JP6421293B1 - High precision robot - Google Patents

High precision robot Download PDF

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JP6421293B1
JP6421293B1 JP2018053300A JP2018053300A JP6421293B1 JP 6421293 B1 JP6421293 B1 JP 6421293B1 JP 2018053300 A JP2018053300 A JP 2018053300A JP 2018053300 A JP2018053300 A JP 2018053300A JP 6421293 B1 JP6421293 B1 JP 6421293B1
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sliding
tank
cavity
power transmission
end surface
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JP2019129695A (en
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張裕漢
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広東翼景信息科技有限公司
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/66—Structural association with built-in electrical component
    • H01R13/70—Structural association with built-in electrical component with built-in switch
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
    • H01R13/639—Additional means for holding or locking coupling parts together, after engagement, e.g. separate keylock, retainer strap
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/66—Structural association with built-in electrical component
    • H01R13/70—Structural association with built-in electrical component with built-in switch
    • H01R13/701—Structural association with built-in electrical component with built-in switch the switch being actuated by an accessory, e.g. cover, locking member
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using 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
    • Y02T10/70—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
    • Y02T90/14—Plug-in electric vehicles

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  • Connector Housings Or Holding Contact Members (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
  • Secondary Cells (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Manipulator (AREA)

Abstract

【課題】本発明は高精度ロボットを開示した。【解決手段】本発明の高精度ロボットは、ペデスタルに固定的に設置される充電ステーション及び充電線を通じてロボットと接続する充電端頭を含む。前記充電ステーションの最上部には防塵板が固定的に設けられて、前記充電ステーションのの右側端面に充電コンセントが設けられる。本発明の機構は簡単で、操作が便利で、ロボットを充電する時の安全性と安定性を高めることができる。【選択図】図１The present invention discloses a high precision robot. The high accuracy robot of the present invention includes a charging station fixedly installed on a pedestal and a charging terminal connected to the robot through a charging line. A dustproof plate is fixedly provided at the top of the charging station, and a charging outlet is provided on the right end surface of the charging station. The mechanism of the present invention is simple, convenient to operate, and can improve safety and stability when charging the robot. [Selection] Figure 1

Description

本発明は、ロボット技術分野に関し、具体的には高精度ロボットに関する。 The present invention relates to the field of robot technology, and specifically to a high-precision robot.

科学技術の絶えない発展につれて、いくつかの高精度ロボットは各分野で広く使用されるが、ロボットに充電する充電装置の設定モードが単一で、充電の連続安定性が悪く、安全性が比較的に低い。 With the continuous development of science and technology, some high precision robots are widely used in each field, but the setting mode of the charging device to charge the robot is single, the continuous stability of charging is bad, and the safety is compared Low.

中国特許出願公開第105500369号明細書Chinese Patent Application No. 105500369

上述の技術の不足について、本発明は高精度ロボットを提供した。 The present invention has provided a high-precision robot for the above-mentioned lack of technology.

