阅读说明：本技术 一种全自动充电机器人 (Full-automatic charging robot ) 是由 刘晓民 周斌 辛涛 杜岩平 丁晓伟 杨延志 肖攀 孙建 王兴越 侯晓颖 欧方浩 于 2019-10-25 设计创作，主要内容包括：本申请涉及一种全自动充电机器人,其包括：一本体；至少一充电枪,充电枪通过线缆连接充电电源；设置在本体上且与充电枪数量相同的充电座,充电座用于支撑充电枪；安装于本体上的机械手臂,机械手臂与充电枪可拆卸式连接,充电枪通过机械手臂实现空间的移动以完成充电枪的插拔,其中,机械手臂上设有视觉装置,通过视觉装置能够实现机械手臂与充电枪的对接；设置于本体上的平衡器,平衡器连接充电枪,用于在机械手臂控制充电枪插拔时降低充电枪的承载。本申请的全自动充电机器人特别适合大功率的新能源公交车的充电问题,克服充电时需人工值守、人工操作时费时费力、插拔充电枪对不准的问题,提高了大功率直流充电的安全性、稳定性及工作效率。(The application relates to a full-automatic charging robot, it includes: a body; the charging gun is connected with a charging power supply through a cable; the charging seats are arranged on the body and are the same as the charging guns in number, and the charging seats are used for supporting the charging guns; the mechanical arm is arranged on the body and detachably connected with the charging gun, the charging gun realizes spatial movement through the mechanical arm to complete the plugging and unplugging of the charging gun, a visual device is arranged on the mechanical arm, and the mechanical arm and the charging gun can be butted through the visual device; the balancer is arranged on the body and connected with the charging gun, and the balancer is used for reducing the load of the charging gun when the mechanical arm controls the charging gun to be plugged and unplugged. The full-automatic charging robot of this application is particularly suitable for the problem of charging of powerful new forms of energy bus, need artifical on duty when overcoming to charge, waste time and energy when manual operation, plug rifle that charges to inaccurate problem, has improved security, stability and the work efficiency that high-power direct current charges.)

1. A full-automatic charging robot is characterized by comprising a body (10);

the charging gun (2) is connected with a charging power supply through a cable (4);

the charging seats (9) are arranged on the body (10) and are the same as the charging guns (2), and the charging seats (9) are used for supporting the charging guns (2);

the mechanical arm (1) is mounted on the body (10), the mechanical arm (1) is detachably connected with the charging gun (2), the charging gun (2) achieves spatial movement through the mechanical arm (1) so as to complete plugging and unplugging of the charging gun (2), a visual device (3) is arranged on the mechanical arm (1), and butt joint of the mechanical arm (1) and the charging gun (2) can be achieved through the visual device (3);

the balancer (8) is arranged on the body (10), the balancer (8) is connected with the charging gun (2) and used for reducing the load of the charging gun (2) when the mechanical arm (1) controls the charging gun (2) to be plugged and unplugged.

2. The robot according to claim 1, wherein the body (10) is provided with a fixed pulley (7) and a movable pulley (5), a part of the cable (4) is fixed on the movable pulley (5), and the load of the cable (4) connected with the charging gun (2) and the limitation of the extension range of the robot arm (1) are realized by controlling the movement of the movable pulley (5) and making the cable (4) pass through the fixed pulley (7).

3. The full-automatic charging robot according to claim 1, characterized in that the charging gun (2) comprises

A charging gun tip (22);

the charging gun barrel (21) is used for holding the charging gun end head (22), wherein a cable hole (211) is formed in the charging gun barrel (21), and a cable (4) penetrates through the cable hole (211) and is connected to the charging gun end head (22); and

the hook (23) is hinged to the charging gun barrel (21) and hooked on the charging port (25) in a controllable mode, and the hook (23) is used for enabling the charging gun (2) and the charging port (25) to be kept relatively fixed.

4. The full-automatic charging robot according to claim 3, wherein the hook (23) comprises a first main body part (231), a second main body part (232), a connecting part (233) connected between the first main body part (231) and the second main body part (232), and a hook part (234) provided at an end of the first main body part (231), the first main body part (231) and the second main body part (232) being arranged in parallel and non-collinear to form an offset corresponding to the cable hole (211).

