CN114193502A - Special end effector for charging gun grabbing robot - Google Patents
Special end effector for charging gun grabbing robot Download PDFInfo
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- CN114193502A CN114193502A CN202210092519.1A CN202210092519A CN114193502A CN 114193502 A CN114193502 A CN 114193502A CN 202210092519 A CN202210092519 A CN 202210092519A CN 114193502 A CN114193502 A CN 114193502A
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- clamping
- clamping jaw
- charging
- charging gun
- gun
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to the technical field of new energy vehicle charging, in particular to a special end effector for a charging gun grabbing robot, which comprises a main frame, a charging gun clamping mechanism, a push rod mechanism and a vision system, wherein the charging gun clamping mechanism, the push rod mechanism and the vision system are arranged on the main frame; the charging gun clamping mechanism can clamp the charging gun; the push rod mechanism can realize unlocking of the charging gun and opening and closing of the automobile charging opening cover; the visual system can realize the identification of the specific position of the charging port and the position of the charging gun of the automobile; the main frame includes the panel beating shell, and panel beating shell internally mounted has L board and connecting seat, is equipped with the robot flange on the panel beating shell, and the top and the robot of robot flange are connected, and the first mounting hole that the panel beating shell was passed to the bottom of robot flange is connected with the inside connecting seat of panel beating shell. The invention can be used for realizing the automatic unlocking and grabbing operation of the charging gun, thereby being matched with a charger robot to realize the automatic charging of new energy vehicles and further reducing the operation cost of the charging station.
Description
Technical Field
The invention relates to the technical field of new energy vehicle charging, in particular to a special end effector for a charging gun grabbing robot.
Background
With the development of science and technology and the enhancement of environmental protection consciousness, the new energy vehicle develops rapidly, and the popularization of artificial intelligence and the standardization of the charging gun, the charging socket and the charging pile make the robot have the possibility of application in the field of automatic charging of the new energy vehicle.
At present, the charging of well-known new forms of energy vehicle often is that the manual work carries out the rifle unblock that charges, takes out the rifle that charges out from filling electric pile and reinserts the vehicle mouth that charges again. Because the rifle body itself has certain weight, simultaneously with the weight of rifle cable, personnel need expend strength when taking, and the easy scratch vehicle of misoperation or damage rifle that charges has increaseed the operation cost of charging station.
Therefore, it is necessary to provide an end effector dedicated to a robot for grasping a charging gun to solve the above technical problems.
Disclosure of Invention
In order to solve the problems, the invention provides the special end effector for the charging gun grabbing robot, which can be used for realizing automatic unlocking and grabbing operations of a charging gun, so that automatic charging of a new energy vehicle can be realized by matching with a charger robot.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the special end effector for the charging gun grabbing robot comprises a main frame, a charging gun clamping mechanism, a push rod mechanism and a vision system, wherein the charging gun clamping mechanism, the push rod mechanism and the vision system are installed on the main frame;
the charging gun clamping mechanism can clamp a charging gun;
the push rod mechanism can realize unlocking of the charging gun and opening and closing of the automobile charging opening cover;
the visual system can realize the identification of the specific position of the charging port and the position of the charging gun of the automobile;
the main frame includes the sheet metal shell, sheet metal shell internally mounted has L board and connecting seat, be equipped with the robot flange on the sheet metal shell, the top and the robot of robot flange are connected, the first mounting hole that the sheet metal shell was passed to the bottom of robot flange is connected with the inside connecting seat of sheet metal shell.
Preferably, the clamping mechanism of the charging gun comprises a clamping jaw mounting seat mounted at the bottom of the connecting seat, a clamping jaw electric cylinder is fixedly connected to the bottom of the clamping jaw mounting seat, a set of symmetrically arranged clamping jaw finger assemblies is fixedly mounted on the clamping jaw electric cylinder, a set of symmetrically arranged clamping piece assemblies is fixedly mounted on the clamping jaw finger assemblies, and a set of symmetrically arranged clamping plastic piece assemblies is arranged on the inner side of each clamping piece assembly; the top fixed mounting of clamping jaw mount pad has the clamping jaw back, fixed mounting has the piece of leaning on the clamping jaw back.
