CN218917960U

CN218917960U - Three-degree-of-freedom electric control charging device

Info

Publication number: CN218917960U
Application number: CN202223169445.1U
Authority: CN
Inventors: 胡小康; 蔡宪逸; 徐利雄; 周丹
Original assignee: Guochuang Mobile Energy Innovation Center Jiangsu Co Ltd
Current assignee: Guochuang Mobile Energy Innovation Center Jiangsu Co Ltd
Priority date: 2022-11-29
Filing date: 2022-11-29
Publication date: 2023-04-25
Anticipated expiration: 2032-11-29

Abstract

The utility model relates to a three-degree-of-freedom electric control charging device which comprises a rolling rotating assembly (1), a yaw rotating assembly (2), a translation assembly (3) and a sliding rail assembly (4) which are matched with each other, wherein a charging seat (12) is arranged on the rolling rotating assembly (1), the charging seat is connected to the yaw rotating assembly (2) through a rolling rotating shaft (13) and a rotating bearing (16), the yaw rotating assembly (2) is connected with the translation assembly (3) through a vertical yaw rotating shaft (27) and a rotating bearing (26), the translation assembly (3) is connected with the sliding rail assembly (4) through a sliding block sliding rail, and travel switch assemblies and driving assemblies which are matched with each other are arranged on the rolling rotating assembly (1), the yaw rotating assembly (2), the translation assembly (3) and the sliding rail assembly (4). The utility model has the advantages that the three-degree-of-freedom motion adjustment is realized, meanwhile, the motion of each degree of freedom can be independently adjusted, the adjustment precision is improved, and the charging requirements of most charging equipment are met.

Description

Three-degree-of-freedom electric control charging device

Technical Field

The utility model relates to the technical field of automatic charging equipment, in particular to a three-degree-of-freedom electric control charging device.

Background

When the electric automobile is developed to be automatically charged, a mechanical arm is generally used for docking a charging seat with any position change, so that high requirements are put on docking accuracy of the mechanical arm, and development cost and product cost are increased.

At present, the automatic charging of a vehicle needs to be carried out by docking an automobile charging seat with a mechanical arm, the charging seat is fixed on the automobile, the position of the charging seat can be changed along with the change of the parking position of the automobile, the docking difficulty of the mechanical arm is increased, and the charging seat at any position can be docked only by theoretically needing a mechanical arm with 6 degrees of freedom. If the charging seat can be adjusted in position after an automobile or charging equipment is parked, the charging seat can keep a specific angle and displacement relative to the mechanical arm, so that the docking difficulty of the mechanical arm can be reduced, and therefore, the electric control charging seat capable of changing the pose is of great significance to the research and development of automatic charging.

Disclosure of Invention

The utility model aims to solve the problems of high butting difficulty and low precision of the existing mechanical arm and a charging seat, and provides a three-degree-of-freedom electric control charging device which can realize three-degree-of-freedom motion adjustment, and simultaneously, the motion of each degree of freedom can be independently adjusted, so that the adjustment precision is improved, and the charging requirements of most charging equipment are met.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

the three-degree-of-freedom electric control charging device comprises a side-tipping rotating assembly, a yaw rotating assembly, a translation assembly and a sliding rail assembly which are matched with each other;

the side-tipping rotating assembly is provided with a charging seat, the charging seat is connected to the yaw rotating assembly through a side-tipping rotating shaft and a rotating bearing, the yaw rotating assembly is connected with the translation assembly through a vertical yaw rotating shaft and a rotating bearing, the translation assembly is connected with the slide rail assembly through a slide block slide rail, and the side-tipping rotating assembly, the yaw rotating assembly, the translation assembly and the slide rail assembly are all provided with a travel switch assembly and a driving assembly which are mutually matched.

Further, the side-tipping rotating assembly comprises a side-tipping rotating seat, a charging seat is connected to the side-tipping rotating seat, side-tipping rotating shafts which are integrally formed are arranged on two sides of the side-tipping rotating seat, and a synchronous pulley I and a travel switch pulling sheet I are respectively connected to two ends of the side-tipping rotating shaft.

Further, yaw rotation subassembly includes yaw swivel mount, the both sides of swivel shaft link to each other with yaw swivel mount activity through rolling bearing, one side of yaw swivel mount links to each other there is travel switch one and encoder one, travel switch one and travel switch plectrum one correspond the cooperation, encoder one links to each other with the tip of swivel shaft, the below of yaw swivel mount links to each other there is the rotation motor that heels, the output of rotation motor that heels links to have synchronous pulley two, synchronous pulley two links to each other with synchronous pulley one through the hold-in range, yaw swivel mount links to each other with vertical yaw swivel shaft through the swivel bearing, yaw swivel shaft's lower part links to have synchronous pulley three and travel switch plectrum two.

