CN212447185U - End effector of automatic charging robot of electric automobile - Google Patents

End effector of automatic charging robot of electric automobile Download PDF

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Publication number
CN212447185U
CN212447185U CN202021859794.4U CN202021859794U CN212447185U CN 212447185 U CN212447185 U CN 212447185U CN 202021859794 U CN202021859794 U CN 202021859794U CN 212447185 U CN212447185 U CN 212447185U
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China
Prior art keywords
charging gun
unlocking
clamping
charging
abutting
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CN202021859794.4U
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Chinese (zh)
Inventor
杨海宗
吴昊
董奇志
王方龙
张�浩
朱亚锋
曹磊
邵祥生
王春
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Kemais New Energy Technology Co ltd
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Kemais New Energy Technology Co ltd
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Priority to CN202021859794.4U priority Critical patent/CN212447185U/en
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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
    • 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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Abstract

The utility model discloses an automatic charging robot end effector of an electric automobile, which comprises a charging gun unlocking component and a locking component, wherein the locking force of the charging gun in an inserting state is released; a charging gun clamping assembly for clamping a charging gun for releasing a locking force; the charging gun pushing and pulling assembly pushes the charging gun clamped by the charging gun clamping assembly into a charging gun inserting position or pulls the charging gun out of the charging gun inserting position; the static frame and the movable frame; the charging gun unlocking component and the charging gun clamping component are respectively arranged on the movable frame; the charging gun pushing and pulling assembly is arranged between the movable frame and the static frame, and the charging gun pushing and pulling assembly drives the movable frame to extend or retract relative to the static frame, so that the charging gun pushing and pulling assembly can push and pull the charging gun clamped by the charging gun clamping assembly. The utility model discloses can realize automatically that the rifle that charges unblock, clamp tightly, push, extract the action, replace manual mode, with the cooperation of machine robot that charges, realize the automatic charging of electric automobile, reduce personnel operation process.

Description

End effector of automatic charging robot of electric automobile
Technical Field
The utility model relates to an electric automobile technical field that charges, concretely relates to automatic charging robot end effector of electric automobile.
Background
Along with the development of science and technology and the enhancement of environmental protection consciousness, electric automobile develops rapidly, and artificial intelligence's popularization and the standardization of rifle, the socket that charges, the stake of charging for the robot has had the possibility of using in the automatic field of charging of electric automobile.
In the charging work of the current electric automobile, the charging operation is mainly completed by workers or owners of the charging station, and the workers or owners need to be provided with a certain amount of labor force, so that the operation cost of the charging station is increased. The trend of future development when the robot is automatically charged is adopted. In order to not change the structures of the existing charging gun and the existing charging pile, an end effector applied to automatic charging of a robot needs to be designed.
Disclosure of Invention
To the problem, the utility model aims at providing an automatic electric automobile robot end effector that charges who realizes automatic charging process with the cooperation of machine robot that charges.
Realize the technical scheme of the utility model as follows
An end effector of an automatic charging robot of an electric automobile comprises
A charging gun unlocking component for releasing the locking force of the charging gun in the insertion state;
a charging gun clamping assembly for clamping a charging gun for releasing a locking force;
the charging gun pushing and pulling assembly pushes the charging gun clamped by the charging gun clamping assembly into a charging gun inserting position or pulls the charging gun out of the charging gun inserting position;
the static frame and the movable frame;
the charging gun unlocking component and the charging gun clamping component are respectively arranged on the movable frame;
the charging gun pushing and pulling assembly is arranged between the movable frame and the static frame, and the charging gun pushing and pulling assembly drives the movable frame to extend or retract relative to the static frame, so that the charging gun pushing and pulling assembly can push and pull the charging gun clamped by the charging gun clamping assembly.
Further, the charging gun clamping assembly comprises a clamping mechanism;
the clamping mechanism comprises two clamping pieces arranged in the movable frame, a clamping space for clamping the charging gun handle is formed between the two clamping pieces, and an adjusting mechanism for adjusting the angles of the clamping pieces is arranged between the two clamping pieces and the movable frame respectively to change the clamping space.