本発明に係る高精度ロボットは、ペデスタルに固定的に設置される充電ステーション及び充電線を通じてロボットと接続する充電端頭を含む。前記充電ステーションの最上部には防塵板が固定的に設けられて、前記充電ステーションの右側端面に前記充電コンセントが設けられる。前記充電コンセントの中には右に開口して、上下対応して設置される挿腔があり、前記挿腔の前後端壁の中に電連片が設置され、前記充電コンセントの中には前記挿腔の間に位置する左滑推腔と右滑推腔が設けられる。前記左滑推腔と前記右滑推腔の間に電機が固定的に設置され、前記電機の外側には減速装置が設置され、前記減速装置は減速板と吸熱薄片を含む。前記挿腔に開口する。前記第一滑推槽の右半段と前記左滑推腔が連通して、前記左滑推腔の中に左右に可動可能なように左滑推板が取り付けられ、前記左滑推板の中に左右に延伸する左ネジ柱が配合して設けられ、前記左ネジ柱の左端は前記左滑推腔の左端壁の中に回転可能なように設置され、右端は前記電機と連結する。前記第一滑推槽の中に左右に可動可能なように第一滑アームが設けられ、前記第一滑アームは前記左滑推腔の右側端面に向いて、前記左滑推板と固定的に連結して、前記第一滑アームは前記挿腔の端面に対して、第一歯チェーン条は前記挿腔の中に伸入する。前記充電コンセントの中に前記挿腔と前記右滑推腔を貫通する頂推槽が上下対応して設置され、前記頂推槽の中に前記頂推アームが設けられ、前記頂推アームは前記右滑推腔の端面、前記右滑推腔の端面には第一斜挿面が設けられ、前記右滑推腔の中に左右に可動可能なように前記右滑推板が取り付けられる。前記右滑推板の中に前記右ネジ柱が配合して設置され、前記右ネジ柱の左端と前記電機が連結して、右端は前記右滑推腔の右端壁に回転可能なように設置され、前記右滑推板の右端には前記第一斜挿面と配合する第二斜挿面が上下対応して設置される。前記挿腔の背面は前記第二滑推槽に向いて、前記第二滑推槽の開端が前記挿腔に対向する。前記第二滑推槽は前記左滑推腔の左側にあり、前記第二滑推槽の中に左右に可動可能なように前記第二滑アームが設置され、前記第二滑アームは第二歯チェーン条に向いて、前記第二歯チェーン条が前記挿腔の端面に設置され、前記挿腔の中に伸入する。前記第二滑推槽の背面はタキシードに向いて、前記タキシードが前記挿腔の端壁に設置され、前記タキシードの開始端は前記第二滑推槽の方向に向いて、前記タキシードの中に左右に可動可能なようにシャツが設けられ、前記シャツと前記第二滑アームは固定的に連結する。前記挿腔の背面は接合槽に向いて、前記接合槽は前記第二滑推槽の右側にあり、その開始端が前記挿腔に向いて、前記接合槽の左端と前記第二滑推槽が連通して、右端と外部が連通する。前記充電端頭の左端面には前記挿腔と配合する挿合棒が上下対応して設置され、前記挿合棒の中には上下連通する左通合槽及び前記頂推アームと配合する右通合槽が設置され、前記左通合槽の前後端壁に上下延伸する前記第三滑推槽が対応して設けられ、前記第三滑推槽の中には上下に可動可能なように滑台が設けられる。二つの滑台の前に転棒が設けられ、前記転棒の上に前記第一歯チェーン条と前記第二歯チェーン条を配合する前記歯チェーン輪が固定的に取り付けられる。 The high-precision robot according to the present invention includes a charging station fixedly installed on the pedestal and a charging terminal connected to the robot through a charging line. A dustproof plate is fixedly provided at the top of the charging station, and the charging outlet is provided on the right end surface of the charging station. There is an insertion cavity that opens to the right in the charging outlet, and is installed corresponding to the upper and lower sides, an electric reed piece is installed in the front and rear end walls of the insertion cavity, and the charging outlet A left sliding cavity and a right sliding cavity located between the insertion cavities are provided. An electric machine is fixedly installed between the left sliding cavity and the right sliding cavity. A reduction gear is installed outside the electric machine, and the reduction gear includes a reduction plate and an endothermic thin piece. Open into the insertion cavity. A left sliding plate is attached so that the right half stage of the first sliding tank communicates with the left sliding chamber, and is movable left and right in the left sliding chamber. A left screw column extending left and right is blended therein, and a left end of the left screw column is rotatably installed in a left end wall of the left sliding cavity, and a right end is connected to the electric machine. A first sliding arm is provided in the first sliding tank so as to be movable to the left and right, and the first sliding arm faces the right end surface of the left sliding cavity and is fixed to the left sliding plate. And the first toothed chain extends into the insertion space with respect to the end surface of the insertion space. In the charging outlet, a top tank that penetrates the insertion cavity and the right sliding cavity is installed corresponding to the top and bottom, and the top arm is provided in the top tank, and the top arm is A first oblique insertion surface is provided on an end surface of the right sliding cavity and an end surface of the right sliding cavity, and the right sliding plate is attached to the right sliding cavity so as to be movable left and right. The right screw column is mixed and installed in the right sliding plate, the left end of the right screw column and the electric machine are connected, and the right end is installed to be rotatable on the right end wall of the right sliding cavity In addition, a second oblique insertion surface blended with the first oblique insertion surface is installed on the right end of the right sliding plate so as to correspond vertically. The back surface of the insertion cavity faces the second sliding tank, and the open end of the second sliding tank faces the insertion cavity. The second sliding tank is on the left side of the left sliding cavity, and the second sliding arm is installed in the second sliding tank so as to be movable left and right. The second tooth chain strip is placed on the end face of the insertion cavity and extends into the insertion cavity toward the tooth chain strip. The back surface of the second sliding tank faces the tuxedo, the tuxedo is installed on the end wall of the insertion cavity, and the starting end of the tuxedo faces the second sliding tank and enters the tuxedo. A shirt is provided so as to be movable left and right, and the shirt and the second sliding arm are fixedly connected. The back surface of the insertion cavity faces the joining tank, the joining tank is on the right side of the second sliding tank, the start end faces the insertion cavity, the left end of the joining tank and the second sliding tank Communicates, and the right end communicates with the outside. On the left end surface of the charging terminal, an insertion rod to be mixed with the insertion cavity is installed correspondingly up and down, and in the insertion rod, a left combination tank communicating with the upper and lower sides and a right to be combined with the top thrust arm A common tank is installed, and the third sliding tank is vertically provided on the front and rear end walls of the left common tank so as to be movable up and down in the third sliding tank. A slide is provided. A rolling rod is provided in front of the two slides, and the tooth chain ring that mixes the first tooth chain strip and the second tooth chain strip is fixedly mounted on the rolling rod.

他の技術方案は前記タキシードの右端壁に市電と連結する前記電連頭が固定的に設置され、前記シャツの右端面に前記第一伝電片が固定的に設けられる。前記左滑推腔の左端壁に前記第二伝電片が上下対応して設けられ、前記左滑台の左端面に前記第三伝電片が上下対応して設けられる。前記第二伝電片と前記第一伝電片が連結して、前記第三伝電片と前記電連片が連結して、前記充電端頭と前記第一伝電片は同じ水平線上にあり、前記第二伝電片と前記第三伝電片は同じ水平線上にある。 In another technical solution, the electric head connected to the streetcar is fixedly installed on the right end wall of the tuxedo, and the first power transmission piece is fixedly provided on the right end surface of the shirt. The second power transmission piece is provided on the left end wall of the left sliding cavity so as to correspond vertically, and the third power transmission piece is provided on the left end surface of the left slide so as to correspond vertically. The second power transmission piece and the first power transmission piece are connected, the third power transmission piece and the power transmission piece are connected, and the charging terminal and the first power transmission piece are on the same horizontal line. Yes, the second power transmission piece and the third power transmission piece are on the same horizontal line.