Further, translation subassembly is including continuous cartridge seat and translation platform, the cartridge seat passes through the slewing bearing and links to each other with yaw rotation subassembly, translation platform's bottom four corners department all links to have the slider, and its below links to have lead screw connecting block, travel switch II and travel switch plectrum three, one side of travel switch II is equipped with encoder II, travel switch II corresponds the cooperation with travel switch plectrum II, encoder II links to each other with yaw pivot, translation platform's below still links to have yaw rotation motor, yaw rotation motor's upper portion output links to have synchronous pulley IV, synchronous pulley IV links to each other with synchronous pulley III through the hold-in range, in order to be used for transmitting yaw rotation angle drive yaw assembly rotation.

Further, the sliding rail assembly comprises a platform plate and a pair of sliding rails connected to the platform plate, the sliding blocks are connected to the sliding rails and form sliding guide matching, a screw assembly and a translation motor are connected to the lower portion of the platform plate, the screw assembly is connected with the translation assembly through a screw connecting block, one end of the screw assembly is connected with a synchronous pulley five, the output end of the translation motor is connected with a synchronous pulley six, the synchronous pulley five is connected with the synchronous pulley six through a synchronous belt, a travel switch three is connected to the lower portion of the platform plate, and the travel switch three is correspondingly matched with a travel switch shifting sheet three.

Further, the yaw swivel mount includes yaw rotation platform and two-sided pivot mounting panel, and pivot mounting panel vertical fixation forms a U type seat structure in yaw rotation platform's both sides, is equipped with one on every pivot mounting panel with rotation bearing matched with bearing through-hole, rotation bearing inlays in the bearing through-hole.

Further, the side-tipping rotary shaft is parallel to the yaw rotary platform, and a bearing end cover is connected to the outer side of a rotary shaft mounting plate of the yaw rotary seat so as to be used for axially fixing the bearing.

Further, the first travel switch pulling sheet is connected to the end part of the side-tipping rotating shaft through the mounting plate, the first travel switch is fixed on the mounting seat, the mounting seat is connected with the rotating shaft mounting plate through the connecting plate, an arc-shaped groove is formed in the upper portion of the mounting seat, and the first encoder is embedded in the arc-shaped groove.

Further, the yaw rotation motor is fixed at the bottom of the yaw rotation platform through a motor mounting plate I, the yaw rotation platform and the yaw rotation shaft are respectively connected up and down to the inner ring of the slewing bearing, the yaw rotation shaft is vertically arranged below the yaw rotation platform, and the outer ring of the slewing bearing is fixedly connected with the cylinder seat through bolts.

Further, travel switch plectrum two link to the bottom of driftage pivot through mounting panel two, driftage rotation motor pass through motor mounting panel two vertical bottom that is fixed in the translation platform, travel switch three link to the bottom of platform board through mounting panel three, and offered a rectangular through-hole on the platform board, the through-hole is located between two slide rails, the lead screw connecting block of translation platform below passes the through-hole downwards and links to each other with the lead screw subassembly.

Compared with the prior art, the technical scheme of the utility model has the specific advantages that:

(1) The device has a compact appearance, and can realize the motion of 3 degrees of freedom of rolling rotation, yaw rotation and horizontal movement of the vehicle body direction;

(2) The movement range of each degree of freedom can be adjusted by adjusting the position of the travel switch, and the pose of the charging seat can be adjusted, so that the charging requirements of most of charging equipment in the market can be met;

(3) The motion of each degree of freedom is independently adjustable, the adjustment of 0.5-degree rotation and 1mm movement precision can be realized, and the electric control is realized, so that the device has a scientific sense and strong practicability;

(4) After the charging seat is changed in position, the rigidity and strength meet the requirements of automatic gun insertion and butt joint of the mechanical arm, so that the butt joint test of the mechanical arm on each posture of the charging seat is facilitated;

(5) The device can also be independently used for simulating the pose of the automobile charging seat to carry out docking test and is used for developing automatic charging.

Drawings

FIG. 1 is an overall assembly diagram of a three degree-of-freedom electronically controlled charging device of the present utility model;

FIG. 2 is a block diagram of a roll rotation assembly of the present utility model;

FIG. 3 is a block diagram of a yaw turning assembly of the present utility model;

FIG. 4 is a block diagram of a translation assembly of the present utility model;

fig. 5 is a block diagram of a slide rail assembly according to the present utility model.