Further, the charging gun clamping assembly further comprises a propping mechanism which exerts propping force on the clamping piece from the outer side of the clamping piece to the inner side;
the abutting mechanism comprises an abutting support, an abutting arm, an abutting head, a driving arm, a driver and a driving piece;
the abutting support is fixedly assembled on the movable frame, and the middle part of the abutting arm is movably assembled on the abutting support;
one end of the driving arm is movably connected with the driving piece, the other end of the driving arm is fixedly connected with one end of the abutting arm, the abutting head is fixedly arranged at the other end of the abutting arm, and the abutting head is positioned at the outer side of the clamping piece;
the driver is assembled on the abutting support, drives the driving piece to reciprocate, drives the abutting arm through the driving arm, and swings along the middle part of the abutting arm, so that the abutting head is matched with the clamping piece.
Furthermore, the adjusting mechanism is positioned between the outer side of the clamping piece and the movable frame and comprises two ball stud bolts which are arranged at intervals;
the outer side of the clamping piece is fixedly provided with a clamping block for the ball head of the ball head bolt to be arranged and form a limit position, the other end of the ball head bolt is connected with the movable frame, the ball head bolt is provided with a locking nut, and the locking position between the ball head bolt and the movable frame is adjusted through the locking nut so as to adjust the angle of the clamping piece.
Further, the charging gun unlocking assembly comprises an unlocking support, an unlocking driver and an unlocking push block;
the unlocking support is assembled on the movable frame, the unlocking driver is assembled on the unlocking support, the unlocking push block is assembled on the unlocking support in a sliding mode, the front end of the unlocking push block is an unlocking contact, the unlocking driver drives the unlocking push block to slide on the unlocking support so as to drive the unlocking contact to trigger an unlocking key on the charging gun, and the locking force of the charging gun in an inserted state is relieved.
Furthermore, sliding grooves are formed in two sides of the tail end of the unlocking push block respectively, an insertion block extending into the sliding grooves is fixedly installed on the unlocking support, and the insertion block is matched with the sliding grooves, so that sliding assembly is formed between the unlocking push block and the unlocking support.
Furthermore, the charging gun pushing and pulling assembly comprises a pushing and pulling driver, a connecting plate, a floating plate, a guide shaft and a guide sleeve;
the push-pull driver is fixedly assembled in the static frame, the guide sleeve is fixedly assembled on the static frame, one end of the guide shaft is fixedly assembled on the floating plate, the other end of the guide shaft extends into the guide sleeve to form guide fit, the connecting plate is fixedly connected with the movable frame, the floating plate is fixedly connected with the connecting plate, and the push-pull driver drives the floating plate to drive the connecting plate and the movable frame to form extending or retracting action under the guide of the guide shaft.
Furthermore, the end effector also comprises a charging port cover opening assembly assembled on the static frame, and the charging port cover opening assembly comprises a fixed frame, an inner cover rod and an outer cover rod;
the middle part fixed mounting of mount is on quiet frame, and the both ends of mount extend to the both sides of quiet frame, and the both ends of mount fixed mounting enclosing cover pole respectively, and inner cup pole fixed mounting is equipped with the flexible sleeve respectively at the middle part of mount, at the front end of enclosing cover pole, the front end of inner cup pole.
Furthermore, an outer cover for covering the static frame and the movable frame is arranged on the static frame.
Further, the clamping space formed by the two clamping pieces is gradually reduced from the front end to the rear end.
