The invention relates to a continuous charging mechanical arm with a telescopic degree of freedom, and belongs to the field of robot research. The continuous charging mechanical arm comprises n telescopic modules, n cross shaft universal joints, 3n driving ropes and a butt joint disc, wherein the n telescopic modules are sequentially and coaxially butted to form a serial telescopic module group, and every two adjacent telescopic modules are connected through one cross shaft universal joint; the last cross shaft universal joint is arranged at the shaft end of the outermost telescopic module in the telescopic module group connected in series, and the butt joint disc is arranged on the outer side of the cross shaft universal joints; external charging equipment is fixedly connected with the butt joint disc; and the 3n driving ropes extend from the shaft end of the innermost telescopic module in the telescopic module group connected in series, penetrate through the n telescopic modules and the n cross shaft universal joints in the axial direction and are finally connected with the butt joint disc. According to the continuous charging mechanical arm, flexible and rapid charging of an electric vehicle is satisfied, and the overall rigidity variability and the length flexibility variability of a charging robot are realized.

    本发明涉及一种具有可伸缩自由度的连续型充电机械臂,属于机器人研究领域;包括n个伸缩模块、n个十字轴万向节、3n个驱动绳索和对接盘;n个伸缩模块依次同轴对接,实现串联的伸缩模块组,且相邻2个伸缩模块之间通过1个十字轴万向节连接;最后一个十字轴万向节安装在串联的伸缩模块组中最外侧伸缩模块的轴端处,对接盘安装在该十字轴万向节的外侧;外部充电设备与对接盘固连;3n个驱动绳索从串联的伸缩模块组中最内侧伸缩模块的轴端处伸入,沿轴向穿过n个伸缩模块和n个十字轴万向节,最终与对接盘连接;本发明满足了电动汽车的灵活、快速充电,实现充电机器人整体刚度可变性和长度灵活可变性。


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    Title :

    Continuous charging mechanical arm with telescopic degree of freedom


    Additional title:

    一种具有可伸缩自由度的连续型充电机械臂


    Contributors:
    GUO YAXING (author) / ZHENG JIGUI (author) / SHI WEI (author) / ZHANG ZHAOJING (author) / CHEN ZHONG (author) / TAO YUNFEI (author) / ZHANG RONG (author)

    Publication date :

    2021-12-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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