Detailed Description

Example 1

In order that the utility model may become more readily apparent, a three-degree-of-freedom electrically controlled charging device according to the utility model will be further described with reference to the accompanying drawings, wherein the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting.

The utility model provides a automatically controlled charging device of three degrees of freedom which characterized in that:

referring to fig. 1, includes a roll rotation assembly 1, a yaw rotation assembly 2, a translation assembly 3, and a sled assembly 4 that cooperate with one another;

referring to fig. 1 and 2, the roll rotation assembly 1 includes a roll seat 11, on which a charging seat 12 is connected, two sides of the roll seat 11 are provided with integrally formed roll shafts 13, two ends of the roll shafts 13 are respectively connected with a synchronous pulley one 14 and a travel switch pulling piece one 15, and the travel switch pulling piece one 15 is connected to an end of the roll shaft 13 through a mounting plate one 17;

referring to fig. 1, 2 and 3, the yaw rotation assembly 2 includes a yaw rotation seat 21, the yaw rotation seat 21 includes a yaw rotation platform 2101 and two side rotation shaft mounting plates 2102, the rotation shaft mounting plates 2102 are vertically fixed at two sides of the yaw rotation platform 2101 to form a U-shaped seat structure, each rotation shaft mounting plate 2102 is provided with a bearing through hole 2102a, a rotation bearing 16 is embedded in the bearing through hole 2102a, and the rotation bearing 16 is connected with the roll rotation shaft 13 so as to realize connection of the roll rotation assembly and the yaw rotation assembly;

the roll rotating shaft 13 is arranged parallel to the yaw rotating platform 2101, and a bearing end cover 210 is connected to the outer side of a rotating shaft mounting seat 2102 of the yaw rotating seat 21 for axially fixing a bearing;

referring to fig. 3, one side of the yaw swivel base 21 is connected with a travel switch one 22 and an encoder one 23, the travel switch one 22 is fixed on a mounting seat 211, the mounting seat 211 is connected with a rotating shaft mounting plate 2102 through a connecting plate 212, an arc-shaped groove 211a is formed in the upper portion of the mounting seat 211, and the encoder one 23 is embedded in the arc-shaped groove 211 a;

the first travel switch 22 is correspondingly matched with the first travel switch pulling piece 15, and the first encoder 23 is connected with the end part of the rolling rotating shaft 13 and is used for controlling the rolling rotating travel and detecting the rotating angle of the rolling rotating shaft;

the lower part of the yaw swivel base 21 is connected with a roll rotation motor 24 through a motor mounting plate I213, the output end of the roll rotation motor 24 is connected with a synchronous pulley II 25, and the synchronous pulley II 25 is connected with a synchronous pulley I14 through a synchronous belt so as to realize that the motor drives the roll swivel base to rotate around a rotating shaft;

the yaw swivel base 21 is connected with a vertical yaw rotating shaft 27 through a swivel bearing 26, the inner ring of the swivel bearing 26 is respectively connected with a yaw rotating platform 2102 and the yaw rotating shaft 27 from top to bottom, the lower part of the yaw rotating shaft 27 is connected with a synchronous pulley III 28 and a travel switch pulling sheet II 29, and the travel switch pulling sheet II 29 is connected with the bottom of the yaw rotating shaft 27 through a mounting plate II 214;

referring to fig. 1, 3 and 4, the translation assembly 3 includes a cylinder seat 31 and a translation 32 connected to each other, and an outer ring of the slewing bearing 26 is fixedly connected to the cylinder seat 31 through bolts, so as to connect the translation assembly with the yaw rotation assembly;

the four corners of the bottom of the translation table 32 are respectively connected with a sliding block 33, and the lower part of the translation table is connected with a lead screw connecting block 34, a travel switch II 35 and a travel switch shifting sheet III 36, one side of the travel switch II 35 is provided with an encoder II 37, the travel switch II 35 is correspondingly matched with the travel switch shifting sheet II 29, and the encoder II 37 is connected with the yaw rotating shaft 27 so as to be used for controlling the yaw rotating range and detecting the rotating angle of the yaw rotating shaft;

the lower part of the translation table 32 is connected with a yaw rotation motor 38 through a motor mounting plate II 310, the output end of the upper part of the yaw rotation motor 38 is connected with a synchronous pulley IV 39, and the synchronous pulley IV 39 is connected with a synchronous pulley III 28 through a synchronous belt so as to be used for transmitting a yaw rotation angle to drive a yaw assembly to rotate;