By adopting the technical scheme, the static frame is fixedly connected with the electric automobile charging robot, and the static frame and the whole end effector are driven by the electric automobile charging robot to realize actions in the automatic charging process; applying external force to an unlocking key of the charging gun through a charging gun unlocking component to release locking force when the charging gun is in an inserting state, and at the moment, the charging gun can be switched from the inserting state to a state to be pulled out; when the charging gun is not inserted in the charging process, the charging gun is clamped by the charging gun clamping assembly; when the charging gun is clamped and is aligned with a charging gun socket of the charging pile or a charging port of the electric automobile, pushing force is applied to the movable frame through the charging gun pushing and pulling assembly, the movable frame outwards drives the charging gun to extend, and the charging gun is inserted into the charging gun socket of the charging pile or the charging port of the electric automobile; when the rifle that charges after needs will the unblock extracts, the rifle centre gripping subassembly that charges is clamping state to the rifle that charges, and the rifle that charges pushes away extracts the subassembly and applys the pulling force to moving the frame, moves the frame and inwards is the withdrawal action, alright extract in charging the rifle socket or electric automobile charging mouth with charging the rifle from filling electric pile. The utility model discloses can realize automatically that the rifle that charges unblock, clamp tightly, push, extract the action, replace manual mode, with the cooperation of machine robot that charges, realize the automatic charging of electric automobile, reduce personnel operation process.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a rear perspective view of FIG. 1;
fig. 3 is a schematic view of the split structure of the present invention;
FIG. 4 is a schematic view of the internal structure of the hidden housing of FIG. 2;
FIG. 5 is a schematic view of the release assembly of the charging gun;
FIG. 6 is a schematic view of the charging gun clamping assembly assembled in the movable frame;
FIG. 7 is a schematic structural view of the hidden movable frame of FIG. 6;
FIG. 8 is a schematic structural view of the tightening mechanism;
FIG. 9 is a schematic view of the structure of FIG. 8 after the support and the arm are hidden;
FIG. 10 is a schematic structural view of a tightening support in the tightening mechanism;
FIG. 11 is a schematic view of a push-pull assembly of the charging gun;
FIG. 12 is a schematic view of a charging gun;
in the drawings, 1 is a charging gun unlocking component, 2 is a charging gun clamping component, 3 is a charging gun pushing component, 4 is a static frame, 5 is a movable frame, 6 is a fixed connecting position, 7 is a top plate, 8 is a bottom plate, 9 is a reinforcing plate, 10 is a supporting plate, 11 is a clamping piece, 12 is a bulge, 13 is an arc-shaped groove, 14 is a supporting plate, 15 is a supporting groove, 16 is a ball stud, 17 is a fixed block, 18 is a pressing block, 19 is a locking nut, 20 is a butting support, 21 is a butting arm, 22 is a butting head, 23 is a driving arm, 24 is a driver, 25 is a driving piece, 26 is a pin shaft, 27 is a sliding part, 28 is a sliding groove, 29 is an unlocking support, 30 is an unlocking driver, 31 is an unlocking push block, 32 is an unlocking contact, 33 is a sliding groove, 34 is an inserting block, 35 is a pushing driver, 36 is a connecting plate, 37 is a floating plate, 38 is a guide shaft, 39 is a guide sleeve, and 40 is a charging port cover opening component, 41 is a fixing frame, 42 is an inner cover rod, 43 is an outer cover rod, and 44 is an outer cover.
Detailed Description
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.
As shown in fig. 1-12, the end effector of the automatic charging robot for the electric vehicle includes a charging gun unlocking assembly 1, which is used for triggering an unlocking key on a handle of the charging gun when the charging gun is inserted into a charging socket of the charging pile or a charging port of the electric vehicle, so as to release a locking force when the charging gun is inserted, and facilitate the continuation of the subsequent smooth pulling-out action of the charging gun.
The rifle centre gripping subassembly 2 that charges for the rifle that charges of locking power is relieved in the centre gripping, for follow-up pulling out the rifle that charges, and the operation in-process of the rifle that charges, centre gripping, the handle of the tight rifle that charges of clamp. When rifle that charges is held the centre gripping of rifle centre gripping subassembly, the muzzle of rifle that charges is outwards. The action of clamping the charging gun by the charging gun clamping assembly can be before or after the locking force is released; if the charging gun is likely to fall off after releasing the locking force, the charging gun should be held earlier than the locking force releasing operation.
The charging gun pushing and pulling assembly 3 is used for pushing the charging gun clamped by the charging gun clamping assembly into a charging gun inserting position or pulling the charging gun out of the charging gun inserting position; the inserting position here has two positions of charging stake charging gun socket, electric automobile charging mouth, and when the rifle that charges did not use, in being in charging stake charging gun socket, during the use, end effector and automatic charging robot's cooperation will fill the rifle that charges in stake charging gun socket through the unblock, press from both sides tightly, extract, the transportation process after, push into electric automobile charging mouth through the rifle that charges push out subassembly 3.
A static frame 4 and a movable frame 5; there is and electric automobile charging robot fixed connection position 6 quiet frame 4 top, and electric automobile charging robot drives quiet frame 4 and whole end effector and realizes filling the operation action between electric pile to electric automobile charging mouth with quiet frame 4 connection back. Quiet frame 4 includes roof 7, bottom plate 8, and 7 horizontal directions of roof arrange, and fixed connection position 6 is on roof 7, and 8 vertical directions of bottom plate are arranged, and the upper end and 7 middle part fixed connection of roof of bottom plate 8 to and fixed connection form the reinforcing plate 9 that supports between roof 7 and bottom plate 8, in order to guarantee the holistic intensity of quiet frame.