Preferably, the jaw finger assembly comprises a left jaw finger and a right jaw finger arranged oppositely; the clamping piece assembly comprises a left clamping piece and a right clamping piece which are oppositely arranged; the clamping plastic part assembly comprises a left clamping plastic part and a right clamping plastic part which are oppositely arranged.
By adopting the technical scheme: driven by the clamping jaw electric cylinder to can mould a subassembly through clamping jaw finger subassembly, holder subassembly and centre gripping and realize the centre gripping to the rifle that charges.
Preferably, the vision system comprises a forward extending seat fixedly installed at the front end part of the connecting seat, a 3D camera and an L plate are installed on the upper surface of the forward extending seat, and the 3D camera is fixedly connected with the forward extending seat through the L plate.
By adopting the technical scheme: adopt the 3D camera can discern the rifle position that charges on the electric pile that fills and the concrete position of vehicle mouth that charges.
Preferably, the push rod mechanism comprises a push cylinder fixedly connected with the bottom of the front extension seat and an ultrasonic sensor support, a push block is fixedly connected onto a telescopic rod of the push cylinder, a push rod is installed on the push block and is connected with the telescopic rod on the push cylinder through the push block, a top head is fixedly installed at the front part of the push rod, and an ultrasonic sensor is installed on the ultrasonic sensor support.
Preferably, the ejector pad includes a block, be equipped with a front rod on the leading flank of block, be equipped with second mounting hole and third mounting hole on the block respectively.
By adopting the technical scheme: adopt ultrasonic sensor can discern the approximate position of vehicle, the lid position of charging and the mouth position that charges of rethread 3D camera fine positioning vehicle are driven by the ejector cylinder, can realize the switch of unblock rifle and the car that charges the flap through ejector pad, ejector pin and top.
Preferably, the structure that left side clamping jaw finger and right clamping jaw finger are the same, right side clamping jaw finger includes a fixed plate, be equipped with the finger board on the leading flank of fixed plate, be equipped with on the fixed plate with clamping jaw electric cylinder fixed mounting's fourth mounting hole, be equipped with on the finger board with right holder fixed mounting's fifth mounting hole.
Preferably, the structure of left side holder and right holder is the same, right holder includes the arm body and the clamping part of being connected with the arm body, be equipped with the sixth mounting hole on the arm body, be equipped with the seventh mounting hole on the clamping part.
By adopting the technical scheme: the charging gun can be firmly clamped and the charging gun and a cable thereof can be dragged.
Preferably, be equipped with first sealing washer and second sealing washer between the bottom of robot flange and the panel beating shell, first sealing washer and second sealing washer set gradually from top to bottom.
By adopting the technical scheme: adopt first sealing washer and second sealing washer can realize the holistic waterproof dustproof of end effector.
The invention has the beneficial effects that:
1. the visual system can identify the specific position of the charging port of the automobile and the position of the charging gun; the unlocking of the charging gun and the opening and closing of the charging opening cover of the automobile can be realized by adopting the push rod mechanism; the charging gun clamping mechanism is adopted to realize firm clamping of the charging gun and can pull the charging gun and a cable of the charging gun.
2. The automatic unlocking and grabbing device can be used for realizing automatic unlocking and grabbing operations of the charging gun, so that automatic charging of a new energy vehicle can be realized by matching with a charger robot, the operation process of personnel is reduced, the labor intensity of the personnel is reduced, and the operation cost of a charging station is further reduced.
Drawings
FIG. 1 is an exploded view of the present invention;
FIG. 2 is a schematic view of the finger of the right jaw of the present invention;
FIG. 3 is a schematic structural view of a right clamp of the present invention;
FIG. 4 is a schematic structural view of a right clamping plastic part according to the present invention;
FIG. 5 is a schematic structural view of a push block according to the present invention;
fig. 6 is a schematic view of the overall structure of the present invention after installation.