他の技術方案は、前記タキシードの左端壁に前記シャツと固定的に連結する前記第一弾片が固定的に取り付けられる。 In another technical solution, the first bullet piece fixedly connected to the shirt is fixedly attached to the left end wall of the tuxedo.

他の技術方案は前記滑推槽の左右端壁中に前記導送槽が対応して設置され、前記導送槽の中に前記頂推アームと連結する前記導送ブロックが取り付けられ、前記導送槽は前記第二弾片に近接して、前記第二弾片は前記挿腔の端壁に固定的に設けられ、前記導送ブロックと固定的に連結する。 According to another technical solution, the feeding tank is installed correspondingly in the left and right end walls of the sliding tank, and the feeding block connected to the top thrusting arm is attached in the feeding tank, The feeding tank is close to the second bullet piece, and the second bullet piece is fixedly provided on the end wall of the insertion cavity, and is fixedly connected to the delivery block.

他の技術方案は前記第三滑推槽の中に前記滑台と固定的に連結する前記第三弾片が取り付けられる。 In another technical solution, the third bullet piece fixedly connected to the slide is mounted in the third sliding tank.

他の技術方案は前記挿合棒の前端面から後端面までの距離と前記挿腔の前端面から後端面までの距離は相等である。 In another technical solution, the distance from the front end surface to the rear end surface of the insertion rod is equal to the distance from the front end surface to the rear end surface of the insertion cavity.

他の技術方案は前記滑推槽から前記充電コンセントの右端面までの距離と前記右通合槽から前記充電端頭の左端面までの距離は相等である。 In another technical solution, the distance from the sliding tank to the right end face of the charging outlet and the distance from the right connecting tank to the left end face of the charging terminal are equivalent.

他の技術方案は、前記減速板は前記電機の上端と下端に設置され、前記電機と固定的に連結する。前記吸熱薄片は電機の前端と後端に設置され、前記電機の外殻と固定的に連結する。前記吸熱薄片の上端と下端は別々に前記減速板と固定的に連結して、前記電機の前端と後端には二つ以上の前記吸熱薄片が別々に設置される。 In another technical solution, the speed reduction plates are installed at the upper and lower ends of the electric machine and are fixedly connected to the electric machine. The endothermic flakes are installed at the front and rear ends of the electric machine, and are fixedly connected to the outer shell of the electric machine. The upper end and the lower end of the endothermic thin piece are separately fixedly connected to the speed reduction plate, and two or more endothermic thin pieces are separately installed at the front end and the rear end of the electric machine.

本発明の機構は簡単で、操作は簡単で、ロボットを充電する時の安全性と安定性を高めることができる。 The mechanism of the present invention is simple, easy to operate, and can improve safety and stability when charging the robot.

図1は本発明における充電ステーションの構造案内図である。FIG. 1 is a structure guide diagram of a charging station according to the present invention. 図2は図1の中の充電コンセントの構造案内図である。FIG. 2 is a structural guide diagram of the charging outlet in FIG. 図3は本発明の中の充電端頭の構造案内図である。FIG. 3 is a structural guide diagram of the charging terminal in the present invention. 図4は図3の中の左通合槽が歯チェーン輪を抜く構造案内図である。FIG. 4 is a structure guide diagram in which the left joint tank in FIG. 3 pulls out the tooth chain ring. 図5は図2における電機の外部構造案内図である。FIG. 5 is an external structure guide diagram of the electric machine in FIG.

