CN108215903A - A kind of new energy auxiliary charging manipulator - Google Patents
A kind of new energy auxiliary charging manipulator Download PDFInfo
- Publication number
- CN108215903A CN108215903A CN201711498139.3A CN201711498139A CN108215903A CN 108215903 A CN108215903 A CN 108215903A CN 201711498139 A CN201711498139 A CN 201711498139A CN 108215903 A CN108215903 A CN 108215903A
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- Prior art keywords
- bar
- guide rail
- motor
- sliding block
- new energy
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- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 210000000078 claw Anatomy 0.000 claims abstract description 16
- 230000001105 regulatory effect Effects 0.000 claims abstract description 15
- 230000000670 limiting effect Effects 0.000 claims description 29
- 238000009434 installation Methods 0.000 claims description 19
- 230000002596 correlated effect Effects 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 238000010891 electric arc Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000005452 bending Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of new energy auxiliary charging manipulator, it is related to field of new energy technologies, including a support column, Y-axis moving mechanism is installed on the support column, X-axis mobile mechanism is installed in the Y-axis moving mechanism, Z axis mobile mechanism is installed in the X-axis mobile mechanism, the Z axis mobile mechanism is connected with connector, the connector is hinged with moving block, angle at the end regulating mechanism is installed on the moving block, the angle at the end regulating mechanism is connected with end and performs pawl, and the end performs claw clip and holds charging gun.The present invention realizes that end performs the movement that pawl drives charging gun using the structure of three-shaft linkage formula, the fine tuning that angle is carried out by three-shaft linkage and angle at the end regulating mechanism designs, so as to carry out simple and convenient charging, without manually participating in during this, high degree of automation is solved in swapping process because voltage influence easily generates the security risk of electric arc.
Description
Technical field
The present invention relates to field of new energy technologies, specifically a kind of new energy auxiliary charging manipulator.
Background technology
Electric vehicle refers to using vehicle power supply as power, and the vehicle of wheels travel is driven with motor.Due to electric vehicle phase
It for gasoline automobile, has fewer environmental impacts, the use of non-renewable energy resources gasoline can be substituted, it is therefore, electronic
Automobile prospect is had an optimistic view of extensively, has also complied with novel energy strategic requirement.
Electric vehicle be unable to do without charging pile, but is all logical during existing charging pile charges to electric vehicle
It crosses personnel to plug manually, because voltage influence easily generates electric arc in swapping process, the generation of electric arc is be easy to cause to be made charging head
The electric shock of user there is certain potential danger can cause safety accident user, cause casualties, and personnel are inserting
It connects firmly unstable, is easy to cause equipment damage, while time-consuming and laborious, and because the additional cable weight of charging gun is larger, filling
All be manually to hold in electric process, prolonged holding can involuntary change posture, it is very easy can cause charge port and
The bending of contact pin Duan not even in charging gun.
Invention content
Charging gun is plugged by hand for electric vehicle present in charging process to hold there are security risk and for a long time
Charging gun be easily short of physical strength cause the bending of contact pin not Duan the problem of, the present invention provides a kind of new energy auxiliary charging machinery
Hand is subject to auxiliary charging using manipulator, can be to avoid the generation of the above problem.
The technical scheme adopted by the invention to solve the technical problem is that：
Including a support column, Y-axis moving mechanism is equipped on the support column for a kind of new energy auxiliary charging manipulator,
X-axis mobile mechanism in the Y-axis moving mechanism is installed, Z axis mobile mechanism, the Z axis are installed in the X-axis mobile mechanism
Mobile mechanism is connected with connector, and the connector is hinged with moving block, and angle at the end is equipped on the moving block and adjusts machine
Structure, the angle at the end regulating mechanism are connected with end and perform pawl, and the end performs claw clip and holds charging gun.