The charging gun unlocking component 1 and the charging gun clamping component 2 are respectively arranged on the movable frame 5; move frame 5 and include two vertical backup pads 10 of arranging, form the fitting space that supplies rifle unlocking subassembly 1, the rifle clamping component 2 installation of charging between two vertical backup pads, the rifle unlocking subassembly 1 that charges is in the top of the rifle clamping component 2 that charges to optimize the structural arrangement in the fitting space, reduce the occupation space of moving frame 5 and whole end effector.
The charging gun pushing and pulling assembly 3 is arranged between the movable frame 5 and the static frame 4, the charging gun pushing and pulling assembly 3 drives the movable frame 5 to form extending or retracting action relative to the static frame 4, and the charging gun pushing and pulling assembly 3 pushes and pulls the charging gun clamped by the charging gun clamping assembly 2.
In implementation, the charging gun clamping assembly 2 comprises a clamping mechanism, the clamping mechanism comprises two vertically arranged clamping pieces 11 arranged in the movable frame 5, a clamping space for clamping the charging gun handle is formed between the two clamping pieces 11, and the clamping pieces 11 are in a plastic plate shape so as to avoid clamping and wearing the charging gun handle; the inner surface of the clamping piece 11 is a clamping surface for clamping the handle of the charging gun, and a bulge can be added on the surface to enhance the clamping force. The clamping space that two holders 11 constitute reduces gradually from the front end to the rear end, follows the entry of clamping space inwards gradually promptly to in the clamping space is guided to charging gun handle can be smooth, and can form the trend that the charging gun handle pushes in the clamping space more and more tightly.
Have the arc wall 13 that blocks the rifle side bellying 12 that charges in two holder 11 tops, moving frame 5's below fixedly connected with layer board 14, the middle part of layer board has the support groove 15, when the rifle card that charges goes into the centre gripping space, the upper portion both sides card of rifle handle that charges is in arc wall 13, and the lower part has the card in supporting the groove 15 to make the rifle that charges more firm be in the centre gripping space by the centre gripping. The shape structure of holder can carry out the adaptability according to the rifle handle structure that charges of different models and adjust to satisfy and press from both sides tight requirement.
In order to adapt to the clamping of the handles of the electric guns with different sizes, the size of a clamping space formed between the two clamping pieces 11 can be adjusted adaptively, namely, an adjusting mechanism for adjusting the angles of the clamping pieces is respectively arranged between the two clamping pieces 11 and the movable frame 5 so as to change the size of the clamping space, the adjusting mechanism is arranged between the outer sides of the clamping pieces 11 and the supporting plate 10 of the movable frame 5, the adjusting mechanism comprises two ball bolts 16 which are arranged at intervals, namely, two ball bolts 16 are arranged in the horizontal direction at the outer side of each clamping piece 11,
the outside of holder 11 is fixed with the bulb that supplies ball stud 16 and packs into and form spacing clamping piece, the clamping piece is by fixed block 17, compact heap 18 is constituteed, fixed block 17 adopts the fix with screw in the outside of holder with compact heap 18, form the spacing space that supplies the ball of ball stud to put into between fixed block 17 and the compact heap 18, the ball of ball stud can realize free rotation in spacing space, the other end threaded connection of ball stud moves on the backup pad 10 of frame 5, be equipped with lock nut 19 on ball stud 16, adjust the locking position between ball stud and the movable frame through lock nut 19, with the angle of adjusting clamping piece, thereby can alternate the size that forms the centre gripping space between two holders.
In order to enable the handle of the charging gun to be further clamped in the clamping space, the charging gun clamping assembly 2 further comprises an abutting mechanism which applies abutting force to the clamping piece 11 from the outer side of the clamping piece 11 to the inner side; the abutting mechanism comprises an abutting support 20, two abutting arms 21, two abutting heads 22, two driving arms 23, a driver 24 and a driving piece 25; the two abutting arms 21, the two abutting heads 22 and the two driving arms 23 are matched in a one-to-one correspondence manner, and the abutting mechanism shown in the attached drawings of the application applies inward abutting force to the two clamping pieces 11 from the outer sides of the two clamping pieces 11 simultaneously so as to ensure the synchronism of the clamping of the charging gun handle.