図1-5に示すように、本発明装置の高精度ロボットはペデスタル51に固定的に設置される充電ステーション50及び充電線を通じてロボットと接続する充電端頭40を含む。前記充電ステーション50の最上部には防塵板52が固定的に設けられて、前記充電ステーション50のの右側端面に前記充電コンセント10が設けられる。前記充電コンセント10の中には右に開口して、上下対応して設置される挿腔12があり、前記挿腔12の前後端壁の中に電連片38が設置され、前記充電コンセント10の中には前記挿腔12の間に位置する左滑推腔23と右滑推腔17が設けられる。前記左滑推腔23と前記右滑推腔17の間に電機37が固定的に設置され、前記電機37の外側には減速装置が設置され、前記減速装置は減速板371と吸熱薄片372を含む。前記挿腔12に開口する。前記第一滑推槽25の右半段と前記左滑推腔23が連通して、前記左滑推腔23の中に左右に可動可能なように左滑推板21が取り付けられ、前記左滑推板21の中に左右に延伸する左ネジ柱22が配合して設けられ、前記左ネジ柱22の左端は前記左滑推腔23の左端壁の中に回転可能なように設置され、右端は前記電機37と連結する。前記第一滑推槽25の中に左右に可動可能なように第一滑アーム26が設けられ、前記第一滑アーム26は前記左滑推腔23の右側端面に向いて、前記左滑推板21と固定的に連結して、前記第一滑アーム26は前記挿腔12の端面に対して、第一歯チェーン条35は前記挿腔12の中に伸入する。前記充電コンセント10の中に前記挿腔12と前記右滑推腔17を貫通する頂推槽が上下対応して設置され、前記頂推槽の中に前記頂推アーム39が設けられ、前記頂推アーム39は前記右滑推腔17の端面、前記右滑推腔17の端面には第一斜挿面16が設けられ、前記右滑推腔17の中に左右に可動可能なように前記右滑推板19が取り付けられる。前記右滑推板19の中に前記右ネジ柱18が配合して設置され、前記右ネジ柱18の左端と前記電機37が連結して、右端は前記右滑推腔17の右端壁に回転可能なように設置され、前記右滑推板19の右端には前記第一斜挿面16と配合する第二斜挿面20が上下対応して設置される。前記挿腔12の背面は前記第二滑推槽34に向いて、前記第二滑推槽34の開端が前記挿腔12に対向する。前記第二滑推槽34は前記左滑推腔23の左側にあり、前記第二滑推槽34の中に左右に可動可能なように前記第二滑アーム28が設置され、前記第二滑アーム28は第二歯チェーン条27に向いて、前記第二歯チェーン条27が前記挿腔12の端面に設置され、前記挿腔12の中に伸入する。前記第二滑推槽34の背面はタキシード32に向いて、前記タキシード32が前記挿腔12の端壁に設置され、前記タキシード32の開始端は前記第二滑推槽34の方向に向いて、前記タキシード32の中に左右に可動可能なようにシャツ30が設けられ、前記シャツ30と前記第二滑アーム28は固定的に連結する。前記挿腔12の背面は接合槽11に向いて、前記接合槽11は前記第二滑推槽34の右側にあり、その開始端が前記挿腔12に向いて、前記接合槽11の左端と前記第二滑推槽34が連通して、右端と外部が連通する。前記充電端頭40の左端面には前記挿腔12と配合する挿合棒41が上下対応して設置され、前記挿合棒41の中には上下連通する左通合槽42及び前記頂推アーム39と配合する右通合槽45が設置され、前記左通合槽42の前後端壁に上下延伸する前記第三滑推槽48が対応して設けられ、前記第三滑推槽48の中には上下に可動可能なように滑台46が設けられる。二つの滑台46の前に転棒44が設けられ、前記転棒44の上に前記第一歯チェーン条35と前記第二歯チェーン条27を配合する前記歯チェーン輪43が固定的に取り付けられる。 As shown in FIG. 1-5, the high-precision robot of the apparatus of the present invention includes a charging station 50 fixedly installed on the pedestal 51 and a charging terminal 40 connected to the robot through a charging line. A dustproof plate 52 is fixedly provided at the top of the charging station 50, and the charging outlet 10 is provided on the right end surface of the charging station 50. In the charging outlet 10, there is an insertion cavity 12 that opens to the right and is installed corresponding to the upper and lower sides, and an electrical connection piece 38 is installed in the front and rear end walls of the insertion cavity 12, and the charging outlet 10 A left sliding cavity 23 and a right sliding cavity 17 are provided between the insertion cavity 12. An electric machine 37 is fixedly installed between the left sliding cavity 23 and the right sliding cavity 17, and a reduction gear is installed outside the electric machine 37. The reduction gear includes a reduction plate 371 and an endothermic thin piece 372. Including. Open into the insertion cavity 12. The right half of the first sliding tank 25 and the left sliding cavity 23 communicate with each other, and a left sliding plate 21 is attached in the left sliding cavity 23 so as to be movable left and right. A left screw column 22 extending left and right is blended and provided in the sliding plate 21, and the left end of the left screw column 22 is rotatably installed in the left end wall of the left sliding cavity 23, The right end is connected to the electric machine 37. A first sliding arm 26 is provided in the first sliding tank 25 so as to be movable to the left and right, and the first sliding arm 26 faces the right end surface of the left sliding cavity 23 and moves to the left sliding The first sliding arm 26 is fixedly connected to the plate 21, and the first tooth chain strip 35 extends into the insertion cavity 12 with respect to the end surface of the insertion cavity 12. A top tank that penetrates the insertion cavity 12 and the right sliding cavity 17 is vertically installed in the charging outlet 10, and the top arm 39 is provided in the top tank. The thrust arm 39 is provided with a first oblique insertion surface 16 on an end face of the right sliding cavity 17, and an end face of the right sliding cavity 17, and the thrust arm 39 is movable to the right and left in the right sliding cavity 17. A right sliding plate 19 is attached. The right screw column 18 is mixed and installed in the right sliding plate 19, the left end of the right screw column 18 and the electric machine 37 are connected, and the right end rotates to the right end wall of the right sliding chamber 17 The second slanting insertion surface 20 blended with the first slanting insertion surface 16 is installed on the right end of the right sliding plate 19 so as to correspond vertically. The back surface of the insertion cavity 12 faces the second sliding tank 34, and the open end of the second sliding tank 34 faces the insertion cavity 12. The second sliding tank 34 is on the left side of the left sliding tank 23, and the second sliding arm 28 is installed in the second sliding tank 34 so as to be movable left and right. The arm 28 faces the second tooth chain strip 27, and the second tooth chain strip 27 is installed on the end face of the insertion cavity 12 and extends into the insertion cavity 12. The back surface of the second sliding tank 34 faces the tuxedo 32, the tuxedo 32 is installed on the end wall of the insertion cavity 12, and the starting end of the tuxedo 32 faces the second sliding tank 34. A shirt 30 is provided in the tuxedo 32 so as to be movable left and right, and the shirt 30 and the second sliding arm 28 are fixedly connected. The back surface of the insertion cavity 12 faces the joining tank 11, the joining tank 11 is on the right side of the second sliding tank 34, the start end faces the insertion cavity 12, and the left end of the joining tank 11 The second sliding tank 34 communicates, and the right end communicates with the outside. An insertion rod 41 blended with the insertion cavity 12 is installed on the left end surface of the charging end head 40 so as to correspond to the upper and lower sides. In the insertion rod 41, a left communication tank 42 communicating with the upper and lower sides and the top thrust are provided. A right communication tank 45 blended with the arm 39 is installed, and the third sliding tank 48 extending vertically is provided corresponding to the front and rear end walls of the left communication tank 42, and the third sliding tank 48 Inside, a slide 46 is provided so as to be movable up and down. A rolling rod 44 is provided in front of the two slides 46, and the tooth chain ring 43 that mixes the first tooth chain strip 35 and the second tooth chain strip 27 is fixedly mounted on the rolling rod 44. It is done.