Further, the angle at the end regulating mechanism include installation casing, upper mounted plate, electric cylinder, limiting rectangle frame,
Universal joint, rectangle locating piece, terminal pad, lower limiting board, spring and staggered form crane, the moving block are connected with installation set
Pipe, the installation casing top are equipped with upper mounted plate, and fixed plate is equipped with multiple electric cylinders, fixed plate middle part
Equipped with the through-hole identical with installation sleeve center hole shape, the bore periphery is equipped with limiting rectangle frame, the installation casing
Universal joint is slidably fitted in centre bore, the universal joint top is equipped with a rectangle locating piece, and the rectangle locating piece can be inserted into
To limiting rectangle frame, the rectangle locating piece top is equipped with terminal pad, and the terminal pad performs the lower mounting disc of pawl with end
It is connected, the installation sleeve bottom is equipped with multiple springs, and the spring end is connected with lower limiting board, and the lower limiting board leads to
It crosses staggered form crane and is connected with universal joint, the diameter of the terminal pad is more than the length or width of limiting rectangle frame, the square
The height of shape locating piece is less than or equal to the height of limiting rectangle frame.
Further, the end execution pawl includes lower mounting disc, undercarriage, articulated joint, reel motor, reel, flexible-belt
And jaw components, lower mounting disc are connected with undercarriage, circular array shows multiple articulated joints on the undercarriage, in each articulated joint
One group of jaw components is mounted on, the lower mounting disc is equipped with reel motor, and the reel motor is connected with reel, the volume
Cylinder is connected by flexible-belt with jaw components.
Further, the jaw components include the first bar, the first elastic screens pad, the second bar, third bar, the 4th bending
Bar, the 5th bar, the second elastic screens pad, the 6th bar, claw and third elasticity screens pad, first bar are hinged on articulated joint
On, the first bar inner wall is equipped with the first elastic screens pad, and first bar is connected with the 5th bar, and the 5th bar is equipped with second
Elastic screens pad, the 5th bar are connected with claw, and the claw is equipped with third elasticity screens pad, and the articulated joint is also cut with scissors
The second bar is connected to, the middle part of second bar joins in articulated joint, and one end of second bar is connected with flexible-belt, described
The other end of second bar is connected with third bar, and the third bar is connected with four fold curved bar, described four fold curved bar one end
The first bar and the 5th bar junction are hinged on, the other end is hinged with the 6th bar, and the 6th bar is hinged with claw.
Further, the undercarriage is equipped with CCD camera, and CCD camera is connected with control panel.
Further, the Y-axis moving mechanism includes the first installing plate, the first guide rail, the second guide rail, the first rack, the
One sliding block, the second sliding block, the first motor and the first transverse slat, first installing plate are fixed on upper part of the supporting column, first peace
Loading board both sides are equipped with the first guide rail and the second guide rail that are arranged in parallel, be additionally provided between first guide rail and the second guide rail with it is upper
The first rack of guide rail parallel is stated, the first sliding block is sliding combined on the first guide rail, is sliding combined on the second guide rail
Two sliding blocks are provided with the first transverse slat on first sliding block and the second sliding block, the first motor, institute are equipped on first transverse slat
The output shaft for stating the first motor is connected with first gear, and the first gear is matched with the first rack.
Further, starting stave on the first transverse slat is installed, X-axis mobile mechanism is installed on the starting stave,
The X-axis mobile mechanism include the second installing plate, third guide rail, the 4th guide rail, the second rack, the second motor, Four-slider and
Third sliding block, second installing plate are equipped with the third guide rail and the 4th guide rail being arranged in parallel, the third shopping guide and the 4th
The second rack is equipped between guide rail, third sliding block is sliding combined on the third guide rail, is slidably matched on the 4th guide rail
There is Four-slider, the third sliding block and Four-slider are connected on starting stave.The starting stave is equipped with the second motor,
Second motor is connected with second gear, and the second gear is meshed with the second rack.
Further, one end is equipped with the second fixed plate on second installing plate, and Z axis is equipped in second fixed plate
Mobile mechanism, the Z axis mobile mechanism include third installing plate, the 5th guide rail, the 5th sliding block, third rack, third motor and
Third gear, third installing plate are equipped with the 5th guide rail, and the 5th guide rail is matched with the 5th sliding block, the 5th sliding block peace
In the second fixed plate, the third installing plate side is equipped with third rack, and the third rack is meshed with third gear,
The third gear is mounted on third motor, and the third motor is mounted in the second fixed plate.