In the figure: 1 sheet metal shell, 1-1 first mounting hole, 2L plate, 3 connecting seat, 4 robot flanges, 5 clamping jaw mounting seats, 6 clamping jaw electric cylinders, 7 clamping jaw backrest, 8 backup block, 9 left clamping jaw finger, 10 right clamping jaw finger, 10-1 fixing plate, 10-11 fourth mounting hole, 10-2 finger plate, 10-21 fifth mounting hole, 12-1 arm body, 12-11 sixth mounting hole, 12-2 clamping part, 12-21 seventh mounting hole, 11 left clamping piece, 12 right clamping piece, 13 left clamping plastic piece, 14 right clamping plastic piece, 15 front stretching seat, 163D camera, 17 push cylinder, 18 ultrasonic sensor bracket, 19 push block, 19-1 block body, 19-2 front rod, 19-11 second mounting hole, 19-12 third mounting hole, 20 ejector rod, 21 ejector head, 22 ultrasonic sensor, 23 first seal ring, 24 second seal ring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, so that those skilled in the art can better understand the advantages and features of the present invention, and thus the scope of the present invention is more clearly defined. The embodiments described herein are only a few embodiments of the present invention, rather than all embodiments, and all other embodiments that can be derived by one of ordinary skill in the art without inventive faculty based on the embodiments described herein are intended to fall within the scope of the present invention.
Referring to fig. 1-6, the special end effector for the charging gun grabbing robot comprises a main frame, a charging gun clamping mechanism, a push rod mechanism and a vision system, wherein the charging gun clamping mechanism, the push rod mechanism and the vision system are installed on the main frame;
the charging gun clamping mechanism can clamp a charging gun;
the push rod mechanism can realize unlocking of the charging gun and opening and closing of the automobile charging opening cover;
the visual system can realize the identification of the specific position of the charging port and the position of the charging gun of the automobile;
the main frame includes sheet metal shell 1, sheet metal shell 1 internally mounted has L board 2 and connecting seat 3, be equipped with robot flange 4 on the sheet metal shell 1, the top and the robot of robot flange 4 are connected, the bottom of robot flange 4 is passed sheet metal shell 1's first mounting hole 1-1 and is connected with connecting seat 3 inside sheet metal shell 1.
In the embodiment, the main frame is processed by the light sheet metal shell 1, so that the end effector is light in overall weight and high in structural strength, and the robot can move and drag conveniently; through installing robot flange 4 on sheet metal housing 1 for with sheet metal housing 1 through robot flange 4 and robot fixed connection, thereby make this end effector can realize charging new energy vehicle's automation with the cooperation of machine ware people, and seted up a plurality of round holes respectively on the upper surface of robot flange 4 or lower surface, make things convenient for robot flange 4 to be connected with robot or sheet metal housing 1 respectively, and the installation, dismantle conveniently, easy and simple to handle.
Wherein, be equipped with first sealing washer 23 and second sealing washer 24 between the bottom of robot flange 4 and sheet metal shell 1, first sealing washer 23 and second sealing washer 24 set gradually from top to bottom.
In this embodiment, when the robot flange 4 and the sheet metal shell 1 are installed, the first sealing ring 23 and the second sealing ring 24 are sequentially clamped up and down between the robot flange 4 and the sheet metal shell 1, so that the overall waterproof and dustproof effect of the end effector can be realized, and the service life of the end effector is further prolonged.
Specifically, the clamping mechanism of the charging gun comprises a clamping jaw mounting seat 5 mounted at the bottom of a connecting seat 3, a clamping jaw electric cylinder 6 is fixedly connected to the bottom of the clamping jaw mounting seat 5, a set of symmetrically arranged clamping jaw finger assemblies are fixedly mounted on the clamping jaw electric cylinder 6, a set of symmetrically arranged clamping piece assemblies are fixedly mounted on the clamping jaw finger assemblies, and a set of symmetrically arranged clamping plastic piece assemblies are arranged on the inner side of each clamping piece assembly; the top of clamping jaw mount pad 5 is fixed mounting has clamping jaw back 7, fixed mounting has leaning on piece 8 on the clamping jaw back 7.