好ましくは、前記タキシード32の右端壁に市電と連結する前記電連頭33が固定的に設置され、前記シャツ30の右端面に前記第一伝電片31が固定的に設けられる。前記左滑推腔23の左端壁に前記第二伝電片24が上下対応して設けられ、前記左滑台21の左端面に前記第三伝電片36が上下対応して設けられる。前記第二伝電片24と前記第一伝電片31が連結して、前記第三伝電片36と前記電連片38が連結して、前記充電端頭33と前記第一伝電片36は同じ水平線上にあり、前記第二伝電片24と前記第三伝電片36は同じ水平線上にある。 Preferably, the electric head 33 connected to the streetcar is fixedly installed on the right end wall of the tuxedo 32, and the first power transmission piece 31 is fixedly provided on the right end surface of the shirt 30. The second power transmission piece 24 is provided on the left end wall of the left sliding cavity 23 so as to correspond vertically, and the third power transmission piece 36 is provided on the left end surface of the left slide 21 so as to correspond vertically. The second power transmission piece 24 and the first power transmission piece 31 are connected, the third power transmission piece 36 and the power connection piece 38 are connected, and the charging terminal 33 and the first power transmission piece 38 are connected. 36 is on the same horizontal line, and the second power transmission piece 24 and the third power transmission piece 36 are on the same horizontal line.

好ましくは、前記タキシード32の左端壁に前記シャツ30と固定的に連結する前記第一弾片29が固定的に取り付けられ、前記第一弾片29は前記シャツ32が左へ引いて、それによって前記第二滑アーム28と前記第二滑推槽34の左端壁が相殺させられる。 Preferably, the first bullet piece 29 fixedly connected to the shirt 30 is fixedly attached to the left end wall of the tuxedo 32, the first bullet piece 29 being pulled to the left by the shirt 32, thereby The left end walls of the second sliding arm 28 and the second sliding tank 34 are offset.

好ましくは、前記滑推槽の左右端壁中に前記導送槽13が対応して設置され、前記導送槽13の中に前記頂推アーム39と連結する前記導送ブロック15が取り付けられ、前記導送槽13は前記第二弾片14に近接して、前記第二弾片14は前記挿腔12の端壁に固定的に設けられ、前記導送ブロック15と固定的に連結する。前記第二弾片14は前記導送ブロック15を前記右滑推腔17に押して、それによって、前記第一斜挿面16が前記右滑推腔17の中に伸入して、前記頂推アーム39が前記挿腔12の端面に向いて、頂推槽の中に収縮させられる。 Preferably, the feeding tank 13 is installed correspondingly in the left and right end walls of the sliding tank, and the feeding block 15 connected to the top thrust arm 39 is attached in the feeding tank 13. The delivery tank 13 is close to the second bullet piece 14, and the second bullet piece 14 is fixedly provided on the end wall of the insertion cavity 12, and is fixedly connected to the delivery block 15. The second elastic piece 14 pushes the guide block 15 into the right sliding cavity 17, whereby the first oblique insertion surface 16 extends into the right sliding cavity 17, and the top thrust The arm 39 is retracted into the top tank toward the end face of the insertion cavity 12.

好ましくは、前記第三滑推槽の中に前記滑台46と固定的に連結する前記第三弾片47が取り付けられ、前記第三弾片47は上下二つの前記歯チェーン輪43を押して、お互いに近づくように用いられる。 Preferably, the third elastic piece 47 fixedly connected to the slide 46 is attached in the third sliding tank, and the third elastic piece 47 pushes the upper and lower two tooth chain rings 43, Used to approach each other.