Further, second fixed plate is equipped with shutter, and the third installing plate both ends are respectively equipped with the first light
Electricity is inserted into penetrating pipe and the second photoelectric correlated cell, the shutter among the first photoelectric correlated cell or the second photoelectric correlated cell
Stop that optical signal transmits.
The beneficial effects of the invention are as follows：
The present invention realizes that end performs the movement that pawl drives charging gun using the structure of three-shaft linkage formula, more compared to other
The design of axis linkage robot, it is at low cost, available for promoting and applying on a large scale.The present invention needs to fill using equipment using simply
When electric, it is only necessary to by vehicle parking in fixed position, then swiping card equipment can automatic identification charge port position, pass through three axis and join
Dynamic and angle at the end regulating mechanism carries out the fine tuning design of angle, and so as to carry out simple and convenient charging, this is in the process without people
Work participates in, and high degree of automation is solved in swapping process because voltage influence easily generates the security risk of electric arc.
Description of the drawings
Fig. 1 is the three dimensional structure diagram of first angle of the present invention；
Fig. 2 is the three dimensional structure diagram of second angle of the present invention；
Fig. 3 is the partial enlarged view at A in Fig. 2；
Fig. 4 is the three dimensional structure diagram of angle at the end regulating mechanism；
Fig. 5 is the front view of angle at the end regulating mechanism；
Three dimensional structure diagram when Fig. 6 is universal joint and dependency structure connection；
Fig. 7 is the three dimensional structure diagram that end performs pawl；
In figure：1 support column,
2Y axis mobile mechanism, 21 first installing plates, 22 first guide rails, 23 second guide rails, 24 first racks, 25 first limitings
Rubber, 26 first sliding blocks, 27 second sliding blocks, 28 second limiting rubber, 29 first motors, 210 first transverse slats,
3X axis mobile mechanism, 31 second installing plates, 32 third guide rails, 33 the 4th guide rails, 34 second racks, 35 first is perpendicular
Plate, 36 second motors, 37 Four-sliders, 38 third sliding blocks, 39 thirds limiting rubber,
4Z axis mobile mechanism, 41 third installing plates, 42 the 5th guide rails, 43 the 5th sliding blocks, 44 third racks, 45 second fix
Plate, 46 third motors, 47 third gears, 48 first photoelectric correlated cells, 49 shutters, 410 second photoelectric correlated cells,
5 angle at the end regulating mechanisms, 51 connectors, 52 moving blocks, 53 installation casings, 54 upper mounted plates, 55 electric cylinders, 56
Limit rectangle frame, 57 universal joints, 58 rectangle locating pieces, 59 terminal pads, 510 lower limiting boards, 511 springs, the lifting of 512 staggered forms
Frame,
6 ends execution pawl, 61 times mounting discs, 62 undercarriages, 63 articulated joints, 64 reel motors, 65 reels, 66 flexible-belts, 67
First bar, 68 first elastic screens pads, 69 second bars, 610 third bars, 611 four fold curved bars, 612 the 5th bars, 613 second bullets
Property screens pad, 614 the 6th bars, 615 claws, 616 third elasticity screens pads.
7 charging guns.
Specific embodiment
For the convenience of description, it is as shown in Figure 1 now to define coordinate system.
As shown in Figures 1 to 7, a kind of new energy auxiliary charging manipulator including a support column 1, is pacified on the support column
Equipped with Y-axis moving mechanism 2, X-axis mobile mechanism 3 in the Y-axis moving mechanism is installed, Z is installed in the X-axis mobile mechanism
Axis mobile mechanism 4.The Z axis mobile mechanism is connected with connector 51, and the connector is hinged with moving block 52, the moving block
On angle at the end regulating mechanism 5 is installed, the angle at the end regulating mechanism is connected with end and performs pawl 6, and the end performs
Claw clip holds charging gun 7.