In implementation, the abutting support 20 is fixedly assembled below the movable frame 5, and the middle part of the abutting arm 21 is rotatably assembled on the abutting support 20 through a pin shaft 26, that is, the abutting arm 21 can swing around the rotating shaft as a center under the action of external force; one end of the driving arm 23 is movably connected with the driving part 25 through a pin shaft, the other end of the driving arm 23 is fixedly connected with one end of the abutting arm 21, the abutting head 22 is fixedly installed at the other end of the abutting arm 21 through a screw, and the abutting head 22 is located on the outer side of the clamping part. An abdicating notch which is abdicating the abutting arm to swing is arranged below the supporting plate 10.
The driver 24 is a driving motor, and the driving part 25 is matched with the driving motor in a thread transmission mode, namely, when the motor rotates, the driving part 25 can realize reciprocating motion; the driver 24 is assembled on the abutting support 20, the driver 24 is positioned at the outer side of the abutting support 20, the driving part 25 is positioned at the inner side of the abutting support 20, the driving end of the driver 24 extends into the inner side of the abutting support 20 to be in transmission fit with the driving part 25, the driver 24 drives the driving part 25 to reciprocate, the driving arm 23 drives the abutting arm 21, the abutting arm 21 swings along the middle part of the abutting arm 21, and the abutting head 22 is in contact with the outer side surface of the clamping part 11 to apply abutting force or is separated from the withdrawing abutting force.
A sliding part 27 extends out of the driving part 25 and abuts against a sliding groove 28 formed in the support 20 and allowing the sliding part 27 to extend into, and the driving part 25 is driven by the driver 24 to reciprocate through sliding guide of the sliding part 27 and the sliding groove 28, so that driving stability is guaranteed.
Whole tight mechanism of supporting drives two simultaneously through a driver 24 and supports tight arm 21 and form the swing to make two support tight head 22 respectively simultaneously and the one-to-one exerts the power of supporting from two clamping piece 11 lateral surfaces, guarantee clamping piece 11 to the synchronism of charging rifle handle clamp, avoid the centre gripping in-process, the rifle handle that charges produces the displacement, influence the insertion accuracy in later stage, also reduce whole occupation space who supports tight mechanism simultaneously.
The charging gun unlocking assembly 1 is positioned at the uppermost part in the movable frame 5, and the charging gun unlocking assembly 1 comprises an unlocking support 29, an unlocking driver 30 and an unlocking push block 31; the unlocking support 29 is assembled above the inside of the movable frame 5, the unlocking driver 30 is an unlocking motor, the unlocking driver 30 is assembled on the unlocking support 29, the unlocking push block 31 is assembled on the unlocking support 29 in a sliding mode, the unlocking contact 32 is arranged at the front end of the unlocking push block 31, and the unlocking driver 30 drives the unlocking push block 31 to slide on the unlocking support 29 so as to drive the unlocking contact 32 to trigger an unlocking key on the charging gun and achieve the purpose of relieving the locking force of the insertion state of the charging gun. Specifically, sliding grooves 33 are respectively formed in two sides of the tail end of the unlocking push block 31, an insertion block 34 extending into the sliding grooves 33 is fixedly mounted on the unlocking support 29, and the insertion block 34 is matched with the sliding grooves 33, so that sliding assembly is formed between the unlocking push block and the unlocking support. The unlocking motor in the unlocking component of the charging gun applies force to the unlocking block, and the unlocking block pushes the lock unlocking key of the charging gun to achieve the purpose of unlocking. The force applied by the motor is more uniform, and the damage to a locking key of the charging gun caused by too sharp thrust change is prevented.
The charging gun push-pull assembly 3 comprises a push-pull driver 35, a connecting plate 36, a floating plate 37, a guide shaft 38 and a guide sleeve 39; the push-pull driver 35 is a motor, the push-pull driver 35 is fixedly assembled on one side of the bottom plate 8 of the static frame 4, the guide sleeve 39 is fixedly assembled on the bottom plate 8 of the static frame 4, one end of the guide shaft 38 is fixedly assembled on the floating plate 37, the other end of the guide shaft 38 extends into the guide sleeve 39 to form guide matching, the connecting plate 36 is fixedly connected with the inner end of the movable frame 5 through screws, the floating plate 37 is fixedly connected with the connecting plate 38 through screws, the push-pull driver 35 drives the floating plate 37 to drive the connecting plate 36 and the movable frame 5 to form extending or retracting actions under the guide of the guide shaft 38, and therefore the plug-pull action of the charging gun is achieved.