Specifically, referring to fig. 1, the jaw finger assembly includes a left jaw finger 9 and a right jaw finger 10 disposed opposite to each other; the clamping piece assembly comprises a left clamping piece 11 and a right clamping piece 12 which are oppositely arranged; the clamping plastic part assembly comprises a left clamping plastic part 13 and a right clamping plastic part 14 which are oppositely arranged.
Referring to fig. 2, the left clamping jaw finger 9 and the right clamping jaw finger 10 have the same structure, the right clamping jaw finger 10 includes a fixing plate 10-1, a finger plate 10-2 is arranged on the front side surface of the fixing plate 10-1, a fourth mounting hole 10-11 fixedly mounted with the clamping jaw electric cylinder 6 is arranged on the fixing plate 10-1, and a fifth mounting hole 10-21 fixedly mounted with the right clamping piece 12 is arranged on the finger plate 10-2. The fourth mounting hole 10-11 is adopted to ensure that the right clamping jaw finger 10 is reliably connected with the clamping jaw electric cylinder 6 through the fixing plate 10-1, and the fifth mounting hole 10-21 is adopted to ensure that the right clamping jaw finger 10 is reliably connected with the right clamping piece 12 through the finger plate 10-2, so that the clamping jaw finger assembly can be reliably connected with the clamping jaw electric cylinder 6 or the clamping piece assembly respectively. Meanwhile, since the left and right jaw fingers 9 and 10 are identical in structure, the specific structure of the left jaw finger 9 will not be described in detail herein.
Referring to fig. 3, the left clamping piece 11 and the right clamping piece 12 have the same structure, the right clamping piece 12 includes an arm body 12-1 and a clamping portion 12-2 connected to the arm body 12-1, a sixth mounting hole 12-11 is formed in the arm body 12-1, and a seventh mounting hole 12-21 is formed in the clamping portion 12-2. Here, the right holding member 12 is securely connected to the right holding jaw finger 10 through the arm 12-1 by using the sixth mounting hole 12-11, and the right holding member 12 is securely connected to the right holding plastic member 14 through the holding portion 12-2 by using the seventh mounting hole 12-21. Meanwhile, since the structures of the left and right clamps 11 and 12 are the same, the specific structure of the left clamp 11 will not be described in detail herein.
Referring to fig. 1-4, when the left clamping jaw finger 9, the right clamping jaw finger 10, the left clamping piece 11, the right clamping piece 12, the left clamping plastic piece 13 and the right clamping plastic piece 14 are installed, a certain clamping space for clamping the handle of the charging gun is formed between every two clamping plastic pieces; meanwhile, a plurality of mounting holes can be adopted, so that the mounting angle of the clamping plastic part assembly can be conveniently adjusted to meet the actual use requirement. During actual processing, the left clamping plastic piece 13 and the right clamping plastic piece 14 are in a plastic plate shape, so that the handle of the charging gun is prevented from being clamped and worn, and bulges can be added on the inner side surfaces of the left clamping plastic piece 13 and the right clamping plastic piece 14, so that the clamping force is enhanced. In addition, the shape and structure of the left clamping plastic piece 13 and the right clamping plastic piece 14 can be adaptively adjusted according to the handle structures of charging guns of different styles so as to meet the actual clamping requirement.
In this embodiment, adopt clamping jaw electric cylinder 6 and 5 fixed mounting of clamping jaw mount pad, by the clamping jaw finger subassembly that a set of symmetry of clamping jaw electric cylinder 6 drive set up, and then drive the action of clamping piece subassembly by clamping jaw finger subassembly, finally drive the centre gripping and mould the tight rifle that charges of clamp that a subassembly can be firm and can pull rifle and the cable that charges.
Specifically, the vision system includes the forward extension seat 15 of fixed mounting at connecting seat 3 front end, install 3D camera 16 and L board 2 on the upper surface of forward extension seat 15, 3D camera passes through L board 2 and forward extension seat 15 fixed connection.