The Y-axis moving mechanism includes the first installing plate 21, the first guide rail 22, the second guide rail 23, the first rack 24, first
Sliding block 26, the second sliding block 27, the first motor 29 and the first transverse slat 210, first installing plate is fixed on upper part of the supporting column, described
First installing plate both sides are equipped with the first guide rail and the second guide rail being arranged in parallel, and are also set between first guide rail and the second guide rail
There is the first rack with above-mentioned guide rail parallel, the first sliding block is sliding combined on the first guide rail, slide and match on the second guide rail
Conjunction has the second sliding block, and the first transverse slat is provided on first sliding block and the second sliding block, first is equipped on first transverse slat
Motor, the output shaft of first motor are connected with first gear, and the first gear is matched with the first rack, passes through first
The rotation of motor can drive the first transverse slat to be moved along the first guide rail, the second guide rail, realize the movement of Y direction.
Further, in order to limit the displacement distance of the first transverse slat, its slippage is avoided, is respectively equipped at the first rack both ends
First limiting rubber 25 and second limits rubber 28.
The first limiting rubber 25 and second limits 28 and first transverse slat height flush of rubber.
Starting stave 35 on the first transverse slat is installed, X-axis mobile mechanism 3, the X-axis are installed on the starting stave
Mobile mechanism includes the second installing plate 31, third guide rail 32, the 4th guide rail 33, the second rack 34, the second motor 36, Four-slider
37 and third sliding block 38, second installing plate is equipped with the third guide rail and the 4th guide rail being arranged in parallel, the third shopping guide
The second rack is equipped between the 4th guide rail, third sliding block is sliding combined on the third guide rail, is slided on the 4th guide rail
Dynamic to be combined with Four-slider, the third sliding block and Four-slider are connected on starting stave.The starting stave is equipped with the
Two motors, second motor are connected with second gear, and the second gear is meshed with the second rack.Pass through the second motor band
Dynamic second gear transmission, moves left and right relative to starting stave so as to fulfill the second installing plate, realizes the movement of X-direction.
Further, in order to avoid there is security risk.Third, which is equipped with, in the second rack end limits rubber 39.
One end is equipped with the second fixed plate 45 on the second installing plate, and Z axis mobile mechanism is equipped in second fixed plate
4, the Z axis mobile mechanism includes third installing plate 41, the 5th guide rail 42, the 5th sliding block 43, third rack 44, third motor 46
And third gear 47,
Third installing plate is equipped with the 5th guide rail, and the 5th guide rail is matched with the 5th sliding block, the 5th sliding block peace
In the second fixed plate, the third installing plate side is equipped with third rack, and the third rack is meshed with third gear,
The third gear is mounted on third motor, and the third motor is mounted in the second fixed plate.Pass through third motor in this way
Drive can realize third installing plate moving up and down in vertical direction.
In order to which the displacement distance to third installing plate limits, also for control third installing plate oscilaltion away from
From second fixed plate is equipped with shutter 49, and the third installing plate both ends are respectively equipped with 48 He of the first photoelectric correlated cell
Second photoelectric correlated cell 410.The shutter is inserted among the first photoelectric correlated cell or the second photoelectric correlated cell, so as to hinder
The transmission of its optical signal is kept off, and then sends out signal.