The end effector further comprises a charging port cover opening assembly 40 assembled on the stationary frame, the charging port cover opening assembly 40 comprising a fixed frame 41, an inner cover rod 42, an outer cover rod 43; the middle part of mount 41 is fixed assembly on the roof 7 of quiet frame 4, and the both ends of mount 41 extend to the both sides of quiet frame for respectively fixed mounting enclosing cover pole 43, interior cover pole 42 fixed mounting are equipped with the flexible sleeve respectively at the middle part of mount, at the front end of enclosing cover pole, the front end of interior cover pole, in order to prevent uncapping, close the lid in-process, the fish tail that causes the car. The functions of opening the inner charging port cover and closing the inner charging port cover and the outer charging port cover can be realized through the charging port cover opening assembly; the inner cover rod is used for opening and closing an inner cover of a charging port of the electric automobile, and the 2 outer cover rods at the lower part are used for closing an outer cover of the charging port of the electric automobile.
The stationary frame 4 is provided with a cover 44 for covering the stationary frame 4 and the moving frame 5. The outer cover is made of metal plates, so that the inner structure can be protected, and certain value can be embodied in the aspect of attractiveness.
Because the rifle that charges puts angle and electric automobile parking angle problem, the end effector need have flexible construction when snatching the rifle that charges and prevent to damage the rifle that charges, need when removing and plug the rifle that charges with the rifle rigid connection that charges in order to reach the purpose of pressing from both sides tight rifle that charges. Because of the rifle weight that charges is great, the automatic end effector that charges of current robot is more integrated to the end effector with the rifle that charges, perhaps uses the end effector of snatching the mode can not guarantee to press from both sides tight rifle that charges, can not realize inserting the process of pulling out the rifle, has very big limitation in the in-service use process.
And through the utility model discloses an end effector can realize following action flow: electric automobile charges flap break cover subassembly and opens electric automobile and charges mouthful inner cup, the rifle centre gripping subassembly that charges of end effector presss from both sides tight rifle that charges, the rifle locking that charges is opened to the rifle delocking subassembly that charges, extract the rifle that charges, insert the electric automobile through the rifle that charges push away the subassembly and charge the mouth that will charge the rifle, charge and finish, the rifle centre gripping subassembly that charges of end effector presss from both sides tight rifle that charges, rifle locking that charges is opened to the rifle delocking subassembly that charges locking, it puts back the electric pile to charge the rifle to extract the rifle that charges, electric automobile charges flap break cover subassembly and closes electric automobile inner cup and enclosing cover, whole process, can guarantee the clamp force to the rifle that charges through the rifle centre gripping subassembly that charges, the problem of the rifle that charges integrated on the end effector and snatch mode end effector can not guarantee to.

Claims (10)

1. An end effector of an automatic charging robot of an electric automobile is characterized by comprising
A charging gun unlocking component for releasing the locking force of the charging gun in the insertion state;
a charging gun clamping assembly for clamping a charging gun for releasing a locking force;
the charging gun pushing and pulling assembly pushes the charging gun clamped by the charging gun clamping assembly into a charging gun inserting position or pulls the charging gun out of the charging gun inserting position;
the static frame and the movable frame;
the charging gun unlocking component and the charging gun clamping component are respectively arranged on the movable frame;
the charging gun pushing and pulling assembly is arranged between the movable frame and the static frame, and the charging gun pushing and pulling assembly drives the movable frame to extend or retract relative to the static frame, so that the charging gun pushing and pulling assembly can push and pull the charging gun clamped by the charging gun clamping assembly.
2. The electric vehicle automatic charging robot end effector of claim 1, wherein the charging gun clamping assembly comprises a clamping mechanism;
the clamping mechanism comprises two clamping pieces arranged in the movable frame, a clamping space for clamping the charging gun handle is formed between the two clamping pieces, and an adjusting mechanism for adjusting the angles of the clamping pieces is arranged between the two clamping pieces and the movable frame respectively to change the clamping space.
