat alignment probes 312 and 313. In these embodiments, the posture detecting unit 500 may omit the second conductive member 520, and the conductive probe group 310 may omit the corner positioning probe.

As shown in fig. 1 to 6, as a further solution of the present invention, the socket assembly 400 includes a housing 410, a first conductive member 510 and a second conductive member 520 are disposed in the housing 410, the housing 410 is provided with access holes respectively adapted to the first planar positioning probe 311, the second planar positioning probe 312, the third planar positioning probe 313 and the corner positioning probe, and the access holes respectively correspond to the first planar attitude detection point 511, the second planar attitude detection point 512, the third planar attitude detection point 513, the corner attitude detection points 521 and 522 one-to-one.

Further, the driving arm 120 includes a first driving arm 121 and a second driving arm 122 oppositely disposed, the positioning mechanism 300 is connected to the first driving arm 121, and the plug assembly 200 is movably connected to the second driving arm 122; the first driving arm 121 drives the positioning mechanism 300 to position the posture of the socket assembly 400, and the end platform 110 controls the first driving arm 121 and the second driving arm 122 to exchange positions according to the positioning result, so that the plug assembly 200 connected to the second driving arm 122 moves to a position corresponding to the socket assembly 400. Specifically, the first driving arm 121 is provided with a first telescopic member 130 for driving the positioning mechanism 300 to reciprocate along the C-D direction, and the second driving arm 122 is provided with a second telescopic member 140 for driving the plug assembly 200 to reciprocate along the C-D direction. The end platform 110 is provided with a switching mechanism (not shown) for switching the positions of the first driving arm 121 and the second driving arm 122, and after the positioning mechanism 300 is positioned, the switching mechanism drives the first driving arm 121 to drive the positioning mechanism 300 to be away from the socket assembly 400, and drives the second driving arm 122 to drive the plug assembly 200 to move to the target position. Specifically, the moving directions of the first drive arm 121 and the second drive arm 122 are shown as the trajectories a-B in fig. 1.

The positioning mechanism 300 further includes a probe mount 320, the probe mount 320 being connected to the first drive arm 121 and located at an end of the first drive arm 121 remote from the distal stage 110. The conductive probe set 310 is movably mounted on the probe mounting block 320, and the conductive probe set 310 can move along the length direction of the conductive probe set 310 relative to the probe mounting block 320 under the action of an external force. Specifically, the conductive probe group 310 may be configured to have a telescopic function, and may be contracted by an acting force along a longitudinal direction thereof in a direction opposite to a moving direction thereof, and may be restored to an original longitudinal position after the acting force is released. In this embodiment, due to the telescopic function of the conductive probe set 310, the conductive probe set 310 can move along the length direction of the conductive probe set 310 relative to the probe mounting frame 320 under the action of an external force, so that the situation that the conductive probe set 310 is pressed to deform due to the reaction force of the posture detection part 500 after contacting the posture detection part 500 can be avoided.

In summary, the automatic charging robot provided by the present invention has a part of the weight of the automatic charging robot put on the socket assembly 400 by the auxiliary inserting and pulling mechanism 600, and as the second telescoping member 140 moves the plug assembly 200 in the C-D direction, the relative position of the second drive arm 122 to the socket assembly 400 is secured, in this state, when the second telescopic member 140 inserts the header assembly 200 into the socket assembly 400, because the plugging resistance caused by the plugging fit of the plug assembly 200 and the socket assembly 400 is offset by the abutting action between the first fixing member 610 and the second fixing member 620, the plugging resistance cannot be transmitted to the tail end of the automatic charging robot, the stability of the tail end of the automatic charging robot is greatly improved, further, the plug assembly 200 and the socket assembly 400 are ensured not to be unstably plugged due to insufficient strength of the joint part of the automatic charging robot in the plugging process. Similarly, in the process of pulling the plug assembly 200 out of the socket assembly 400, the first fixing member 610 and the second fixing member 620 can also achieve the above effect, so that the stability of the tail end of the automatic charging robot and the stability of pulling out the plug assembly 200 are ensured. Further, according to the present application, by providing the positioning mechanism 300 on the driving mechanism 100 and providing the posture detecting portion 500 for connecting with the positioning mechanism 300 on the socket assembly 400, the posture position of the socket assembly 400 can be accurately positioned before the plug assembly 200 is plugged into the socket assembly 400. The accurate posture position of the socket assembly 400 can be obtained through the positioning mechanism 300, and the accurate positioning of the socket assembly 400 is realized. On the basis of the attitude of the positioning plane, the positioning of the corner attitude is increased, and the accuracy of the attitude positioning of the socket assembly 400 is improved.