In this embodiment, the 3D camera 16 is a 2-mesh camera, and the 3D camera 16 can identify the position of the charging cover, the position of the button of the charging cover, and the specific position information of the charging port on the vehicle.
Specifically, push rod mechanism includes with preceding 15 bottom fixed connection's of stretching seat push cylinder 17 and ultrasonic sensor support 18, fixedly connected with ejector pad 19 on push cylinder 17's the telescopic link, install ejector pin 20 on the ejector pad 19, ejector pin 20 is connected with the telescopic link on the push cylinder 17 through ejector pad 19, the anterior fixed mounting of ejector pin 20 has top 21, install ultrasonic sensor 22 on the ultrasonic sensor support 18.
Referring to fig. 5, the pushing block 19 includes a block body 19-1, a front rod 19-2 is disposed on a front side surface of the block body 19-1, and a second mounting hole 19-11 and a third mounting hole 19-12 are respectively disposed on the block body 19-1.
In the embodiment, the second mounting hole 19-11 is adopted to facilitate the fixed connection of the push block 19 and the telescopic rod of the push cylinder 17, and the third mounting hole 19-12 is adopted to facilitate the fixed connection of the push rod 20 and the telescopic rod of the push cylinder 17 after passing through the third mounting hole 19-12; the push cylinder 17 drives the telescopic rod to act, so that the push block 19 is pushed to act, and the ejector rod 20, the ejector head 21 and the front rod 19-2 are mutually matched to act, so that the charging gun and the automobile charging opening cover can be unlocked and opened. At the same time, the approximate position of the vehicle can be identified here using the ultrasonic sensor 22.
The working principle of the invention is as follows: referring to fig. 6, firstly, the approximate position of the vehicle can be identified through the ultrasonic sensor 22, secondly, the 3D camera 16 adopting the vision system can identify the position of the charging cover on the vehicle, the button position of the charging cover and the specific position of the charging port of the vehicle, then the push cylinder 17 drives the telescopic rod to act, further the push block 19 is pushed to act, and the ejector rod 20, the ejector head 21 and the front rod 19-2 are mutually matched, so that the charging gun and the charging port of the vehicle can be unlocked, finally, the clamping jaw electric cylinder 6 drives a group of symmetrically arranged clamping jaw finger assemblies, further the clamping jaw finger assemblies drive the clamping piece assemblies to act, and finally, the clamping plastic assembly is driven to firmly clamp the charging gun and can pull the charging gun and the cable thereof.
In conclusion, the visual system can identify the specific position of the charging port and the position of the charging gun of the automobile; the unlocking of the charging gun and the opening and closing of the charging opening cover of the automobile can be realized by adopting the push rod mechanism; the charging gun clamping mechanism can be used for firmly clamping the charging gun and dragging the charging gun and a cable thereof; the automatic unlocking and grabbing device can be used for realizing automatic unlocking and grabbing operations of the charging gun, so that automatic charging of a new energy vehicle can be realized by matching with a charger robot, the operation process of personnel is reduced, the labor intensity of the personnel is reduced, and the operation cost of a charging station is further reduced.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. The utility model provides a special end effector of rifle that charges snatchs robot, includes the main frame, its characterized in that: the charging gun clamping mechanism, the push rod mechanism and the vision system are arranged on the main frame;
the charging gun clamping mechanism can clamp a charging gun;
the push rod mechanism can realize unlocking of the charging gun and opening and closing of the automobile charging opening cover;
the visual system can realize the identification of the specific position of the charging port and the position of the charging gun of the automobile;
the main frame includes sheet metal shell (1), sheet metal shell (1) internally mounted has L board (2) and connecting seat (3), be equipped with robot flange (4) on sheet metal shell (1), the top and the robot of robot flange (4) are connected, the bottom of robot flange (4) is passed first mounting hole (1-1) of sheet metal shell (1) and is connected with inside connecting seat (3) of sheet metal shell (1).