好ましくは、前記挿合棒41の前端面から後端面までの距離と前記挿腔12の前端面から後端面までの距離は相等である。前記挿合棒41の上端面から下端面までの距離は前記歯チェーン輪43の歯根円直径より小さいから、前記挿合棒41と前記挿腔12は組み合わせるとき、前記第一歯チェーン条35と前記第二歯チェーン条に干渉しない。 Preferably, the distance from the front end surface to the rear end surface of the insertion rod 41 and the distance from the front end surface to the rear end surface of the insertion cavity 12 are equal. Since the distance from the upper end surface to the lower end surface of the insertion rod 41 is smaller than the root circle diameter of the tooth chain ring 43, when the insertion rod 41 and the insertion cavity 12 are combined, the first tooth chain strip 35 and It does not interfere with the second tooth chain strip.

好ましくは、前記滑推槽から前記充電コンセント10の右端面までの距離と前記右通合槽45から前記充電端頭40の左端面までの距離は相等である。それによって、前記充電端頭40の左端面と前記充電コンセント10の右端面は相殺する時、前記頂推アーム39と前記右通合槽45を合わせる。 Preferably, the distance from the sliding tank to the right end surface of the charging outlet 10 and the distance from the right connecting tank 45 to the left end surface of the charging terminal 40 are equal. Accordingly, when the left end surface of the charging terminal 40 and the right end surface of the charging outlet 10 cancel each other, the top thrust arm 39 and the right communication tank 45 are aligned.

好ましくは、前記減速板371は前記電機37の上端と下端に設置され、前記電機37と固定的に連結する。前記吸熱薄片372は電機の前端と後端に設置され、前記電機37の外殻と固定的に連結する。前記吸熱薄片372の上端と下端は別々に前記減速板371と固定的に連結して、前記電機37の前端と後端には二つ以上の前記吸熱薄片372が別々に設置され、前記吸熱薄片372は前記電機37が運行する時に発生した熱量を吸収してから配布させる。前記減速板371と前記電機37が運行する時に発生した震動力を減少させ、震動力が多すぎるために、本装置の正常な運行に影響をもたらすことを防止する。 Preferably, the speed reducing plate 371 is installed at an upper end and a lower end of the electric machine 37, and is fixedly connected to the electric machine 37. The heat-absorbing flakes 372 are installed at the front and rear ends of the electric machine, and are fixedly connected to the outer shell of the electric machine 37. An upper end and a lower end of the endothermic thin piece 372 are separately fixedly connected to the speed reducing plate 371, and two or more endothermic thin pieces 372 are separately installed at a front end and a rear end of the electric machine 37, and the endothermic thin piece 372 is distributed after absorbing the amount of heat generated when the electric machine 37 operates. The seismic power generated when the speed reducing plate 371 and the electric machine 37 are operated is reduced, and since there is too much seismic power, the normal operation of the apparatus is prevented from being affected.

本発明の有益な効果は以下のとおりである。本発明の機構は簡単で、操作は簡単で、ロボットを充電する時の安全性と安定性を高めることができる。 The beneficial effects of the present invention are as follows. The mechanism of the present invention is simple, easy to operate, and can improve safety and stability when charging the robot.

以上に本発明の基本原理、主な特徴と本発明の長所を表示し説明した。本分野の技術者は本発明が以上の実施例の制限を受けなく、以上の実施例と説明書はただ本発明の原理を説明し、本発明の意義と範囲を離れない前提に本発明は各種の変化と改善があることを了解すべきである。これらの変化と改善は全部本発明の保護範囲にある。本発明の保護範囲は特許請求の範囲とその同等のものに画定される。 The basic principle, main features and advantages of the present invention have been shown and described above. Engineers in this field are not limited to the above embodiments, and the above embodiments and instructions merely explain the principle of the present invention, and the present invention is based on the premise that it does not depart from the meaning and scope of the present invention. It should be understood that there are various changes and improvements. All of these changes and improvements are within the protection scope of the present invention. The protection scope of the present invention is defined by the equivalents of the claims.

Claims (1)