The above embodiments are summarized as follows:

the invention provides an automatic charging robot, which comprises a probe mounting rack 320 which is arranged on the automatic charging robot and can move along with the automatic charging robot, wherein a set of conductive probe group 310 for detecting the position and the posture of an electric automobile socket component is fixedly arranged on the probe mounting rack, and the conductive probe group comprises at least three

positioning probes

311, 312 and 313 which are positioned in two parallel planes, are parallel to each other and can point to the electric automobile socket component.

Preferably, the socket assembly of the electric vehicle has a housing 410 with conductive elements on the opposite front side of the housing for precise alignment and contact energization of the conductive probe set.

Preferably, from the perspective of the automatic charging robot, the automatic charging robot extends the first driving arm 121 and the second driving arm 122 substantially horizontally and outwardly in parallel, the probe mounting bracket 320 is mounted to slide back and forth along the first driving arm, the plug assembly 200 for charging the vehicle is mounted to slide back and forth along the second driving arm, and the first driving arm and the second driving arm are rotatable about a middle axis between a longitudinal middle line of the plug assembly and a longitudinal middle line of the socket assembly for positioning the conductive probe set.

Preferably, the tips of the at least three positioning probes lie in a plane perpendicular to the medial axis.

Preferably, the drive mechanism further comprises an end platform 110 connected to the inner rear ends of the first and second drive arms, the end platform being rotatable about said intermediate axis.

Preferably, the outer front end of the second driving arm transversely extends out of a U-shaped clamping portion 612, and the longitudinal centerline of the plug assembly passes through the clamping opening of the clamping portion 612 in the front-back direction.

Preferably, a supporting portion 621 is fixed on the periphery of the automobile charging socket assembly, and in a state that the U-shaped clamping portion contacts the supporting portion 621, the neutral lines of the automobile charging plug assembly and the automobile charging socket assembly are in a centering alignment state.

Preferably, a limiting portion 622 is fixed on the periphery of the car charging socket component, and is used for limiting the second driving arm to move along the longitudinal centerline direction of the car charging socket component in the state that the U-shaped clamping portion contacts the bearing portion 621.

Preferably, the support portion 621 and the stopper portion 622 are integrally formed.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that various changes, modifications and substitutions can be made without departing from the spirit and scope of the invention as defined by the appended claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic charging robot comprises a probe mounting rack (320) which is arranged on the automatic charging robot and can move along with the automatic charging robot, a set of conductive probe group (310) for detecting the position and the posture of an electric automobile socket assembly is fixedly arranged on the probe mounting rack, and the conductive probe group comprises at least three positioning probes (311, 312 and 313) which are positioned in two parallel planes, are parallel to each other and can point to the electric automobile socket assembly.

2. The robot of claim 1, wherein the socket assembly of the electric vehicle has a housing (410) with conductive elements on an exterior facing surface thereof for precise alignment and contact energization of the conductive probe sets.

3. The automatic charging robot of claim 1 or 2, wherein, from the perspective of the automatic charging robot, the automatic charging robot extends a first drive arm (121) and a second drive arm (122) substantially horizontally outward in parallel with each other, the probe mounting bracket (320) is mounted to slide back and forth along the first drive arm, the plug assembly (200) for charging the vehicle is mounted to slide back and forth along the second drive arm, and the first drive arm and the second drive arm are rotatable about a central axis between a longitudinal centerline of the plug assembly and a longitudinal centerline of the socket assembly for positioning the conductive probe set.

4. The automatic charging robot of claim 3, wherein the tips of said at least three positioning probes lie in a plane perpendicular to said medial axis.

5. The automatic charging robot as claimed in claim 3, further comprising an end platform (110) connected to inner rear ends of the first and second drive arms, the end platform being rotatable about the intermediate axis.

6. The automatic charging robot as claimed in claim 3, wherein a U-shaped engaging portion (612) is transversely extended from the outer front end of the second driving arm, and the longitudinal centerline of the plug assembly passes through the engaging openings of the engaging portion (612) in a front-rear direction.

7. The automatic charging robot as claimed in claim 3, wherein a support portion (621) is fixed to the periphery of the car charging socket assembly, and the neutral lines of both the car charging plug assembly and the socket assembly are in the aligned state when the U-shaped engaging portion contacts the support portion (621).

8. The automatic charging robot as claimed in claim 7, wherein a stopper (622) is fixed to the periphery of the car charging socket assembly for restricting the second driving arm from moving in the longitudinal centerline direction of the car charging socket assembly in a state where the U-shaped engaging portion contacts the receiving portion (621).

9. The automatic charging robot according to claim 8, wherein the support portion (621) and the stopper portion (622) are formed integrally.