It is equipped with connector 51 on the downside of the third installing plate, the connector is hinged with moving block 52, on the moving block
Angle at the end regulating mechanism 5 is installed,
The angle at the end regulating mechanism include installation casing 53, upper mounted plate 54, electric cylinder 55, limiting rectangle frame 56,
Universal joint 57, rectangle locating piece 58, terminal pad 59, lower limiting board 510, spring 511 and staggered form crane 512, the rotation
Block is connected with installation casing, and the installation casing top is equipped with upper mounted plate, and fixed plate is equipped with multiple electric cylinders, institute
It states and the through-hole identical with installation sleeve center hole shape is equipped in the middle part of upper mounted plate, the bore periphery is equipped with limiting rectangle frame,
Universal joint is slidably fitted in the centre bore of the installation casing, the universal joint top is equipped with a rectangle locating piece, the square
Shape locating piece is inserted into limiting rectangle frame, and the rectangle locating piece top is equipped with terminal pad, and the terminal pad is held with end
The lower mounting disc 61 of row pawl 6 is connected, and the installation sleeve bottom is equipped with multiple springs 511, and the spring end is connected with down
Limiting plate 510, the lower limiting board are connected with universal joint 57 by staggered form crane 512.The diameter of the terminal pad is more than
Limit the length or width of rectangle frame.The height of the rectangle locating piece is less than or equal to the height of limiting rectangle frame.
The angle of pawl is performed by the collapsing length of the electric cylinder variation i.e. changeable end on the upside of terminal pad in this way,
And the presence of universal joint ensure that end execution pawl is rotary simultaneously, define that end performs the sliding distance of pawl, moreover it is possible to
End is avoided to perform pawl and is detached from the equipment, causes safety accident.
The end performs pawl 6 and includes lower mounting disc 61, undercarriage 62, articulated joint 63, reel motor 64, reel 65, flexibility
Band 66 and jaw components.Descended mounting disc is connected with undercarriage, and circular array shows multiple articulated joints on the undercarriage, each hinged
One group of jaw components is mounted on head, the lower mounting disc is equipped with reel motor, and the reel motor is connected with reel, institute
Reel is stated by flexible-belt with jaw components to be connected.
The jaw components include first the 67, first elastic screens pad 68 of bar, the second bar 69, third bar 610, the 4th bending
Bar 611, the 5th the 612, second elastic screens pad 613 of bar, the 6th bar 614, claw 615 and third elasticity screens pad 616,
First bar is hinged in articulated joint, and the first bar inner wall is equipped with the first elastic screens pad, first bar and the
Five bars are connected, and the 5th bar is equipped with the second elastic screens pad, and the 5th bar is connected with claw, is set on the claw
There is third elasticity screens pad, the articulated joint is also hinged with the second bar, and the middle part of second bar joins in articulated joint, described
One end of second bar is connected with flexible-belt, and the other end of second bar is connected with third bar, the third bar and the 4th
Bending bar is connected, and described four fold curved bar one end is hinged on the first bar and the 5th bar junction, and the other end is mutually cut with scissors with the 6th bar
It connects, the 6th bar is hinged with claw.
The folding of jaw components can be realized by the rotation of reel motor in this way so as to clamp charging gun, and three
The annular table that two bars are formed can hold charging gun bottom, more convenient fixation charging gun, the design of elastic screens pad, increase
The frictional force of jaw components and charging gun, avoids the slippage of charging gun.
Further, the undercarriage is equipped with CCD camera, and CCD camera is connected with control panel, is imaged by CCD
Head realizes the automatic plug of charge port to take pictures, and avoids security risk caused by manually participating in.
It is the known technology of those skilled in the art in addition to the technical characteristic described in specification.
Claims (9)
1. a kind of new energy auxiliary charging manipulator including a support column, is equipped with Y-axis moving mechanism, institute on the support column
It states and X-axis mobile mechanism is installed in Y-axis moving mechanism, Z axis mobile mechanism is installed in the X-axis mobile mechanism, the Z axis moves
Motivation structure is connected with connector, it is characterized in that, the connector is hinged with moving block, and angle at the end is equipped on the moving block
Regulating mechanism, the angle at the end regulating mechanism are connected with end and perform pawl, and the end performs claw clip and holds charging gun.