高精度ロボットであって、ペデスタルに固定的に設置される充電ステーション及び充電線を通じてロボットと接続する充電端頭を含み、前記充電ステーションの最上部には防塵板が固定的に設けられ、前記充電ステーションの右側端面に充電コンセントが設けられ、前記充電コンセントの中には右に開口して、上下対応して設置される挿腔があり、前記挿腔の前後端壁の中に電連片が設置され、前記充電コンセントの中には前記挿腔の間に位置する左滑推腔と右滑推腔が設けられ、前記左滑推腔と前記右滑推腔の間に電機が固定的に設置され、前記電機の外側には減速装置が設置され、前記減速装置は減速板と吸熱薄片を含み、前記挿腔に開口し、第一滑推槽の右半段と前記左滑推腔が連通して、前記左滑推腔の中に左右に可動可能なように左滑推板が取り付けられ、前記左滑推板の中に左右に延伸する左ネジ柱が配合して設けられ、前記左ネジ柱の左端は前記左滑推腔の左端壁の中に回転可能なように設置され、右端は前記電機と連結し、前記第一滑推槽の中に左右に可動可能なように第一滑アームが設けられ、前記第一滑アームは前記左滑推腔の右側端面に向いて、前記左滑推板と固定的に連結して、前記第一滑アームは前記挿腔の端面に対して、第一歯チェーン条は前記挿腔の中に伸入し、前記充電コンセントの中に前記挿腔と前記右滑推腔を貫通する頂推槽が上下対応して設置され、前記頂推槽の中に頂推アームが設けられ、前記頂推アームは前記右滑推腔の端面を向いて第一斜挿面が設けられ、前記右滑推腔の中に左右に可動可能なように右滑推板が取り付けられ、前記右滑推板の中に右ネジ柱が配合して設置され、前記右ネジ柱の左端と前記電機が連結して、右端は前記右滑推腔の右端壁に回転可能なように設置され、前記右滑推板の右端には前記第一斜挿面と配合する第二斜挿面が上下対応して設置され、前記挿腔の背面は第二滑推槽に向いて、前記第二滑推槽の開端が前記挿腔に対向し、前記第二滑推槽は前記左滑推腔の左側にあり、前記第二滑推槽の中に左右に可動可能なように第二滑アームが設置され、前記第二滑アームは第二歯チェーン条に向いて、前記第二歯チェーン条が前記挿腔の端面に設置され、前記挿腔の中に伸入し、前記第二滑推槽の背面はタキシードに向いて、前記タキシードが前記挿腔の端壁に設置され、前記タキシードの開始端は前記第二滑推槽の方向に向いて、前記タキシードの中に左右に可動可能なようにシャツが設けられ、前記シャツと前記第二滑アームは固定的に連結し、前記挿腔の背面は接合槽に向いて、前記接合槽は前記第二滑推槽の右側にあり、その開始端が前記挿腔に向いて、前記接合槽の左端と前記第二滑推槽が連通して、右端と外部が連通し、前記充電端頭の左端面には前記挿腔と配合する挿合棒が上下対応して設置され、前記挿合棒の中には上下連通する左通合槽及び前記頂推アームと配合する右通合槽が設置され、前記左通合槽の前後端壁に上下延伸する第三滑推槽が対応して設けられ、前記第三滑推槽の中には上下に可動可能なように滑台が設けられ、二つの滑台の前に転棒が設けられ、前記転棒の上に前記第一歯チェーン条と前記第二歯チェーン条を配合する歯チェーン輪が固定的に取り付けられ、前記タキシードの右端壁に市電と連結する電連頭が固定的に設置され、前記シャツの右端面に第一伝電片が固定的に設けられ、前記左滑推腔の左端壁に第二伝電片が上下対応して設けられ、前記左滑推板の左端面に第三伝電片が上下対応して設けられ、前記第二伝電片と前記第一伝電片が連結して、前記第三伝電片と前記電連片が連結して、前記電連片と前記第一伝電片は同じ水平線上にあり、前記第二伝電片と前記第三伝電片は同じ水平線上にあり、前記タキシードの左端壁に前記シャツと固定的に連結する第一弾片が固定的に取り付けられ、前記頂推槽の左右端壁中に導送槽が対応して設置され、前記導送槽の中に前記頂推アームと連結する導送ブロックが取り付けられ、前記導送槽は第二弾片に近接して、前記第二弾片は前記挿腔の端壁に固定的に設けられ、前記導送ブロックと固定的に連結し、前記第三滑推槽の中に前記滑台と固定的に連結する第三弾片が取り付けられ、前記挿合棒の前端面から後端面までの距離と前記挿腔の前端面から後端面までの距離は相等であり、前記挿合棒の上端面から下端面までの距離は前記歯チェーン輪の歯根円直径よりも小さく、前記頂推槽から前記充電コンセントの右端面までの距離と前記右通合槽から前記充電端頭の左端面までの距離は相等であり、前記減速板は前記電機の上端と下端に設置され、前記電機と固定的に連結し、前記吸熱薄片は電機の前端と後端に設置され、前記電機の外殻と固定的に連結し、前記吸熱薄片の上端と下端は別々に前記減速板と固定的に連結して、前記電機の前端と後端には二つ以上の前記吸熱薄片が別々に設置されることを特徴とする高精度ロボット。 A high-precision robot comprising a charging station fixedly installed on a pedestal and a charging terminal connected to the robot through a charging line, and a dustproof plate is fixedly provided at the top of the charging station, and the charging A charging outlet is provided on the right end surface of the station, and there is an insertion cavity that opens to the right in the charging outlet and is installed corresponding to the upper and lower sides. And a left sliding cavity and a right sliding cavity located between the insertion holes are provided in the charging outlet, and an electric machine is fixed between the left sliding cavity and the right sliding cavity. A speed reducer is installed outside the electric machine, the speed reducer includes a speed reducing plate and an endothermic flake, opens to the insertion cavity, and the right half stage of the first sliding tank and the left sliding cavity are Communicating so that it can move left and right in the left sliding cavity A sliding plate is attached, and a left screw column extending left and right is blended and provided in the left sliding plate, and a left end of the left screw column is rotatable in a left end wall of the left sliding chamber The right end is connected to the electric machine, and a first sliding arm is provided in the first sliding tank so as to be movable left and right. The first sliding arm is located on the right side of the left sliding cavity. Facing the end face, fixedly connected to the left sliding plate, the first sliding arm extends with respect to the end face of the insertion cavity, the first tooth chain strip extends into the insertion cavity, and A top thrust tank penetrating the insertion cavity and the right sliding cavity is installed in a charging outlet in an up-and-down correspondence, and a top thrust arm is provided in the top thrust tank, and the top thrust arm is disposed in the right sliding arm. A first oblique insertion surface is provided facing the end surface of the thrust cavity, and a right sliding plate is attached in the right sliding cavity so as to be movable left and right, A right screw column is blended and installed in the sliding plate, the left end of the right screw column and the electric machine are connected, and the right end is rotatably installed on the right end wall of the right sliding cavity, A second oblique insertion surface blended with the first oblique insertion surface is installed on the right end of the right sliding plate in an up-and-down direction, and the back surface of the insertion cavity faces the second sliding tank, The open end of the tank faces the insertion space, the second sliding tank is on the left side of the left sliding tank, and a second sliding arm is installed in the second sliding tank so as to be movable left and right The second sliding arm faces the second tooth chain strip, the second tooth chain strip is installed on the end surface of the insertion lumen, extends into the insertion lumen, and the second sliding tank The rear