5. The full-automatic charging robot according to claim 3 or 4, characterized in that the charging gun (2) comprises a hinge portion (24) and a spring, the hook (23) is connected with the charging gun barrel (21) through the hinge portion (24), and the spring is arranged between the hook (23) and the charging gun barrel (21) to control the hook (23) to return.

6. The full-automatic charging robot as claimed in claim 3, wherein a magnetic type gripper is arranged at the end of the mechanical arm (1), and the magnetic type gripper comprises:

the magnetic type body (11), the magnetic type body (11) is used for being connected with the mechanical arm;

the visual support (13) is arranged on the magnetic attraction type body (11) and used for supporting the visual device (3);

the driving device (14), the driving device (14) is installed on the magnetic attraction type body (11) through a fixing support (15); and

the buckle (16) is connected to the driving device (14), and the rotation of the buckle (16) is realized through the driving device (14) so as to control the hook (23) to be hooked on the charging port (25) in a controllable manner.

7. The full-automatic charging robot as claimed in claim 6, characterized in that a limit block (17) is arranged at one side of the fixing bracket (15) where the buckle (16) is installed, for limiting the deflection angle of the buckle (16).

8. The full-automatic charging robot as claimed in claim 6, characterized in that at least two guiding parts (12) extend from the magnetic attraction type body (11) to one side of the charging gun (2), and the guiding parts (12) are used for matching with guiding holes (212) arranged on the charging gun (2) to realize the guiding matching of the magnetic attraction type hand grip and the charging gun (2).

9. The full-automatic charging robot according to claim 8, wherein the guide portion (12) is of a tapered structure.

10. The fully automatic charging robot according to claim 3, characterized in that said charging gun (2) is provided with identification features for identification by said vision means (3).

Technical Field

The application belongs to the technical field of new energy vehicles, and particularly relates to a full-automatic charging robot.

Background

The new energy automobile gradually replaces the traditional fuel automobile with the advantages of clean energy, no pollution in emission and the like, and a new energy electric bus is gradually adopted in a public transportation system as a mainstream automobile type of the public transportation system. At present, the charging mode of the new energy public bus is mainly direct current quick charging, and the general charging power is up to more than 450 KW. Therefore, the new energy bus oriented to high-power direct-current quick charging mainly has the following problems: 1) the charging gun and the cable are too heavy, and the plugging force of the charging gun is also large (generally more than 20kg), so the labor intensity of the operation is heavy; 2) because the charging gun and the cable are too heavy, the connection between the charging gun and the charging seat is unreliable, and connection faults often occur; 3) when the high-power charging is carried out, once the joint of the charging gun and the charging seat rapidly generates heat due to the reduction of the flow conductivity, the fire hazard can exist.

Therefore, the charging problem of the new energy bus can become a bottleneck restricting the efficient, stable, safe and benign operation of the bus system. Therefore, an intelligent, efficient, stable and safe unattended full-automatic charging system is needed to replace manpower to realize the intelligent, unmanned, rapid, efficient and safe charging process of the new energy automobile.

Disclosure of Invention

It is an object of the present application to provide a fully automatic charging robot to solve or mitigate at least one problem of the background art.

The technical scheme provided by the application is as follows: a fully automatic charging robot, comprising:

a body;

the charging gun is connected with a charging power supply through a cable;

the charging seats are arranged on the body and are the same as the charging guns in number, and the charging seats are used for supporting the charging guns;

the mechanical arm is arranged on the body and detachably connected with the charging gun, the charging gun realizes spatial movement through the mechanical arm so as to complete plugging and unplugging of the charging gun, a visual device is arranged on the mechanical arm, and butt joint of the mechanical arm and the charging gun can be realized through the visual device;

the balancer is connected with the charging gun and used for reducing the load of the charging gun when the mechanical arm controls the charging gun to be plugged and unplugged.