referring to fig. 1, 4 and 5, the sliding rail assembly 4 includes a platform plate 41 and a pair of sliding rails 42 connected thereto, the sliding blocks 33 are connected to the sliding rails 42 and form sliding guiding fit, a screw assembly 43 and a translation motor 44 are connected below the platform plate 41, the screw assembly 43 is connected with the translation assembly 3 through a screw connecting block 34, one end of the screw assembly 43 is connected with a synchronous pulley five 45, an output end of the translation motor 44 is connected with a synchronous pulley six 46, and the synchronous pulley five 45 is connected with the synchronous pulley six 46 through a synchronous belt so as to be used for driving an object on the screw to move horizontally;

the lower part of the platform plate 41 is also connected with a travel switch III 47, the travel switch III 47 is connected to the bottom of the platform plate 41 through a mounting plate III 48, a strip-shaped through hole 41a is formed in the platform plate 41, the through hole 41a is arranged between the two sliding rails 42, a screw rod connecting block 34 below the translation table 32 passes through the through hole 41a and is downwards connected with the screw rod assembly 43, and the travel switch III 47 is correspondingly matched with a travel switch pulling sheet III 36 so as to be used for limiting the movement range of the translation assembly.

The assembly of the device as shown in fig. 1, the assembly of the various component parts can be seen with reference to fig. 2, 3, 4 and 5; the device can be used independently for carrying out automatic charging butt joint test of the mechanical arm, can also be arranged on equipment needing to be charged, is connected with electric parts of the device respectively, is copied into a motor motion control program by a software engineer, and is used for debugging the motion performance of the device. Because the motor is in a static electrification state when in butt joint test, the idle current value when the motor is electrified and static needs to be set high so as to ensure that the holding torque of the motor can be exerted to the maximum when in butt joint, thereby resisting the torque generated when the mechanical arm is plugged in and pulled out, and the idle current value is generally set to be 90% of rated current. If the vehicle charging seat and the mechanical arm are simulated to carry out a docking test, setting a roll angle, a yaw angle and a vehicle body direction horizontal displacement range according to the gesture of actually parking in a parking space; after all parameters are adjusted, the mechanical arm can be adjusted in a linkage way. If the device is required to be arranged on the charging equipment, the movement range of the charging seat can be set according to the pose offset range of the charging equipment and the mechanical arm, so that the electric control charging seat can be adjusted to keep the relative position with the mechanical arm unchanged in any pose, and the mechanical arm charges the charging seat or the copper card by using a relatively fixed movement track.

The device can realize three-degree-of-freedom motion adjustment, is more convenient for the butt joint of the mechanical arm and the charging seat, improves the adjustment precision, and can meet the charging requirements of most charging equipment.

In addition to the embodiments described above, other embodiments of the utility model are possible. All technical schemes formed by equivalent substitution or equivalent transformation fall within the protection scope of the utility model.

Claims

1. The utility model provides a automatically controlled charging device of three degrees of freedom which characterized in that:

the yaw-turning device comprises a roll turning assembly (1), a yaw turning assembly (2), a translation assembly (3) and a slide rail assembly (4) which are matched with each other;

be equipped with charging seat (12) on rotating subassembly (1) heels to link to each other on yaw rotation subassembly (2) through pivot (13) and rotation bearing (16) heels, yaw rotation subassembly (2) rethread vertical yaw pivot (27) and rotation bearing (26) link to each other with translation subassembly (3), translation subassembly (3) link to each other with slide rail subassembly (4) through the slider slide rail, and all are equipped with travel switch subassembly and the actuating assembly of mutually supporting on rotating subassembly (1), yaw rotation subassembly (2), translation subassembly (3) and slide rail subassembly (4).

2. The three degree of freedom electronically controlled charging device of claim 1, wherein:

the side-tipping rotating assembly (1) comprises a side-tipping rotating seat (11), a charging seat (12) is connected to the side-tipping rotating seat, side-tipping rotating shafts (13) which are integrally formed are arranged on two sides of the side-tipping rotating seat (11), and a synchronous belt wheel I (14) and a travel switch pulling sheet I (15) are respectively connected to two ends of the side-tipping rotating shaft (13).

3. The three degree of freedom electronically controlled charging device of claim 2, wherein:

yaw rotation subassembly (2) are including yaw swivel mount (21), both sides of yaw pivot (13) link to each other with yaw swivel mount (21) activity through slewing bearing (16), one side of yaw swivel mount (21) links to each other with travel switch one (22) and encoder one (23), travel switch one (22) correspond the cooperation with travel switch plectrum one (15), encoder one (23) link to each other with the tip of yaw pivot (13), the below of yaw swivel mount (21) links to have roll rotation motor (24), the output of roll rotation motor (24) links to have synchronous pulley two (25), synchronous pulley two (25) link to each other with synchronous pulley one (14) through the hold-in range, yaw swivel mount (21) link to each other with vertical yaw pivot (27) through slewing bearing (26), the lower part of yaw pivot (27) links to have synchronous pulley three (28) and travel switch plectrum two (29).