2. The special end effector for the gun-gripping robot according to claim 1, wherein: the clamping mechanism of the charging gun comprises a clamping jaw mounting seat (5) mounted at the bottom of a connecting seat (3), a clamping jaw electric cylinder (6) is fixedly connected to the bottom of the clamping jaw mounting seat (5), a group of symmetrically arranged clamping jaw finger assemblies are fixedly mounted on the clamping jaw electric cylinder (6), a group of symmetrically arranged clamping piece assemblies are fixedly mounted on the clamping jaw finger assemblies, and a group of symmetrically arranged clamping plastic piece assemblies are arranged on the inner side of each clamping piece assembly; the top fixed mounting of clamping jaw mount pad (5) has clamping jaw back (7), fixed mounting has by piece (8) on clamping jaw back (7).
3. The special end effector for the gun-gripping robot according to claim 2, wherein: the clamping jaw finger assembly comprises a left clamping jaw finger (9) and a right clamping jaw finger (10) which are oppositely arranged; the clamping piece assembly comprises a left clamping piece (11) and a right clamping piece (12) which are oppositely arranged; the clamping plastic part assembly comprises a left clamping plastic part (13) and a right clamping plastic part (14) which are oppositely arranged.
4. The special end effector for the gun-gripping robot according to claim 1, wherein: the vision system comprises a forward extending seat (15) fixedly installed at the front end part of the connecting seat (3), a 3D camera (16) and an L plate (2) are installed on the upper surface of the forward extending seat (15), and the 3D camera is fixedly connected with the forward extending seat (15) through the L plate (2).
5. The special end effector for the gun-gripping robot according to claim 4, wherein: push rod mechanism include with base (15) bottom fixed connection's that stretch forward push away jar (17) and ultrasonic sensor support (18), fixedly connected with ejector pad (19) on the telescopic link of push away jar (17), install ejector pin (20) on ejector pad (19), ejector pin (20) are connected with the telescopic link on the push away jar (17) through ejector pad (19), the anterior fixed mounting of ejector pin (20) has top (21), install ultrasonic sensor (22) on ultrasonic sensor support (18).
6. The special end effector for the gun-gripping robot according to claim 5, wherein: the push block (19) comprises a block body (19-1), a front rod (19-2) is arranged on the front side face of the block body (19-1), and a second mounting hole (19-11) and a third mounting hole (19-12) are respectively formed in the block body (19-1).
7. The special end effector for the gun-gripping robot according to claim 3, wherein: the structure of left side clamping jaw finger (9) and right clamping jaw finger (10) is the same, right side clamping jaw finger (10) includes a fixed plate (10-1), be equipped with finger board (10-2) on the leading flank of fixed plate (10-1), be equipped with on fixed plate (10-1) with clamping jaw electric cylinder (6) fixed mounting's fourth mounting hole (10-11), be equipped with on finger board (10-2) with right holder (12) fixed mounting's fifth mounting hole (10-21).
8. The special end effector for the gun-gripping robot according to claim 3, wherein: the structure of the left clamping piece (11) is the same as that of the right clamping piece (12), the right clamping piece (12) comprises an arm body (12-1) and a clamping part (12-2) connected with the arm body (12-1), a sixth mounting hole (12-11) is formed in the arm body (12-1), and a seventh mounting hole (12-21) is formed in the clamping part (12-2).
9. The special end effector for the gun-gripping robot according to claim 1, wherein: be equipped with first sealing washer (23) and second sealing washer (24) between the bottom of robot flange (4) and panel beating shell (1), first sealing washer (23) and second sealing washer (24) set gradually from top to bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210092519.1A CN114193502B (en) | 2022-01-26 | 2022-01-26 | Special end effector for charging gun grabbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210092519.1A CN114193502B (en) | 2022-01-26 | 2022-01-26 | Special end effector for charging gun grabbing robot |
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| CN114193502A true CN114193502A (en) | 2022-03-18 |
| CN114193502B CN114193502B (en) | 2022-11-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115284917A (en) * | 2022-07-22 | 2022-11-04 | 国网天津市电力公司 | Automatic opening and closing control device for inner and outer sealing covers of charging port of electric automobile |
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| CN114193502B (en) | 2022-11-11 |
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