2. a kind of new energy auxiliary charging manipulator according to claim 1, it is characterized in that, the angle at the end adjusts machine
Structure include installation casing, upper mounted plate, electric cylinder, limiting rectangle frame, universal joint, rectangle locating piece, terminal pad, lower limiting board,
Spring and staggered form crane, the moving block are connected with installation casing, and the installation casing top is equipped with upper mounted plate, described
Upper mounted plate is equipped with multiple electric cylinders, and the through-hole identical with installation sleeve center hole shape is equipped in the middle part of fixed plate,
The bore periphery is equipped with limiting rectangle frame, and universal joint, the universal joint are slidably fitted in the centre bore of the installation casing
Top is equipped with a rectangle locating piece, and the rectangle locating piece is inserted into limiting rectangle frame, and the rectangle locating piece top is set
There is terminal pad, the lower mounting disc that the terminal pad performs pawl with end is connected, and the installation sleeve bottom is equipped with multiple springs,
The spring end is connected with lower limiting board, and the lower limiting board is connected with universal joint, the connection by staggered form crane
The diameter of disk is more than the length or width of limiting rectangle frame, and the height of the rectangle locating piece is less than or equal to the height of limiting rectangle frame
Degree.
3. a kind of new energy auxiliary charging manipulator according to claim 2, it is characterized in that, the end performs pawl and includes
Lower mounting disc, undercarriage, articulated joint, reel motor, reel, flexible-belt and jaw components, lower mounting disc are connected with undercarriage, institute
It states circular array on undercarriage and shows multiple articulated joints, be mounted on one group of jaw components in each articulated joint, in the lower mounting disc
Equipped with reel motor, the reel motor is connected with reel, and the reel is connected by flexible-belt with jaw components.
4. a kind of new energy auxiliary charging manipulator according to claim 3, it is characterized in that, the jaw components include the
One bar, the first elastic screens pad, the second bar, third bar, four fold curved bar, the 5th bar, the second elastic screens pad, the 6th bar, card
Pawl and third elasticity screens pad, first bar are hinged in articulated joint, and the first bar inner wall is equipped with the first elastic screens pad, described
First bar is connected with the 5th bar, and the 5th bar is equipped with the second elastic screens pad, and the 5th bar is connected with claw, institute
Claw is stated equipped with third elasticity screens pad, the articulated joint is also hinged with the second bar, and the middle part handing-over of second bar is being cut with scissors
On connector, one end of second bar is connected with flexible-belt, and the other end of second bar is connected with third bar, and described
Three bars are connected with four fold curved bar, and described four fold curved bar one end is hinged on the first bar and the 5th bar junction, the other end with
6th bar is hinged, and the 6th bar is hinged with claw.
5. a kind of new energy auxiliary charging manipulator according to claim 4, it is characterized in that, the undercarriage is equipped with CCD
Camera, CCD camera are connected with control panel.
6. a kind of new energy auxiliary charging manipulator according to any one of claim 1 to 5, it is characterized in that, the Y-axis
Mobile mechanism includes the first installing plate, the first guide rail, the second guide rail, the first rack, the first sliding block, the second sliding block, the first motor
And first transverse slat, first installing plate are fixed on upper part of the supporting column, the first installing plate both sides are equipped with the be arranged in parallel
One guide rail and the second guide rail are additionally provided with the first rack with above-mentioned guide rail parallel between first guide rail and the second guide rail,
The first sliding block is sliding combined on first guide rail, the second sliding block, first sliding block and are sliding combined on the second guide rail
The first transverse slat is provided on two sliding blocks, the first motor, the output axis connection of first motor are installed on first transverse slat
There is first gear, the first gear is matched with the first rack.
7. a kind of new energy auxiliary charging manipulator according to claim 6, it is characterized in that, it is equipped on the first transverse slat
Starting stave is equipped with X-axis mobile mechanism on the starting stave, and the X-axis mobile mechanism includes the second installing plate, third is led
Rail, the 4th guide rail, the second rack, the second motor, Four-slider and third sliding block, second installing plate are equipped with and are arranged in parallel
Third guide rail and the 4th guide rail, the second rack is equipped between the third shopping guide and the 4th guide rail, it is sliding on the third guide rail
It is dynamic to be combined with third sliding block, Four-slider, the third sliding block and Four-slider connection are sliding combined on the 4th guide rail
On starting stave.The starting stave is equipped with the second motor, and second motor is connected with second gear, second tooth
Wheel is meshed with the second rack.