In an embodiment of the application, be equipped with fixed pulley and fixed pulley on the body, the part of cable is fixed in the movable pulley, through control the removal of movable pulley and messenger the cable passes the fixed pulley realizes connecting the load of the cable of rifle that charges and the restriction of robotic arm reach.

In one embodiment of the present application, the charging gun includes

A charging gun end socket;

the charging gun barrel is used for holding the charging gun end, wherein a cable hole is formed in the charging gun barrel and used for a cable to penetrate and be connected to the charging gun end; and

the hook is hinged to the charging gun barrel and can be controllably hooked on the charging port, and the charging gun and the charging port are kept relatively fixed.

In an embodiment of the present application, the hook includes a first main body portion, a second main body portion, a hook portion connected to a connecting portion between the first main body portion and the second main body portion and provided at an end portion of the first main body portion, the first main body portion and the second main body portion being arranged in parallel and non-collinear to form an offset corresponding to the cable hole.

In an embodiment of the present application, the charging gun includes a hinge portion and a spring, the hook is connected to the charging gun barrel through the hinge portion, and the spring is disposed between the hook and the charging gun barrel to control the hook to return.

In this application embodiment, robotic arm's tip is equipped with magnetism and inhales formula tongs, magnetism is inhaled formula tongs and is included

The magnetic attraction type body is used for being connected with the mechanical arm;

the visual support is arranged on the magnetic attraction type body and used for supporting the visual device;

the driving device is arranged on the magnetic suction type body through a fixed bracket; and

the buckle is connected to the driving device, and the rotation of the buckle is realized through the driving device so as to control the hook controllable to be hooked on the charging port.

In an embodiment of the present application, a limit block is disposed on one side of the buckle, where the buckle is mounted on the fixing bracket, for limiting a deflection angle of the buckle.

In this application embodiment the magnetism is inhaled on the formula body to one side of rifle that charges is extended there are two at least guide parts, the guide part be used for with charge the guiding hole cooperation that is equipped with on the rifle in order to realize the formula tongs is inhaled with the rifle direction cooperation that charges to the magnetism.

In one embodiment of the present application, the guide portion is tapered.

In an embodiment of the present application, the charging gun is provided with an identification feature for identification by the vision device.

The full-automatic charging robot of this application can solve new energy automobile's the problem of charging, is particularly suitable for the problem of charging of powerful new energy bus, need artifical on duty when overcoming to charge, or waste time and energy, plug charging gun to inaccurate problem when manual operation, has improved security, stability and the work efficiency that high-power direct current charges.

Drawings

In order to more clearly illustrate the technical solutions provided by the present application, the following briefly introduces the accompanying drawings. It is to be understood that the drawings described below are merely exemplary of some of the embodiments of the application;

fig. 1 is a schematic structural diagram of a full-automatic charging robot according to the present application;

FIG. 2 is a side view of the fully automatic charging robot of the present application;

fig. 3 is a schematic structural diagram of the charging gun of the present application.

Reference numerals:

10. a body;

1. a robot arm; 11. a magnetic attraction type body; 12. a guide portion; 13. a vision support; 14. a drive device; 15. fixing a bracket; 16. buckling; 17. a limiting block;

2. a charging gun; 2a, a first charging gun; 2b, a second charging gun; 21. a charging gun barrel; 211. a cable hole; 212. a guide hole; 22. a charging gun end socket; 23. hooking; 231. a first main body portion; 232. a second main body portion; 233. a connecting portion; 234. a hook portion; 24. a hinge portion; 25. a charging port; 251. a charging port body; 252. a charging port opening; 253. a hook engagement groove;

3. a vision device;

4. a cable;

5. a movable pulley;

6. a pulley groove;

7. a fixed pulley;

8. a balancer;

9. a charging seat; 9a, a first charging seat; 9b and a second charging seat.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application.

As shown in fig. 1 and 2, the fully automatic charging robot provided by the present application includes a body 10, a charging gun 2, a robot arm 1, a vision device 3, a balancer 8, and the like.

The body 10 may be a frame body or a plate-shaped structure body, which constitutes a main body frame of the full-automatic charging robot.