3. The electric vehicle automatic charging robot end effector as set forth in claim 2, wherein said charging gun holding assembly further comprises an abutting mechanism for applying an abutting force to the holding member from outside to inside of the holding member;
the abutting mechanism comprises an abutting support, an abutting arm, an abutting head, a driving arm, a driver and a driving piece;
the abutting support is fixedly assembled on the movable frame, and the middle part of the abutting arm is movably assembled on the abutting support;
one end of the driving arm is movably connected with the driving piece, the other end of the driving arm is fixedly connected with one end of the abutting arm, the abutting head is fixedly arranged at the other end of the abutting arm, and the abutting head is positioned at the outer side of the clamping piece;
the driver is assembled on the abutting support, drives the driving piece to reciprocate, drives the abutting arm through the driving arm, and swings along the middle part of the abutting arm, so that the abutting head is matched with the clamping piece.
4. The end effector of the automatic charging robot for the electric automobile according to claim 2, wherein the adjusting mechanism is arranged between the outer side of the clamping piece and the movable frame, and the adjusting mechanism comprises two ball bolts which are arranged at intervals;
the outer side of the clamping piece is fixedly provided with a clamping block for the ball head of the ball head bolt to be arranged and form a limit position, the other end of the ball head bolt is connected with the movable frame, the ball head bolt is provided with a locking nut, and the locking position between the ball head bolt and the movable frame is adjusted through the locking nut so as to adjust the angle of the clamping piece.
5. The electric vehicle automatic charging robot end effector of claim 1, wherein the charging gun unlocking assembly comprises an unlocking support, an unlocking driver, an unlocking push block;
the unlocking support is assembled on the movable frame, the unlocking driver is assembled on the unlocking support, the unlocking push block is assembled on the unlocking support in a sliding mode, the front end of the unlocking push block is an unlocking contact, the unlocking driver drives the unlocking push block to slide on the unlocking support so as to drive the unlocking contact to trigger an unlocking key on the charging gun, and the locking force of the charging gun in an inserted state is relieved.
6. The end effector of the automatic charging robot for the electric automobile according to claim 5, wherein sliding grooves are respectively formed at both sides of the tail end of the unlocking push block, an insertion block extending into the sliding grooves is fixedly installed on the unlocking support, and the insertion block is matched with the sliding grooves, so that a sliding assembly is formed between the unlocking push block and the unlocking support.
7. The end effector of the automatic charging robot for the electric automobile according to claim 1, wherein the charging gun push-pull assembly comprises a push-pull driver, a connecting plate, a floating plate, a guide shaft and a guide sleeve;
the push-pull driver is fixedly assembled in the static frame, the guide sleeve is fixedly assembled on the static frame, one end of the guide shaft is fixedly assembled on the floating plate, the other end of the guide shaft extends into the guide sleeve to form guide fit, the connecting plate is fixedly connected with the movable frame, the floating plate is fixedly connected with the connecting plate, and the push-pull driver drives the floating plate to drive the connecting plate and the movable frame to form extending or retracting action under the guide of the guide shaft.
8. The end effector of the automatic charging robot for the electric vehicle according to claim 1, wherein the end effector further comprises a charging port cover opening assembly mounted on the stationary frame, the charging port cover opening assembly comprising a fixed frame, an inner cover rod, an outer cover rod;
the middle part fixed mounting of mount is on quiet frame, and the both ends of mount extend to the both sides of quiet frame, and the both ends of mount fixed mounting enclosing cover pole respectively, and inner cup pole fixed mounting is equipped with the flexible sleeve respectively at the middle part of mount, at the front end of enclosing cover pole, the front end of inner cup pole.
9. The end effector of the automatic charging robot for the electric vehicle as claimed in claim 1, wherein a cover for covering the static frame and the moving frame therein is mounted on the static frame.
10. The end effector of the automatic charging robot for the electric vehicle according to claim 2, wherein a clamping space defined by the two clamping members is gradually reduced from a front end to a rear end.
CN202021859794.4U 2020-08-31 2020-08-31 End effector of automatic charging robot of electric automobile Active CN212447185U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113060035A (en) * 2021-03-10 2021-07-02 西华大学 Automatic power-off device for charging pile of automobile power battery
CN113639976A (en) * 2021-07-22 2021-11-12 江铃汽车股份有限公司 Electric automobile charges mouthful support plug fatigue endurance test device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113060035A (en) * 2021-03-10 2021-07-02 西华大学 Automatic power-off device for charging pile of automobile power battery
CN113060035B (en) * 2021-03-10 2022-07-29 西华大学 Automatic power-off device for charging pile of automobile power battery
CN113639976A (en) * 2021-07-22 2021-11-12 江铃汽车股份有限公司 Electric automobile charges mouthful support plug fatigue endurance test device

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