8. a kind of new energy auxiliary charging manipulator according to claim 7, it is characterized in that, one on second installing plate
End is equipped with the second fixed plate, and Z axis mobile mechanism is equipped in second fixed plate, and the Z axis mobile mechanism is pacified including third
Loading board, the 5th guide rail, the 5th sliding block, third rack, third motor and third gear, third installing plate are equipped with the 5th guide rail,
5th guide rail is matched with the 5th sliding block, and the 5th sliding block is mounted in the second fixed plate, the third installing plate one
Side is equipped with third rack, and the third rack is meshed with third gear, and the third gear is mounted on third motor, described
Third motor is mounted in the second fixed plate.
9. a kind of new energy auxiliary charging manipulator according to claim 8, it is characterized in that, it is set in second fixed plate
There is shutter, the third installing plate both ends are respectively equipped with the first photoelectric correlated cell and the second photoelectric correlated cell, the shutter
It is inserted into the first photoelectric correlated cell or the second photoelectric correlated cell intermediate barrier optical signal transmits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711498139.3A CN108215903B (en) | 2017-12-28 | 2017-12-28 | A kind of new energy auxiliary charging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN109017371A (en) * | 2018-07-25 | 2018-12-18 | 张勤 | A kind of automatic butt intelligent charging equipment applied to new-energy automobile |
| CN109435750A (en) * | 2018-10-12 | 2019-03-08 | 享奕自动化科技（上海）有限公司 | The automatic charge device and automatic charging system of fixed parking stall |
| CN109878355A (en) * | 2018-12-28 | 2019-06-14 | 远景能源（江苏）有限公司 | A kind of automatic charging vehicle and its operation method and automatic charging system |
| CN109878354A (en) * | 2019-04-02 | 2019-06-14 | 远景能源（江苏）有限公司 | A kind of automatic charge device and its operation method |
| CN110254278A (en) * | 2019-06-26 | 2019-09-20 | 刘甜甜 | A kind of new-energy automobile charging system |
| CN110758134A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | A charging system for electric vehicles |
| WO2020034744A1 (en) * | 2018-08-15 | 2020-02-20 | 江苏万帮德和新能源科技股份有限公司 | Charging mobile mechanism, and charging device and charging method applied thereto |
| CN111029935A (en) * | 2020-02-05 | 2020-04-17 | 董昊 | Fire prevention switch board of putting out a fire |
| CN111376774A (en) * | 2018-12-28 | 2020-07-07 | 远景能源（江苏）有限公司 | Automatic butt joint and separation device |
| CN111536412A (en) * | 2020-04-28 | 2020-08-14 | 广东工业大学 | Automatic special liquid adding machine for LNG (liquefied Natural gas) of automobile |
| CN112046314A (en) * | 2020-09-01 | 2020-12-08 | 邹萍 | Lithium battery box, electric automobile and cabinet equipment that charges |
| CN112428842A (en) * | 2020-11-03 | 2021-03-02 | 上海电机学院 | Intelligent charging system and method with separated strong current and weak current |
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| CN114234034A (en) * | 2021-12-17 | 2022-03-25 | 上海龙勃科技中心 | Intelligent hydrogenation energy equipment with wide application angle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109017371A (en) * | 2018-07-25 | 2018-12-18 | 张勤 | A kind of automatic butt intelligent charging equipment applied to new-energy automobile |
| CN110758134A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | A charging system for electric vehicles |