The charging gun 2 is arranged to be at least one according to the position needing to be charged of the new energy automobile, and is connected with a charging power supply or a power grid through a cable 4. In the illustrated embodiment of the present application, the charging guns 2 are two, that is, the charging guns 2 include a first charging gun 2a and a second charging gun 2 b.

The charging seat 9 is arranged on the body 10, the number of the charging seats is the same as that of the charging guns 2, and the charging seat 9 is used for supporting the charging guns 2.

Robotic arm 1 installs on body 10, and robotic arm 1 is connected with rifle 2 detachable that charges, and rifle 2 charges is taken the removal that realizes the space by robotic arm 1 after robotic arm 1 and its plug knot to accomplish rifle 2 charges the plug of mouthful, wherein, is equipped with vision device 3 on robotic arm 1, can realize robotic arm 1 and the butt joint of rifle 2 that charges through vision device 3.

The balancer 8 is arranged on the body 10, and the balancer 8 is connected with the charging gun 2 and used for reducing the load of the charging gun 2 when the mechanical arm 1 controls the charging gun 2 to be plugged and unplugged. The balancer 8 may be any one of a pneumatic balancer and a spring balancer.

In the present application, the fixed pulley 7 and the movable pulley 5 are provided on the body 10, a part of the cable 4 is fixed to the movable pulley 5, and the load of the cable 4 connected to the charging gun 2 and the extension range of the robot arm 1 are restricted by controlling the movement of the movable pulley 5 and passing the cable 4 through the fixed pulley 7.

As shown in fig. 3, in an embodiment of the above robot arm 1 detachably connected to the charging gun 2, the charging gun 2 includes: charging gun end 22, charging gun barrel 21 and couple 23. The charging gun head 22 is held or fixed by the charging gun barrel 21, the structure of the charging gun head 22 meets the relevant standards, the charging gun barrel 21 is substantially cylindrical, in the illustrated embodiment, the charging gun barrel 21 is stepped, the charging gun head 22 is fixed at the smaller end, and the other side of the charging gun barrel 21 is provided with a cable hole 211 for allowing the cable 4 to penetrate into the charging gun barrel 21 and be connected to the charging gun head 22. The charging port 25 is formed by a charging port body 251, which is provided with a charging port opening 252 adapted to the charging gun tip 22, a hook engaging groove 253 is provided at one side edge of the charging port body 251, the hook 23 is hinged to the charging gun barrel 21, and the hook engaging groove 253 of the charging port 25 can be controllably (specifically, the control process is described below) hooked/disengaged, so that the charging gun 2 and the charging port 25 can be relatively fixed or disengaged.

The hook 23 includes a first body portion 231, a second body portion 232, a connecting portion 233 connected between the first body portion 231 and the second body portion 232, and a hook portion 234 provided at an end of the first body portion 231, the hook portion 234 is provided substantially perpendicular to the first body portion 231 for engaging with a hook engaging groove 253, and the first body portion 231 and the second body portion 232 are provided substantially parallel and non-collinear so as to form an offset corresponding to the cable hole 211, which offset prevents the hook 23 from interfering with the cable 4.

In an embodiment of the present application, the charging gun 2 further includes a hinge portion 24 and a spring, the hook 23 is hinged to the charging gun barrel 21 through the hinge portion 24, and the spring is disposed between the hook 23 and the charging gun barrel 21 to control the hook 23 to return.

In this application embodiment, robotic arm 1 is connected for magnetism type with rifle 2 that charges, inhales the formula through magnetism and realizes dismantling connection between them.