side faces the tuxedo, the tuxedo is installed on the end wall of the insertion cavity, the starting end of the tuxedo faces the second sliding tank, and the tuxedo A shirt is provided so as to be movable left and right, the shirt and the second sliding arm are fixedly connected, the back surface of the insertion cavity faces the joining tank, and the joining tank is the second sliding thrust. It is on the right side of the tank, its starting end faces the insertion cavity, the left end of the joining tank communicates with the second sliding tank, the right end communicates with the outside, and the left end surface of the charging terminal An insertion rod to be blended with the insertion cavity is installed corresponding to the upper and lower sides, a left joining tank communicating with the upper and lower sides and a right joining tank to be blended with the top thrust arm are installed in the insertion rod, and the left A third sliding tank extending vertically is provided on the front and rear end walls of the common tank, and a slide is provided in the third sliding tank so as to be movable up and down. A rolling rod is provided in front of the teeth, and a tooth chain ring that mixes the first tooth chain strip and the second tooth chain strip is fixedly mounted on the rolling rod. A power transmission connecting to a streetcar is fixedly installed on the right end wall of the tuxedo, a first power transmission piece is fixedly provided on the right end surface of the shirt, and a first transmission piece is fixed on the left end wall of the left sliding cavity. Two power transmission pieces are provided corresponding to the top and bottom, a third power transmission piece is provided corresponding to the left end surface of the left sliding plate , and the second power transmission piece and the first power transmission piece are connected to each other. The third power transmission piece and the power transmission piece are connected, the power transmission piece and the first power transmission piece are on the same horizontal line, and the second power transmission piece and the third power transmission piece are installation same is on the horizon, first of pieces you fixedly connected with the shirt on the left end wall of the tuxedo fixedly attached, Shirubeoku tank in the right and left end walls of said top推槽corresponding to A transfer block connected to the top thrust arm is mounted in the transfer tank, the transfer tank is close to a second bullet piece, and the second bullet piece is A third elastic piece fixedly provided on an end wall of the cavity, fixedly connected to the transfer block, and fixedly connected to the slide in the third sliding tank; The distance from the front end surface to the rear end surface of the interposer is the same as the distance from the front end surface to the rear end surface of the insertion cavity, and the distance from the upper end surface to the lower end surface of the insertion rod is the root circle of the tooth chain ring. The distance from the top tank to the right end surface of the charging outlet is smaller than the diameter, and the distance from the right communication tank to the left end surface of the charging terminal is equivalent, and the speed reduction plate is connected to the upper end of the electric machine. Installed at the lower end and fixedly connected to the electric machine, the endothermic thin pieces are installed at the front and rear ends of the electric machine, and fixedly connected to the outer shell of the electric machine, and the upper and lower ends of the endothermic thin pieces are separately provided. Two or more endothermic thin films are fixedly connected to the speed reducing plate, and are connected to the front and rear ends of the electric machine. A high-precision robot characterized in that the pieces are installed separately.
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JP2011146349A (en) * 2010-01-18 2011-07-28 Nomura Tec:Kk Plug lock device
US20150127146A1 (en) * 2013-06-26 2015-05-07 The Tech Museum Of Innovation System and method for modular robotic system
CN107147184A (en) * 2017-06-22 2017-09-08 成都普诺思博科技有限公司 A kind of robot charging station

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62131706A (en) * 1985-12-02 1987-06-15 Agency Of Ind Science & Technol Supplying method for power of free-traveling type robot
JP2001079792A (en) * 1999-09-09 2001-03-27 Denso Corp Charging electrode structure of mobile robot
JP2009015611A (en) * 2007-07-05 2009-01-22 Figla Co Ltd Charging system, charging unit, and system for automatically charging moving robot
JP2009283345A (en) * 2008-05-23 2009-12-03 Masahiro Shinoda Attachment plug sealing device
JP2011146349A (en) * 2010-01-18 2011-07-28 Nomura Tec:Kk Plug lock device
US20150127146A1 (en) * 2013-06-26 2015-05-07 The Tech Museum Of Innovation System and method for modular robotic system
CN107147184A (en) * 2017-06-22 2017-09-08 成都普诺思博科技有限公司 A kind of robot charging station

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