| WO2020034744A1 (en) * | 2018-08-15 | 2020-02-20 | 江苏万帮德和新能源科技股份有限公司 | Charging mobile mechanism, and charging device and charging method applied thereto |
| CN109435750A (en) * | 2018-10-12 | 2019-03-08 | 享奕自动化科技（上海）有限公司 | The automatic charge device and automatic charging system of fixed parking stall |
| CN109878355A (en) * | 2018-12-28 | 2019-06-14 | 远景能源（江苏）有限公司 | A kind of automatic charging vehicle and its operation method and automatic charging system |
| CN109878355B (en) * | 2018-12-28 | 2023-12-29 | 远景能源有限公司 | Automatic charging vehicle, operation method thereof and automatic charging system |
| CN111376774A (en) * | 2018-12-28 | 2020-07-07 | 远景能源（江苏）有限公司 | Automatic butt joint and separation device |
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| CN109878354A (en) * | 2019-04-02 | 2019-06-14 | 远景能源（江苏）有限公司 | A kind of automatic charge device and its operation method |
| CN109878354B (en) * | 2019-04-02 | 2022-12-23 | 远景能源（江苏）有限公司 | Automatic charging device and operation method thereof |
| CN110254278A (en) * | 2019-06-26 | 2019-09-20 | 刘甜甜 | A kind of new-energy automobile charging system |
| CN111029935A (en) * | 2020-02-05 | 2020-04-17 | 董昊 | Fire prevention switch board of putting out a fire |
| CN111536412A (en) * | 2020-04-28 | 2020-08-14 | 广东工业大学 | Automatic special liquid adding machine for LNG (liquefied Natural gas) of automobile |
| CN111536412B (en) * | 2020-04-28 | 2022-05-20 | 广东工业大学 | Automatic special liquid adding machine for LNG (liquefied Natural gas) of automobile |
| CN112046314A (en) * | 2020-09-01 | 2020-12-08 | 邹萍 | Lithium battery box, electric automobile and cabinet equipment that charges |
| CN112611681A (en) * | 2020-10-19 | 2021-04-06 | 健研检测集团有限公司 | Equipment for testing coagulation time of mixture |
| CN112428842A (en) * | 2020-11-03 | 2021-03-02 | 上海电机学院 | Intelligent charging system and method with separated strong current and weak current |
| CN113182825A (en) * | 2021-06-15 | 2021-07-30 | 四川江山轨道交通装备制造有限公司 | Plug-in mounting traction mechanism |
| CN113695885A (en) * | 2021-06-15 | 2021-11-26 | 四川江山轨道交通装备制造有限公司 | Door adhesive tape erection equipment |
| CN113695885B (en) * | 2021-06-15 | 2025-04-11 | 四川江山轨道交通装备制造有限公司 | Door gasket installation equipment |
| CN113182825B (en) * | 2021-06-15 | 2025-05-23 | 四川江山轨道交通装备制造有限公司 | Plug-in traction mechanism |
| CN114843859A (en) * | 2021-07-09 | 2022-08-02 | 中国铁建电气化局集团有限公司 | Robot applied to wiring welding |
| CN114843859B (en) * | 2021-07-09 | 2025-05-09 | 中国铁建电气化局集团有限公司 | A robot used for wiring welding |
| CN114030001A (en) * | 2021-11-15 | 2022-02-11 | 武汉理工大学 | Auxiliary appliance for product design industrialization |
| CN114234034A (en) * | 2021-12-17 | 2022-03-25 | 上海龙勃科技中心 | Intelligent hydrogenation energy equipment with wide application angle |
| CN116729182A (en) * | 2023-08-10 | 2023-09-12 | 深圳市森树强电子科技有限公司 | Charging pile cable plugging method and system based on machine vision and plugging assembly |
| CN116729182B (en) * | 2023-08-10 | 2024-02-02 | 深圳市森树强电子科技有限公司 | Charging pile cable plugging method and system based on machine vision and plugging assembly |
| CN118182207A (en) * | 2024-05-17 | 2024-06-14 | 深圳大学 | A smart charging pile |
| CN118876779A (en) * | 2024-09-30 | 2024-11-01 | 乐清市金龙电子实业有限公司 | A charging gun automatic adjustment wire collection system and its intelligent charging pile |
| CN118876779B (en) * | 2024-09-30 | 2024-12-10 | 乐清市金龙电子实业有限公司 | Automatic adjustment wire collecting system of charging gun and intelligent charging pile thereof |
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