4. A three degree of freedom electronically controlled charging device according to claim 3, wherein:

the translation subassembly (3) is including continuous cartridge seat (31) and translation (32), cartridge seat (31) link to each other with yaw rotation subassembly (2) through slewing bearing (26), the bottom four corners department of translation (32) all links to have slider (33), and its below links to have lead screw connecting block (34), travel switch II (35) and travel switch plectrum three (36), one side of travel switch II (35) is equipped with encoder II (37), travel switch II (35) correspond the cooperation with travel switch plectrum II (29), encoder II (37) link to each other with yaw pivot (27), the below of translation (32) still links to have yaw rotation motor (38), the upper portion output of yaw rotation motor (38) links to have synchronous pulley IV (39), synchronous pulley IV (39) link to each other with synchronous pulley III (28) through the hold-in range.

5. The three degree of freedom electronically controlled charging device of claim 4, wherein:

the sliding rail assembly (4) comprises a platform plate (41) and a pair of sliding rails (42) connected to the platform plate, the sliding blocks (33) are connected to the sliding rails (42) and form sliding guide fit, a screw rod assembly (43) and a translation motor (44) are connected to the lower portion of the platform plate (41), the screw rod assembly (43) is connected with the translation assembly (3) through a screw rod connecting block (34), one end of the screw rod assembly (43) is connected with a synchronous pulley five (45), the output end of the translation motor (44) is connected with a synchronous pulley six (46), the synchronous pulley five (45) is connected with the synchronous pulley six (46) through a synchronous belt, a travel switch three (47) is further connected to the lower portion of the platform plate (41), and the travel switch three (47) is correspondingly matched with the travel switch shifting sheet three (36).

6. The three-degree-of-freedom electric control charging device according to any one of claims 3 to 5, wherein:

yaw swivel mount (21) are including yaw rotation platform (2101) and two-sided pivot mounting panel (2102), and pivot mounting panel (2102) vertical fixation forms a U type seat structure in the both sides of yaw rotation platform (2101), is equipped with on every pivot mounting panel (2102) one with rolling bearing (16) matched with bearing through-hole (2102 a), rolling bearing (16) inlay in bearing through-hole (2102 a).

7. The three degree of freedom electronically controlled charging device of claim 6, wherein:

the side-tipping rotary shaft (13) is parallel to the yaw rotary platform (2101), and a bearing end cover (210) is connected to the outer side of a rotary shaft mounting plate (2102) of the yaw rotary seat (21).

8. The three degree of freedom electronically controlled charging device of claim 6, wherein:

the travel switch pulling piece I (15) is connected to the end part of the side-tipping rotating shaft (13) through the mounting plate I (17), the travel switch I (22) is fixed on the mounting seat (211), the mounting seat (211) is connected with the rotating shaft mounting plate (2102) through the connecting plate (212), an arc-shaped groove (211 a) is formed in the upper portion of the mounting seat (211), and the encoder I (23) is embedded in the arc-shaped groove (211 a).

9. The three degree of freedom electronically controlled charging device of claim 6, wherein:

the yaw rotation motor (24) is fixed at the bottom of the yaw rotation platform (2101) through a motor mounting plate I (213), the yaw rotation platform (2101) and the yaw rotation shaft (27) are respectively connected with the upper part and the lower part of the yaw rotation platform (2101) from top to bottom of the inner ring of the rotary bearing (26), the yaw rotation shaft (27) is vertically arranged below the yaw rotation platform (2101), and the outer ring of the rotary bearing (26) is fixedly connected with the cylinder seat (31) through bolts.

10. The three degree of freedom electronically controlled charging device of claim 6, wherein:

the travel switch plectrum II (29) is connected in the bottom of driftage pivot (27) through mounting panel II (214), driftage rotation motor (38) are fixed in the bottom of translation platform (32) through motor mounting panel II (310) is vertical, travel switch III (47) are connected in the bottom of platform board (41) through mounting panel III (48), and offered a rectangular through-hole (41 a) on platform board (41), through-hole (41 a) are located between two slide rails (42), lead screw connecting block (34) of translation platform (32) below pass through-hole (41 a) downwards and link to each other with lead screw subassembly (43).