Correspondingly, the end of the mechanical arm 1 is provided with a magnetic type gripper, and the magnetic type gripper comprises a magnetic type body 11, a visual support 13, a driving device 14 and a buckle 16. The magnetic attraction type body 11 is connected with a mechanical arm, and the magnetic attraction type body can control the magnetic property of the magnetic attraction type body by controlling the on-off of current. The vision bracket 13 is arranged on the magnetic attraction type body 11 and used for supporting the vision device 3. The vision device 3 is a system assembly integrating an image acquisition device, such as a camera, and a corresponding algorithm, and is capable of performing a spatial position shift of the robot arm 1 according to the acquired image. For the precise recognition of the recognized target, a recognition feature for the recognition of the vision device 3 can also be provided on the charging gun 2. The driving device 14 is mounted on the magnetic attraction type body 11 through a fixing bracket 15. In some embodiments, the driving device 14 is a motor, and more preferably, the driving device 14 may be a stepper motor for precise control of the buckle 16. Finally, the latch 16 is connected to the driving device 14, the driving device 14 is controlled to rotate the latch 16, and the latch 16 is rotated to lower one end of the latch 16 to lift the hook end of the latch 16, so as to finally realize the controllable hooking/releasing of the hook 23 to/from the hook engaging groove 253 of the charging port 25.

In an embodiment of the present application, a limit block 17 is disposed on a side of the fixing bracket 15 where the buckle 16 is mounted, for limiting a deflection angle of the buckle 16.

In addition, it has two at least guide parts 12 to extend to one side of rifle 2 that charges on formula body 11 is inhaled to magnetism of this application, guide part 12 be used for with the cooperation of the guiding hole 212 that is equipped with on the rifle 2 that charges in order to realize magnetism and inhale formula tongs and the cooperation of the direction of rifle 2 that charges.

In some embodiments, the guide 12 is tapered. In other embodiments, the guide 12 may have other configurations, such as a triangular configuration.

The full-automatic charging robot's of this application plug rifle process as follows:

when the new forms of energy big bus has two mouthful 25 that charge, robotic arm 1 snatchs the first rifle 2a that charges on the first charging seat 9a through magnetism formula tongs of inhaling, and the position of the first mouth 25 that charges on the new forms of energy big bus is judged to vision device 3 on robotic arm 1. After the robot arm 1 determines the position of the first charging port 25, the first charging gun 2a is inserted into the first charging port 25 of the new energy bus. After the full-automatic charging robot releases the first charging gun 2a, the mechanical arm 1 returns to the standby position and then goes to the position of the second charging seat 9b to capture the second charging gun 2 b. The position of the second charging port 25 on the new energy bus is determined by the vision device 3 on the robot arm 1. After the robot arm 1 determines the position of the second charging port 25, the second charging gun 2b is inserted into the second charging port 25 of the new energy bus. After the full-automatic charging robot loosens the second charging gun 2b, the mechanical arm 1 returns to the standby position. According to the sequence, the gun plugging and unplugging charging process of the new energy bus is performed, and correspondingly, the process can also be the charging process of completing the gun plugging and unplugging of a plurality of new energy buses.

The weight of the charging gun 2 is reduced by the balancer 8 when the full-automatic charging robot is used for plugging and unplugging the gun, and the charging gun 2 is ensured to be in a load range which can be borne by the full-automatic charging robot in the gun plugging and unplugging process. The cable 4 connected with the charging gun 2 solves the problem that the cable 4 limits the load of the full-automatic charging robot and the extending range of the mechanical arm 1 of the full-automatic charging robot through the pulley groove 6 and the movable pulley 5. When the mechanical arm 1 extends out, the cable 4 is guided through the fixed pulley 7, the direction of the force of the balancer 8 is changed, and therefore the maximum extending range of the mechanical arm 1 and the overall structure are obtained and the mechanical arm is more compact. The most clear image and more accurate location can be acquireed to robotic arm 1's foremost to robotic arm 1 accessible vision device 3, guarantees to grab the rifle precision in 0.05mm, and it is big to have solved full-automatic charging robot and snatching the error of charging rifle 2 in-process, grabs inaccurate problem to guarantee full-automatic charging robot and the quick accurate plug process of stabilizing of rifle 2 that charge.

The full-automatic charging robot of this application can solve new energy automobile's the problem of charging, is particularly suitable for the problem of charging of powerful new energy bus, need artifical on duty when overcoming to charge, or waste time and energy, plug charging gun to inaccurate problem when manual operation, has improved security, stability and the work efficiency that high-power direct current charges.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.